adhoc

completed
2026-09-24T04:00:51.046104+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
267 s
total steps
294
success_at_end
0
scenes
1
trials
1
errored
0

scene-0

completed

Stand all three bottles upright.

Reduced scores

success_at_end=0

Trial scores

trial 0 success_at_end=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides. I’m moving above the rightmost bottle’s capped end so I can lift it by the neck and let the body swing upright.
move_to
right_x0.4500right_y0.2400right_z0.1400right_gripper1.0000left_x0.2960left_y0.0020left_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.6102, -0.3763, -0.0227, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3847, -0.0231, -0.0341, 0.9981] state[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0031 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9981 state[joint_eff]: [-0.3624, -1.4564, 9.7162, 1.7705, -0.0317, 0.1197, -0.1441, -0.8821, -1.1419, 10.2906, 1.8095, -0.0366, 0.2076, -0.2076] 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":{"right_x":0.45,"right_y":0.24,"right_z":0.14,"right_gripper":1,"left_x":0.296,"left_y":0.002,"left_z":0.185},"note":"All three bottles are lying on their sides. I’m moving above the rightmost bottle’s capped end so I can lift it by the neck and let the body swing upright."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe right wrist camera shows the cap just right of the jaw center. I’m lowering toward the neck while moving slightly forward and right to align the pinch.
move_to
right_x0.4700right_y0.2300right_z0.0450
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6159, -0.3847, -0.0227, -0.0292, 0.9985, 0.6559, 1.8267, 1.2049, -0.1127, 0.4976, 0.334, 0.9981] state[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1833 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9985 right_x=0.4361 right_y=0.2338 right_z=0.1226 right_yaw=0.0411 right_pitch=-0.0603 right_roll=-0.0442 right_gripper=0.9981 state[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.7411, -0.0073, -0.0415, -0.0415, 0.1983, -9.4154, 9.0735, 1.7314, 0.5104, 0.3053, -0.2076] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.23,"right_z":0.045},"note":"The right wrist camera shows the cap just right of the jaw center. I’m lowering toward the neck while moving slightly forward and right to align the pinch."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe capped neck is farther forward than the fingertips, while the shoulder is within reach. I’m centering the jaws on the upper body so I can bring the bottle closer if needed.
move_to
right_x0.4900right_y0.2050right_z0.0350
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7982, 0.6155, -0.3939, -0.0231, -0.0292, 0.9984, 0.6041, 2.0251, 1.0992, 0.2188, 0.4595, 0.2981, 0.9981] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1812 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0001 left_gripper=0.9984 right_x=0.458 right_y=0.2252 right_z=0.0413 right_yaw=0.0393 right_pitch=-0.0519 right_roll=-0.037 right_gripper=0.9981 state[joint_eff]: [-0.4034, -1.6615, 6.4752, 1.873, -0.022, -0.0611, -0.022, -0.7453, -9.0188, 6.3658, 1.7607, 0.0317, 0.0171, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.205,"right_z":0.035},"note":"The capped neck is farther forward than the fingertips, while the shoulder is within reach. I’m centering the jaws on the upper body so I can bring the bottle closer if needed."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe right bottle’s body is between the open fingertips, but its cap is still beyond them. I’m closing on the body for a short repositioning lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7956, 0.6079, -0.3939, -0.0227, -0.0292, 0.9984, 0.5434, 2.0548, 1.0916, 0.318, 0.4019, 0.2485, 0.9981] state[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1785 left_yaw=0.0004 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4772 right_y=0.2117 right_z=0.039 right_yaw=0.0525 right_pitch=-0.0169 right_roll=-0.0156 right_gripper=0.9981 state[joint_eff]: [-0.2393, -2.0308, 6.5026, 1.9512, -0.0611, -0.0513, -0.0171, -0.9504, -7.4598, 7.6786, 1.9414, 0.0562, 0.0464, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right bottle’s body is between the open fingertips, but its cap is still beyond them. I’m closing on the body for a short repositioning lift."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe gripper closed almost completely, so that was not a secure grasp. I’m reopening and lowering the fingertips to engage the bottle rather than closing above it.
move_to
right_gripper1.0000right_x0.4900right_y0.2000right_z0.0050left_x0.2960left_y0.0020left_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7891, 0.5877, -0.3901, -0.0227, -0.0292, 0.9983, 0.5213, 2.0602, 1.1027, 0.3943, 0.3824, 0.2298, 0.0198] state[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1718 left_yaw=0.0004 left_pitch=-0.0317 left_roll=0.0 left_gripper=0.9983 right_x=0.4925 right_y=0.211 right_z=0.0544 right_yaw=0.0557 right_pitch=0.051 right_roll=0.0161 right_gripper=0.0198 state[joint_eff]: [-0.1299, -1.7709, 6.8991, 1.9365, -0.0562, -0.0513, -0.0171, -0.7863, -8.4034, 6.3385, 1.4481, 0.1685, 0.1294, 0.8718] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.49,"right_y":0.2,"right_z":0.005,"left_x":0.296,"left_y":0.002,"left_z":0.185},"note":"The gripper closed almost completely, so that was not a secure grasp. I’m reopening and lowering the fingertips to engage the bottle rather than closing above it."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe cap is now near the bottom of the wrist view, but sits right of the jaw center. I’m shifting right and slightly back to improve alignment and avoid the arm’s low-height reach limit.
move_to
right_x0.4700right_y0.1800right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7914, 0.5777, -0.3782, -0.0231, -0.0292, 0.9983, 0.5102, 2.1128, 1.0927, 0.4965, 0.3588, 0.2073, 0.9949] state[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.032 left_roll=0.0002 left_gripper=0.9983 right_x=0.4994 right_y=0.2125 right_z=0.0432 right_yaw=0.0751 right_pitch=0.0819 right_roll=0.0246 right_gripper=0.9949 state[joint_eff]: [0.1026, -0.7863, 10.5915, 1.6972, -0.0708, -0.0562, -0.0122, -1.2923, -6.7214, 3.9179, 1.2869, 0.0269, 0.1245, -0.2613] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.18,"right_z":0.015},"note":"The cap is now near the bottom of the wrist view, but sits right of the jaw center. I’m shifting right and slightly back to improve alignment and avoid the arm’s low-height reach limit."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe arm is staying several centimeters above the requested height at this long reach. I’m moving back to grasp the nearer, thicker part of the bottle, where the arm can reach lower.
move_to
right_x0.4100right_y0.2000right_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7746, 0.5514, -0.3641, -0.0227, -0.0292, 0.9983, 0.4824, 2.0575, 0.992, 0.5556, 0.3328, 0.1963, 0.9966] state[eef_state]: left_x=0.2891 left_y=0.0018 left_z=0.1644 left_yaw=0.0004 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4872 right_y=0.194 right_z=0.0445 right_yaw=0.0743 right_pitch=0.0895 right_roll=0.0322 right_gripper=0.9966 state[joint_eff]: [-0.3624, -1.6479, 6.694, 2.0195, -0.0464, -0.0415, -0.0122, -0.4581, -9.1009, 3.8906, 1.116, -0.0708, -0.0659, 0.1685] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.2,"right_z":0.025},"note":"The arm is staying several centimeters above the requested height at this long reach. I’m moving back to grasp the nearer, thicker part of the bottle, where the arm can reach lower."})
tool
executing move_to over 6 steps (0.6s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe low repositioning command did not track; the arm remains near its extended pose. I’m lifting clear and retracting before making another descent.
move_to
right_x0.4000right_y0.2000right_z0.1500left_x0.2960left_y0.0020left_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7624, 0.5308, -0.3485, -0.0231, -0.0292, 0.9983, 0.4652, 2.0476, 0.963, 0.5846, 0.3355, 0.1852, 0.9969] state[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1615 left_yaw=0.0007 left_pitch=-0.0202 left_roll=-0.0 left_gripper=0.9983 right_x=0.4863 right_y=0.183 right_z=0.0446 right_yaw=0.0606 right_pitch=0.0994 right_roll=0.0251 right_gripper=0.9969 state[joint_eff]: [-0.3624, -1.7026, 6.4889, 1.8877, -0.0366, -0.0269, -0.0122, 0.212, -9.1145, 3.412, 1.0867, -0.0904, 0.0073, 0.0073] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.2,"right_z":0.15,"left_x":0.296,"left_y":0.002,"left_z":0.185},"note":"The low repositioning command did not track; the arm remains near its extended pose. I’m lifting clear and retracting before making another descent."})
tool
executing move_to over 7 steps (0.7s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe arm has lifted away from the bottle, and the bottle is still lying flat. I’m bringing the open jaws over its nearer end at a more reachable radius.
move_to
right_x0.3600right_y0.1900right_z0.0850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7971, 0.5739, -0.3798, -0.0231, -0.0292, 0.9983, 0.6163, 1.7977, 0.9619, 0.2714, 0.4145, 0.2588, 0.9975] state[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1654 left_yaw=0.0007 left_pitch=-0.0431 left_roll=0.0005 left_gripper=0.9983 right_x=0.4341 right_y=0.2247 right_z=0.1039 right_yaw=0.1088 right_pitch=0.0574 right_roll=0.0256 right_gripper=0.9975 state[joint_eff]: [-0.253, -1.2376, 10.1949, 1.7607, -0.0611, -0.0122, -0.0122, -1.7983, -11.8085, 7.9385, 2.1661, 0.4713, 0.2076, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.19,"right_z":0.085},"note":"The arm has lifted away from the bottle, and the bottle is still lying flat. I’m bringing the open jaws over its nearer end at a more reachable radius."})
tool
executing move_to over 6 steps (0.6s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe bottle is now centered between the jaws in the wrist view. I’m descending onto its lower body to secure it for moving closer.
move_to
right_x0.4000right_y0.1900right_z0.0050
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7723, 0.5335, -0.347, -0.0231, -0.0292, 0.9983, 0.6621, 1.6054, 0.6846, 0.2043, 0.4351, 0.284, 0.9976] state[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1604 left_yaw=0.0007 left_pitch=-0.0259 left_roll=0.0001 left_gripper=0.9983 right_x=0.3582 right_y=0.1893 right_z=0.066 right_yaw=0.1239 right_pitch=-0.0685 right_roll=-0.0399 right_gripper=0.9976 state[joint_eff]: [-0.3624, -1.2103, 6.8171, 1.9707, -0.0317, -0.0513, -0.0122, 0.5675, -8.1436, 6.1744, 2.0684, 0.3004, 0.1099, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.19,"right_z":0.005},"note":"The bottle is now centered between the jaws in the wrist view. I’m descending onto its lower body to secure it for moving closer."})
tool
executing move_to over 4 steps (0.4s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe fingertips are down beside the bottle’s lower body. I’m closing the gripper and checking whether it holds a nonzero bottle thickness.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7601, 0.514, -0.3344, -0.0235, -0.0292, 0.9983, 0.5961, 1.8797, 0.6765, 0.5999, 0.3824, 0.2497, 0.9977] state[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1573 left_yaw=0.0011 left_pitch=-0.0206 left_roll=0.0002 left_gripper=0.9983 right_x=0.3967 right_y=0.1938 right_z=0.0239 right_yaw=0.1204 right_pitch=0.015 right_roll=0.015 right_gripper=0.9977 state[joint_eff]: [0.0205, -1.3607, 6.653, 1.8877, -0.0415, -0.0171, -0.0122, -0.8957, -4.6291, 4.2325, 0.8083, -0.0024, -0.1099, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are down beside the bottle’s lower body. I’m closing the gripper and checking whether it holds a nonzero bottle thickness."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe bottle slid forward during the close, leaving the gripper empty. I’m reopening farther along its body and slightly to the right, away from the tapered base that slipped out.
move_to
right_gripper1.0000right_x0.4450right_y0.1800right_z0.0150
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7551, 0.4995, -0.326, -0.0235, -0.0292, 0.9983, 0.5961, 1.8565, 0.6968, 0.6685, 0.3893, 0.2344, 0.0202] state[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1537 left_yaw=0.0011 left_pitch=-0.0217 left_roll=0.0002 left_gripper=0.9983 right_x=0.4108 right_y=0.202 right_z=0.0547 right_yaw=0.1195 right_pitch=0.1167 right_roll=0.0499 right_gripper=0.0202 state[joint_eff]: [-0.335, -1.4701, 6.694, 1.9072, -0.0269, -0.0513, -0.0122, 0.0479, -6.8855, 4.4923, 0.7399, 0.1197, 0.0806, 0.9695] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.445,"right_y":0.18,"right_z":0.015},"note":"The bottle slid forward during the close, leaving the gripper empty. I’m reopening farther along its body and slightly to the right, away from the tapered base that slipped out."})
tool
executing move_to over 10 steps (1.0s)
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 is centered across the open jaws. I’m using a partial close to hold its round body without squeezing it forward as aggressively.
move_to
right_gripper0.4800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7494, 0.485, -0.3141, -0.0231, -0.0292, 0.9983, 0.495, 1.9598, 0.8146, 0.5808, 0.2993, 0.1741, 0.9949] state[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.151 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4436 right_y=0.1843 right_z=0.0303 right_yaw=0.128 right_pitch=0.033 right_roll=0.0081 right_gripper=0.9949 state[joint_eff]: [-0.3761, -1.7983, 6.5162, 1.873, -0.0366, -0.0513, -0.0122, -1.0188, -6.3521, 6.5299, 1.536, 0.105, -0.0415, -0.1392] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper":0.48},"note":"The bottle is centered across the open jaws. I’m using a partial close to hold its round body without squeezing it forward as aggressively."})
tool
executing move_to over 6 steps (0.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe jaws are partly closed around the bottle. I’m making a short test lift before attempting to reposition it.
move_to
right_z0.1150right_x0.4250right_y0.1900
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7494, 0.4812, -0.3111, -0.0227, -0.0292, 0.9983, 0.498, 1.943, 0.8406, 0.5701, 0.284, 0.1738, 0.4872] state[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1499 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4496 right_y=0.1922 right_z=0.0449 right_yaw=0.1434 right_pitch=0.0601 right_roll=0.0266 right_gripper=0.4872 state[joint_eff]: [-0.3761, -2.0171, 6.0786, 1.956, -0.0366, -0.0659, -0.0122, -0.6906, -8.7863, 5.7641, 1.1355, 0.188, 0.022, 0.3443] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115,"right_x":0.425,"right_y":0.19},"note":"The jaws are partly closed around the bottle. I’m making a short test lift before attempting to reposition it."})
tool
executing move_to over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe test lift did not visibly carry the bottle, so the partial opening was too wide. I’m returning around the body at table level before closing a little further.
move_to
right_x0.4450right_y0.1900right_z-0.0050right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7429, 0.4698, -0.3038, -0.0231, -0.0292, 0.9983, 0.5293, 1.7123, 0.8837, 0.223, 0.2897, 0.1745, 0.4876] state[eef_state]: left_x=0.2847 left_y=0.002 left_z=0.1479 left_yaw=0.0007 left_pitch=-0.0172 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4242 right_y=0.1938 right_z=0.0973 right_yaw=0.1702 right_pitch=-0.0074 right_roll=-0.0013 right_gripper=0.4876 state[joint_eff]: [-0.1299, -1.4017, 6.4479, 1.9267, -0.0415, -0.0757, -0.0122, 0.0615, -9.6615, 9.0188, 1.8681, 0.2125, 0.1294, 0.0317] 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":0.445,"right_y":0.19,"right_z":-0.005,"right_gripper":0.8},"note":"The test lift did not visibly carry the bottle, so the partial opening was too wide. I’m returning around the body at table level before closing a little further."})
tool
executing move_to over 7 steps (0.7s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bottle remains centered between the fingertips at the low pose. I’m tightening the grasp to about a three-centimeter opening, then will test whether the body follows.
move_to
right_gripper0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7387, 0.4648, -0.3035, -0.0231, -0.0292, 0.9983, 0.5022, 1.9968, 0.8371, 0.6659, 0.2604, 0.1436, 0.7979] state[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1468 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4533 right_y=0.2012 right_z=0.0378 right_yaw=0.1827 right_pitch=0.0934 right_roll=0.0237 right_gripper=0.7979 state[joint_eff]: [-0.253, -1.5658, 6.0923, 1.8974, -0.0317, -0.0513, -0.0122, -1.2513, -4.3145, 4.1778, 0.5885, -0.0073, 0.0171, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.28},"note":"The bottle remains centered between the fingertips at the low pose. I’m tightening the grasp to about a three-centimeter opening, then will test whether the body follows."})
tool
executing move_to over 6 steps (0.6s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe bottle has crept forward during the grasp attempts. I’m making one farther-forward approach to surround its body rather than catching its rounded end.
move_to
right_x0.5100right_y0.1750right_z0.0150right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7361, 0.4641, -0.3023, -0.0231, -0.0292, 0.9983, 0.503, 1.9583, 0.9028, 0.5426, 0.26, 0.1368, 0.2857] state[eef_state]: left_x=0.2838 left_y=0.002 left_z=0.1474 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4606 right_y=0.2057 right_z=0.0548 right_yaw=0.188 right_pitch=0.0753 right_roll=0.0118 right_gripper=0.2857 state[joint_eff]: [-0.2393, -1.7299, 5.7094, 1.9805, -0.0317, -0.0611, -0.0122, -0.3761, -9.0462, 6.3385, 1.0379, 0.0464, 0.105, 0.2173] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.175,"right_z":0.015,"right_gripper":0.8},"note":"The bottle has crept forward during the grasp attempts. I’m making one farther-forward approach to surround its body rather than catching its rounded end."})
tool
executing move_to over 6 steps (0.6s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe body now extends below the wrist image between both fingers, which is a better engagement than before. I’m closing gently around this thicker section.
move_to
right_gripper0.3200
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7326, 0.4526, -0.2962, -0.0231, -0.0292, 0.9983, 0.3958, 2.0914, 1.055, 0.5011, 0.1329, 0.0769, 0.7962] state[eef_state]: left_x=0.2829 left_y=0.002 left_z=0.1443 left_yaw=0.0007 left_pitch=-0.0164 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5047 right_y=0.1894 right_z=0.0358 right_yaw=0.22 right_pitch=0.0391 right_roll=0.0158 right_gripper=0.7962 state[joint_eff]: [-0.3761, -1.4017, 6.8718, 1.8144, -0.0611, -0.0757, -0.0122, -1.5111, -7.4872, 6.8034, 1.5849, 0.4615, -0.0317, 0.0415] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.32},"note":"The body now extends below the wrist image between both fingers, which is a better engagement than before. I’m closing gently around this thicker section."})
tool
executing move_to over 5 steps (0.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe jaws have stopped slightly wider than commanded, suggesting contact with the bottle. I’m lifting and drawing it toward the base to check the hold and improve access to its neck.
move_to
right_x0.4100right_y0.1600right_z0.1600left_x0.2960left_y0.0020left_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7326, 0.4477, -0.2935, -0.0227, -0.0292, 0.9983, 0.4057, 2.0842, 1.0851, 0.4976, 0.1253, 0.0586, 0.3365] state[eef_state]: left_x=0.2825 left_y=0.0019 left_z=0.1426 left_yaw=0.0004 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5108 right_y=0.1993 right_z=0.0506 right_yaw=0.2459 right_pitch=0.0723 right_roll=0.0092 right_gripper=0.3365 state[joint_eff]: [-0.3761, -1.7026, 6.1744, 1.9512, -0.0317, -0.0659, -0.0073, -0.9368, -10.8103, 5.7368, 0.7692, 0.1001, 0.3053, 0.3932] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.16,"right_z":0.16,"left_x":0.296,"left_y":0.002,"left_z":0.185},"note":"The jaws have stopped slightly wider than commanded, suggesting contact with the bottle. I’m lifting and drawing it toward the base to check the hold and improve access to its neck."})
tool
executing move_to over 8 steps (0.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe bottle appears to have moved, but the lift view is ambiguous because its long body extends beyond the jaws. I’m retracting at nearly constant height to check whether it follows the gripper.
move_to
right_x0.3100right_y0.1200right_z0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7937, 0.5755, -0.3759, -0.0231, -0.0292, 0.9983, 0.4156, 1.5288, 0.9131, 0.0521, 0.1268, 0.0547, 0.3365] state[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9983 right_x=0.4203 right_y=0.165 right_z=0.1524 right_yaw=0.257 right_pitch=0.0111 right_roll=-0.0047 right_gripper=0.3365 state[joint_eff]: [-0.1299, -1.0325, 9.9214, 1.7509, -0.022, -0.0317, -0.0122, 0.2803, -8.0068, 6.5299, 1.9219, 0.1001, 0.0757, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.12,"right_z":0.15},"note":"The bottle appears to have moved, but the lift view is ambiguous because its long body extends beyond the jaws. I’m retracting at nearly constant height to check whether it follows the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe right bottle did not follow the gripper and has slid farther away. I’m switching to the nearer diagonal bottle, whose neck should be more accessible, and parking the right arm clear.
move_to
left_x0.4700left_y-0.1100left_z0.0750left_gripper1.0000right_x0.2940right_y0.0030right_z0.1850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.02, 0.7742, 0.5476, -0.3477, -0.0231, -0.0292, 0.9983, 0.4248, 1.042, 0.5724, -0.1001, 0.1276, 0.0551, 0.3365] state[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3168 right_y=0.1226 right_z=0.1504 right_yaw=0.2653 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.3365 state[joint_eff]: [-0.2803, -1.0462, 6.653, 1.956, -0.0171, -0.0171, -0.0122, 0.3897, -2.906, 7.2821, 1.8681, 0.105, 0.1294, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.11,"left_z":0.075,"left_gripper":1,"right_x":0.294,"right_y":0.003,"right_z":0.185,"right_gripper":1},"note":"The right bottle did not follow the gripper and has slid farther away. I’m switching to the nearer diagonal bottle, whose neck should be more accessible, and parking the right arm clear."})
tool
executing move_to over 14 steps (1.4s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe diagonal bottle’s capped end is beneath the left gripper and out of its wrist view. I’m lowering around the neck and turning the jaws to match the bottle’s diagonal axis.
move_to
left_x0.4450left_y-0.1100left_z0.0150left_yaw0.5000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.337, 1.7992, 0.8516, 0.2924, -0.284, -0.2081, 0.9988, -0.2466, 0.8623, 0.6163, -0.4301, -0.3939, -0.3027, 0.9978] state[eef_state]: left_x=0.4532 left_y=-0.1026 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0653 left_roll=0.0143 left_gripper=0.9988 right_x=0.2913 right_y=0.0003 right_z=0.1652 right_yaw=0.2227 right_pitch=-0.0468 right_roll=0.012 right_gripper=0.9978 state[joint_eff]: [-0.4991, -8.8137, 7.3504, 1.8339, -0.2222, 0.0855, -0.1392, -0.1162, -1.935, 10.4684, 1.707, -0.2662, 0.0708, -0.0024] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.11,"left_z":0.015,"left_yaw":0.5},"note":"The diagonal bottle’s capped end is beneath the left gripper and out of its wrist view. I’m lowering around the neck and turning the jaws to match the bottle’s diagonal axis."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe left fingertips are down beside the bottle’s neck. I’m closing to a narrow opening intended to catch the neck below the cap.
move_to
left_gripper0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5282, 2.0308, 0.9833, 0.2604, -0.675, -0.5678, 0.9984, -0.2554, 0.836, 0.5694, -0.403, -0.4202, -0.3157, 0.998] state[eef_state]: left_x=0.4534 left_y=-0.1326 left_z=0.0191 left_yaw=0.3098 left_pitch=-0.0264 left_roll=0.0052 left_gripper=0.9984 right_x=0.2868 right_y=0.0033 right_z=0.1577 right_yaw=0.2419 right_pitch=-0.0332 right_roll=0.0129 right_gripper=0.998 state[joint_eff]: [0.5949, -9.7709, 5.4906, 1.2332, -0.6276, -0.1587, -0.0513, 0.1299, -1.8393, 6.9675, 1.8144, -0.0611, 0.1001, 0.0122] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.2},"note":"The left fingertips are down beside the bottle’s neck. I’m closing to a narrow opening intended to catch the neck below the cap."})
tool
executing move_to over 8 steps (0.8s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe diagonal bottle slipped backward and is now lying crosswise much closer to the base. I’m approaching its exposed cap with the jaws turned across the neck.
move_to
left_x0.2500left_y-0.0450left_z0.1100left_yaw1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5373, 2.0609, 1.0016, 0.1478, -0.8051, -0.7601, 0.2049, -0.2562, 0.8215, 0.5373, -0.3779, -0.4229, -0.3199, 0.9981] state[eef_state]: left_x=0.4402 left_y=-0.1099 left_z=0.0086 left_yaw=0.4927 left_pitch=-0.0201 left_roll=0.0027 left_gripper=0.2049 right_x=0.2849 right_y=0.004 right_z=0.1522 right_yaw=0.2455 right_pitch=-0.0256 right_roll=0.0072 right_gripper=0.9981 state[joint_eff]: [-0.2256, -10.0308, 6.2291, 1.3065, -0.5006, 0.0562, 0.188, -0.4718, -2.1812, 6.7487, 1.8828, -0.1978, -0.022, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.25,"left_y":-0.045,"left_z":0.11,"left_yaw":1.57,"left_gripper":1},"note":"The diagonal bottle slipped backward and is now lying crosswise much closer to the base. I’m approaching its exposed cap with the jaws turned across the neck."})
tool
executing move_to over 15 steps (1.5s)
step 188
top_cam
camera top_cam step 188
assistant
agent noteThe yaw change left the arm well left of the requested position. I’m correcting that position before descending onto the nearby bottle.
move_to
left_x0.2350left_y-0.0550left_z0.0650
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3447, 1.8854, 1.2343, -1.3178, -0.9237, -2.0598, 0.9971, -0.2565, 0.8108, 0.5148, -0.3656, -0.4236, -0.3199, 0.998] state[eef_state]: left_x=0.2975 left_y=0.0468 left_z=0.0998 left_yaw=1.4988 left_pitch=-0.0296 left_roll=0.0085 left_gripper=0.9971 right_x=0.2829 right_y=0.0046 right_z=0.1474 right_yaw=0.2457 right_pitch=-0.0251 right_roll=0.0074 right_gripper=0.998 state[joint_eff]: [0.0889, -9.5795, 4.3966, -0.4176, -0.4518, -0.3736, -0.0464, -0.4171, -1.9214, 6.653, 1.8877, -0.2711, -0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.235,"left_y":-0.055,"left_z":0.065},"note":"The yaw change left the arm well left of the requested position. I’m correcting that position before descending onto the nearby bottle."})
tool
executing move_to over 10 steps (1.0s)
step 198
assistant
agent noteThe left arm is not tracking the sideways approach at the large yaw angle. I’m raising it and reducing the turn to recover a reachable pose before another grasp.
move_to
left_x0.3000left_y-0.1200left_z0.1600left_yaw1.0000right_x0.2940right_y0.0030right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3836, 1.898, 1.0756, -1.1885, -0.9241, -2.0598, 0.9975, -0.2565, 0.8028, 0.4908, -0.3576, -0.4232, -0.3199, 0.998] state[eef_state]: left_x=0.2767 left_y=0.0442 left_z=0.0639 left_yaw=1.4607 left_pitch=-0.0179 left_roll=0.0488 left_gripper=0.9975 right_x=0.28 right_y=0.0053 right_z=0.1405 right_yaw=0.2455 right_pitch=-0.0322 right_roll=0.0111 right_gripper=0.998 state[joint_eff]: [-0.6496, -9.3333, 3.8222, -0.4811, -0.4274, -0.398, 0.0317, -0.5538, -1.8667, 6.9538, 1.8974, -0.2418, -0.0171, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.12,"left_z":0.16,"left_yaw":1,"right_x":0.294,"right_y":0.003,"right_z":0.185},"note":"The left arm is not tracking the sideways approach at the large yaw angle. I’m raising it and reducing the turn to recover a reachable pose before another grasp."})
tool
executing move_to over 15 steps (1.5s)
step 213
assistant
agent noteThe wrist is still not following the requested turn and position. I’m returning it to the starting yaw so the arm can move freely again.
move_to
left_x0.2800left_y-0.0700left_z0.1600left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5758, 1.9148, 1.2091, -1.317, -0.9291, -2.0602, 0.9976, -0.2554, 0.8455, 0.6098, -0.4423, -0.4236, -0.3202, 0.998] state[eef_state]: left_x=0.2948 left_y=-0.0184 left_z=0.0894 left_yaw=1.2667 left_pitch=-0.0104 left_roll=0.0587 left_gripper=0.9976 right_x=0.2875 right_y=0.0037 right_z=0.1659 right_yaw=0.2473 right_pitch=-0.0394 right_roll=0.015 right_gripper=0.998 state[joint_eff]: [-1.9077, -8.4444, 6.1607, -0.9841, -0.6422, -0.2662, -0.0073, 0.0342, -0.7453, 10.5368, 1.7949, -0.1636, 0.0806, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":-0.07,"left_z":0.16,"left_yaw":0},"note":"The wrist is still not following the requested turn and position. I’m returning it to the starting yaw so the arm can move freely again."})
tool
executing move_to over 9 steps (0.9s)
step 222
assistant
agent noteThe arm has recovered at the starting orientation. I’m turning the opposite way to put the jaws across the nearby neck without running into the previous wrist limit.
move_to
left_x0.2750left_y-0.0750left_z0.1200left_yaw-1.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5457, 0.8448, 0.548, -0.4202, -0.5964, -0.7963, 0.9975, -0.2565, 0.8227, 0.5701, -0.4198, -0.4236, -0.3202, 0.998] state[eef_state]: left_x=0.2753 left_y=-0.0469 left_z=0.1532 left_yaw=0.3524 left_pitch=-0.0369 left_roll=-0.2732 left_gripper=0.9975 right_x=0.2839 right_y=0.0043 right_z=0.1586 right_yaw=0.2461 right_pitch=-0.0344 right_roll=0.0123 right_gripper=0.998 state[joint_eff]: [-0.0479, -0.4034, 6.147, 1.7705, -0.2613, 0.2369, -0.0122, -0.4171, -1.894, 6.8171, 1.9072, -0.2711, 0.022, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.275,"left_y":-0.075,"left_z":0.12,"left_yaw":-1.2},"note":"The arm has recovered at the starting orientation. I’m turning the opposite way to put the jaws across the nearby neck without running into the previous wrist limit."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteThe wrist has started turning in the opposite direction but has not reached the target angle. I’m using a smaller turn while lowering toward the cap.
move_to
left_x0.2600left_y-0.0800left_z0.0350left_yaw-0.8500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.028, 0.7685, 0.421, -0.2844, 0.1379, 0.1699, 0.9975, -0.2565, 0.8036, 0.5373, -0.3996, -0.4236, -0.3233, 0.998] state[eef_state]: left_x=0.2781 left_y=-0.0285 left_z=0.1239 left_yaw=-0.2497 left_pitch=-0.0673 left_roll=0.0677 left_gripper=0.9975 right_x=0.2812 right_y=0.005 right_z=0.1528 right_yaw=0.2476 right_pitch=-0.0287 right_roll=0.0066 right_gripper=0.998 state[joint_eff]: [-0.0615, -1.4154, 7.3641, 1.956, 0.1636, 0.2466, -0.0073, -0.5128, -1.7436, 6.7077, 1.8926, -0.2271, 0.022, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.26,"left_y":-0.08,"left_z":0.035,"left_yaw":-0.85},"note":"The wrist has started turning in the opposite direction but has not reached the target angle. I’m using a smaller turn while lowering toward the cap."})
tool
executing move_to over 6 steps (0.6s)
step 238
assistant
agent noteThat turned pose did not move the arm at all. I’m abandoning the large yaw change and using the reachable starting orientation for the closer bottle.
move_to
left_x0.2700left_y-0.0900left_z0.0450left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.028, 0.7685, 0.421, -0.284, 0.1425, 0.1833, 0.9975, -0.2565, 0.7937, 0.511, -0.3874, -0.424, -0.3233, 0.998] state[eef_state]: left_x=0.2781 left_y=-0.0293 left_z=0.124 left_yaw=-0.2606 left_pitch=-0.0669 left_roll=0.076 left_gripper=0.9975 right_x=0.2787 right_y=0.0057 right_z=0.1461 right_yaw=0.248 right_pitch=-0.0323 right_roll=0.0088 right_gripper=0.998 state[joint_eff]: [-0.0342, -1.5248, 7.2, 1.9609, 0.1538, 0.1099, -0.0073, -0.4581, -1.9487, 6.7624, 1.8779, -0.3199, -0.0073, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.09,"left_z":0.045,"left_yaw":0},"note":"That turned pose did not move the arm at all. I’m abandoning the large yaw change and using the reachable starting orientation for the closer bottle."})
tool
executing move_to over 6 steps (0.6s)
step 244
assistant
agent noteThe overhead view shows the jaws over the bottle’s body, with its cap several centimeters to the left. I’m shifting to that capped end and using only a modest turn.
move_to
left_x0.2550left_y-0.0450left_z0.0250left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6361, 1.0882, 0.173, 0.1883, -0.3775, -0.2913, 0.9975, -0.2615, 0.7765, 0.4774, -0.3721, -0.424, -0.3233, 0.998] state[eef_state]: left_x=0.2577 left_y=-0.1049 left_z=0.0327 left_yaw=-0.1763 left_pitch=-0.1068 left_roll=0.0307 left_gripper=0.9975 right_x=0.2753 right_y=0.0053 right_z=0.1386 right_yaw=0.243 right_pitch=-0.0333 right_roll=0.0094 right_gripper=0.998 state[joint_eff]: [-0.1436, -3.4256, 5.559, 1.0672, -0.3932, 0.0366, -0.0122, -0.3761, -1.5248, 7.2821, 1.8388, -0.2711, -0.022, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.045,"left_z":0.025,"left_yaw":0.6},"note":"The overhead view shows the jaws over the bottle’s body, with its cap several centimeters to the left. I’m shifting to that capped end and using only a modest turn."})
tool
executing move_to over 6 steps (0.6s)
step 250
assistant
agent noteThe capped end is now underneath the left fingertips. I’m closing gently on it for a short lifting test.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.804, 1.4704, 0.3717, -0.0551, -0.9031, -1.0592, 0.9975, -0.2642, 0.7582, 0.4458, -0.3504, -0.424, -0.3233, 0.998] state[eef_state]: left_x=0.2628 left_y=-0.0676 left_z=0.0198 left_yaw=0.4445 left_pitch=-0.0422 left_roll=0.0098 left_gripper=0.9975 right_x=0.273 right_y=0.0052 right_z=0.1333 right_yaw=0.2402 right_pitch=-0.0259 right_roll=0.0053 right_gripper=0.998 state[joint_eff]: [0.4171, -5.1214, 4.8205, 0.6471, -0.8474, -0.1392, -0.0073, -0.6222, -1.4564, 7.0906, 1.7802, -0.3053, 0.0269, -0.0073] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"The capped end is now underneath the left fingertips. I’m closing gently on it for a short lifting test."})
tool
executing move_to over 9 steps (0.9s)
step 259
assistant
agent noteThe jaws have closed narrowly at the cap. I’m lifting a few centimeters to see whether the bottle rises and pivots, while restoring the idle arm’s clearance.
move_to
left_x0.2550left_y-0.0550left_z0.1200right_x0.2940right_y0.0030right_z0.1850
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8196, 1.496, 0.3519, 0.004, -0.9417, -1.0729, 0.1548, -0.2642, 0.7498, 0.4232, -0.342, -0.424, -0.3237, 0.998] state[eef_state]: left_x=0.2632 left_y=-0.0674 left_z=0.0191 left_yaw=0.4519 left_pitch=-0.0045 left_roll=-0.004 left_gripper=0.1548 right_x=0.2705 right_y=0.0058 right_z=0.1271 right_yaw=0.2405 right_pitch=-0.0309 right_roll=0.0078 right_gripper=0.998 state[joint_eff]: [-0.4444, -4.7111, 4.0137, 0.9744, -0.5006, 0.0659, 0.149, -0.7316, -1.4974, 6.7077, 1.8535, -0.3101, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.255,"left_y":-0.055,"left_z":0.12,"right_x":0.294,"right_y":0.003,"right_z":0.185},"note":"The jaws have closed narrowly at the cap. I’m lifting a few centimeters to see whether the bottle rises and pivots, while restoring the idle arm’s clearance."})
tool
executing move_to over 7 steps (0.7s)
step 266
assistant
agent noteThe bottle stayed on the table during the lift, so the last grasp missed. With the arm clear, I can see the neck is closer to the base; I’m moving back to surround it.
move_to
left_x0.2250left_y-0.0550left_z0.0150left_gripper0.8000left_yaw0.6000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8146, 1.1145, 0.5327, -0.506, -0.9321, -1.0725, 0.1547, -0.2489, 0.8391, 0.6048, -0.4297, -0.4229, -0.3229, 0.998] state[eef_state]: left_x=0.2586 left_y=-0.0623 left_z=0.1093 left_yaw=0.4524 left_pitch=0.0029 left_roll=-0.0561 left_gripper=0.1547 right_x=0.2882 right_y=0.0052 right_z=0.1676 right_yaw=0.2544 right_pitch=-0.0273 right_roll=0.0056 right_gripper=0.998 state[joint_eff]: [0.335, -2.9607, 8.1436, 0.9158, -0.5153, 0.1685, -0.022, -0.0479, -0.8274, 10.0718, 1.5458, -0.0611, 0.1197, -0.0073] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.225,"left_y":-0.055,"left_z":0.015,"left_gripper":0.8,"left_yaw":0.6},"note":"The bottle stayed on the table during the lift, so the last grasp missed. With the arm clear, I can see the neck is closer to the base; I’m moving back to surround it."})
tool
executing move_to over 7 steps (0.7s)
step 273
assistant
agent noteThe fingertips now bracket the nearer neck position. I’m closing fully so the settled opening can distinguish a real grasp from another miss.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9535, 1.5291, 0.4355, -0.4511, -0.9997, -1.4872, 0.7955, -0.2489, 0.8284, 0.5777, -0.4194, -0.424, -0.3202, 0.998] state[eef_state]: left_x=0.2277 left_y=-0.0578 left_z=0.0204 left_yaw=0.5583 left_pitch=-0.0126 left_roll=0.0562 left_gripper=0.7955 right_x=0.2853 right_y=0.0062 right_z=0.1605 right_yaw=0.254 right_pitch=-0.0323 right_roll=0.0114 right_gripper=0.998 state[joint_eff]: [-0.2803, -4.3282, 2.8103, 0.4567, -0.359, -0.1978, -0.1245, -0.4581, -2.0855, 7.159, 1.8974, -0.2808, -0.0171, -0.0122] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips now bracket the nearer neck position. I’m closing fully so the settled opening can distinguish a real grasp from another miss."})
tool
executing move_to over 8 steps (0.8s)
step 281
assistant
agent noteThe fully closed reading confirms another empty grasp, and none of the bottles is upright. I’m lifting both arms clear and stopping rather than continuing to slide the bottles around.
move_to
left_x0.2960left_y0.0020left_z0.2000left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0030right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.9562, 1.5021, 0.4046, -0.3954, -1.0035, -1.496, 0.0109, -0.2489, 0.8139, 0.5449, -0.4007, -0.4236, -0.3202, 0.998] state[eef_state]: left_x=0.2282 left_y=-0.0588 left_z=0.0203 left_yaw=0.56 left_pitch=-0.0057 left_roll=-0.0028 left_gripper=0.0109 right_x=0.2825 right_y=0.0068 right_z=0.1534 right_yaw=0.2537 right_pitch=-0.0321 right_roll=0.011 right_gripper=0.998 state[joint_eff]: [-0.4171, -4.0821, 3.6444, 0.4127, -0.6081, -0.0415, 0.8718, -0.5538, -2.0855, 6.8991, 1.8779, -0.2906, -0.0317, -0.0122] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0.002,"left_z":0.2,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0.003,"right_z":0.2,"right_gripper":1},"note":"The fully closed reading confirms another empty grasp, and none of the bottles is upright. I’m lifting both arms clear and stopping rather than continuing to slide the bottles around."})
tool
executing move_to over 12 steps (1.2s)
step 293
assistant
agent noteI could not establish a secure bottle grasp or stand any bottle upright. The bottles slipped during closing, and several turned or low-reaching poses did not track reliably. All three remain on their sides; both grippers are open and lifted clear.
give_up
hindsightPartial gripper openings of 0.15–0.48 repeatedly looked plausible but did not hold these bottles; verify actual bottle motion before transporting. Closing on their rounded ends slid them substantially across the table. On this run, left yaw targets near ±1 rad produced large position errors or stalled, while smaller positive turns tracked better. Low right-arm targets around x=0.49, y=0.20 stalled near z=0.04; raising before retracting recovered motion.
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0486, 0.7948, 0.6285, -0.4118, -0.1577, -0.141, 0.996, -0.2508, 0.8528, 0.6769, -0.4984, -0.4271, -0.3275, 0.9981] state[eef_state]: left_x=0.2928 left_y=0.0171 left_z=0.1856 left_yaw=0.1454 left_pitch=-0.0104 left_roll=-0.0208 left_gripper=0.996 right_x=0.2888 right_y=0.0052 right_z=0.1831 right_yaw=0.2585 right_pitch=-0.035 right_roll=0.0091 right_gripper=0.9981 state[joint_eff]: [0.1026, -1.4701, 8.7726, 1.5849, -0.0464, 0.2418, -0.0122, -0.8547, -0.841, 10.1265, 1.7167, -0.2125, 0.0122, -0.2173] camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish a secure bottle grasp or stand any bottle upright. The bottles slipped during closing, and several turned or low-reaching poses did not track reliably. All three remain on their sides; both grippers are open and lifted clear.","hindsight":"Partial gripper openings of 0.15–0.48 repeatedly looked plausible but did not hold these bottles; verify actual bottle motion before transporting. Closing on their rounded ends slid them substantially across the table. On this run, left yaw targets near ±1 rad produced large position errors or stalled, while smaller positive turns tracked better. Low right-arm targets around x=0.49, y=0.20 stalled near z=0.04; raising before retracting recovered motion."})
tool
give_up: I could not establish a secure bottle grasp or stand any bottle upright. The bottles slipped during closing, and several turned or low-reaching poses did not track reliably. All three remain on their sides; both grippers are open and lifted clear.
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 · 13.21 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stand all three bottles upright.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6102, -0.3763, -0.0227, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3847, -0.0231, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0031 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -1.4564, 9.7162, 1.7705, -0.0317, 0.1197, -0.1441, -0.8821, -1.1419, 10.2906, 1.8095, -0.0366, 0.2076, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3160f180e1beea5c8649f6daa56af48ccd5106926a7951f2b03fe091dabf6909",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acb7b7de0fcc2676cc337834a7649fefc0d9df0ecb1f62ebc6eba5b1867e4db9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42c0dd155dc6027b176e57058543d4c650b7f8444403a537f2f7919e693363b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /responses · status 200 · 9.514 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCNOcSASJHySBRr3CP4riwt9arsXI3q_HsPNj5ztAirruTo-zU25xaVasBNAnxYRxoXjKYdFUByvZEL1O4Y9NyXiQ6MwdlHxRIVEW-vKzE2gaS_Vd5GjONEL6D0WirS_-Z7wtbEv4xCE8mFvW-cSYJTP6--LJFoCQKwuVyh0BzBY5gp-3WT7j5In-lS0nMtZgBVWPlxgo8EL62yhKH9bvMECKmINHeZ5TlMY_XfNP5c1vQS_oSbvHwEqV_hCEqftNrCiP5ITP1ixtk_RbYKgEq2YCBQvVw0q4ibXrK8UaCGjv0PTz-x1WKNG3_zN2EbLZpkVi1rS_1WPvfzBEuSHuOMxku0RzlYb72bnjN1J3Ko1YGXM3SdO3ZtMmMTQdUUUvdzXgEDimSDqNFJl1FyOxLXV69sSrlNYJMS0oqHDhOUD33aPO4955EobkDNb8lbwgkIZjatM6lH0oFCVgcXah8T2CbYNpaltwYeEYc_bGute_S_N4IywVYFl7jHU3j7QLg6V5Bm7TT76KZkK6QcN-sGyJW8yVRmftpvcqcDiNX0iUWGtguDytr4Y0EuVYJx-_4zYEks5XCy8WFq0wXgaIX1KonhXwrcBNpdeJD8TZLf7LT6m_Hc9j77aK4BEHp-m4J4e2C-LVPalhDC8Oa8ZFbTu-zF9CkNa3Oz4Al-Yz0f6eM1qdWTGm5ml_hDCWcMRaw2oNiE0ps83KtnMtcOEA0rUjYmpnc5wlIjOxqVsZk4lX2eCMuOb-ySemJj7c4SUjOvKL8d8v8YNKzgKNsPqVt9D2UdJhOSO8foWv9ssPCU9vnLHFjfipQRgTV4LXZ1grZ972BZls25tJAcAD5X4Z-Jx-72mB4TDNxllEHZYmS-OxbEotZbOUiexAK5pB7UxwPB2kV1PxK_bI021-f4cRaw05FCbjm0wvEnttckpQYQy83VDe7ybZAt2roED6P73n3VQo2EuwmllMXRjtE0x0iX9pD-8kzoHsCSQbQCTsliXCIFTqmZdCxTbc3AsSpk2TxBaYVRAifKYR12ByDnalHE2qPbFZ0bprnyJQMjLfN7xquREoXfg_LCbJsrf45_DGnq7iNcreh3Hv4U4eiihQASkphT835qvvnOclcye0D0A82S7BQi4rn4yh6fwsSon6o-91LFnJEpmhVVKLJhQ2W-du_ZI-OXKZDS7DG8ZHBmfW4MO7Nv-AXsHp73N_9DenT8zQsQTwMktYdlB7SPzZERn74nAo3SCoh6MNjuGW-DqjDq1_9NuFEXFCp-UPQ8rO5CVs6mn-JEIFqgnUnO-JP7To_lvKANYPf9HOh7NQQS0HvpRe2CRI6OBpU6kmXtKmk1TsKYZrpL7WnEAvni6ZiDbaf3Tbt8Ks-NT8eiTstqwsVyWO0u2E1XR7u_uzxsNiiz_Eyt9H76vTGBbjSGchsAUGGgImOjWUTpWGVdNtnQlpPRe21iZrMnOb7RM7pV0biO8d66jjwlB2Z2Ai2J-ZLnvK57rQ_zV-1u0t6phnpmS92QjPbn5x__qJJk6M-Bg_jy_sVZHNm1cYhbcmJaV4K2TUMC-XPfheMRUUE9kMgo6GfXL_FaOW27YpjDzwt6AiFrsKz2sYIRRCqBnErginw3g-1Ci29lpLkrY_2X7Tj77bUL3DnCSSLl_hSnl7iBG-W4yjlhHOBAj7CTEhFB9BI0vQ10aWfYr8bFeejLR-EO3cg-b54mwZjUwWQOLWiWemiG7_ChqCdJARCQmKcczrI1zte5TvWkDS3HNM_h-MGpJkF9eWTe1wqanZnBlrFg8ah2bpUNjA_EAEV4zpgbz1Ln-QQrfvU0OAl9Ymnh11MjrSq9tkYGt5ceHVYDFbyEIx2XcGe34G0p_nd579WOqH-Akyfxn8EmIysgMFEcV18F64O1dJVyX__rgjIkoOISaHiphugfWdwaawj_4SgvwYLi4zxtuKjQK-BPTsRE7EhgydvMPTQfXtyznFyJV1LVJaKAsH2VkiST1XaLRaSZVl4dXilKT3oZMki-Gd1fnY8yuWB8y65RRrV656PMqJje8F94wzipBPsbgSd_myfMjruOo1EOrlvyPiQNcT6nePTfIJiDa7m3dH4osYiNFdBJ5zxbF_5TbLsQHnZ72PYlKl_RCvR0N40Q8BU1kfLnaOCtFgeNLJzcunXtrV3PC1mC85ES7CqEF7R3QEF5Rw0LdvWD9eJggo85VHwIFIFBBUZfLyN2eHXnZAnVu-ZkirJFrB9iam3K_h1V-apGiRfabM5mllhgH_XT1Mwuto3LR3mkyebPOG-u5bmmqQV_oZKfD26fgPN4KpRbJ8FadUGLI-ifjQi0DlWeNc7xh6_jwMWka4qP2AaBGi6lLRp0p7_h1y1lD1-6i-sm0TL18wy7DGHrEHik2zveTa67fU4SkbrM4Y3po3p60HL8k1yhJkSAwtbKSL_eACH3XnuFcyi6lqYbzKSxOe2lJmdoSXwxHy96_R8siqc2WpxXDI3Q3EQYPZQeXe3N2dBb-_7ZkZ5E93ZsZQjXhP5ls8pnq9ZnVw2ztP5eIiImTxnO3hB_Uj0mbFuFM0CHps22w8rmkjpYXmAloxgxYrITHURCdXHvmyMY16YCyawCTChvIxiWr52KwcmXYCJXUHaeGUP78tpLD-U1PnWRW-M_YNL0t9DaGKfq1zs0_6-QGLoHgo6ZpStyvU9Bw63pWzuJ0xFHxRll79z2xbYCYn5OkXsVy4VR3edGHk99uFzmtBU3ix5CSWVhAR8WPer-EWdK93_4Bi3D9jXzRpTHVzX1gsshYc8nMhPcsf28JmKWLAt3DXJz32dsy4d9QaKImbr2HxTEdQyAgxxvdBXuklI7FLDkEaAOswts76FhQToexqfXs_1MBqghXx662o9AO1Ur192hKuY83mBHmi8iWYrDkkCqbay1nER9r2Exymv9EGN8MA2iPKKQn-TZ-1JHcX44yikWhdBBw_B6JDVPsoeenhViUuf9eRorMX2JQ1AVVuYg9tagoDHVlr7GZz_kmItpvNgGWWhQd4nanDNcIyoNeacdDWPBYh3frCmwSILtZtPioS7j0GQd1eryNr-EBALaLtNeE_kfoha86SlfONrv2WtFfGLXKnWskCGxad_DVvuMg2GWlqOSsU__JZea_HK-_fDvTWnyscsn4YdXcIUDqMDWIj6t3bkBNQFzF6pcnrW368F3r0hoQji6J_ifboRWClgSDSmRL1aak_5apcXAJA8pVYsYeiW5ZU6wbcjHMw6YfK_kjGeGPFfLgvnqoApEzy7ges9zefMlT18P00bpaNR1hT9_SHMJzuKVe3a6zKllc4KLZjnfTKRdMgXH-vXC9-k_pOs_fOESIrpjR-A_Y4pPVMcY7VxpRmU2IUFTy_hFkt7qWKnuSuddvLzaDnqU738Ibfd94jZmXGUHAhEefJy2YCgfBg1SELwb6u_P8Qir406DOf-Ns6cA7R6kUx_IpwI_Pbh-Rr7duDiuKHbVfCp5tKfxDRadDzW11y9FsrxnA65yfgQoOAgYci23MiqdwqNOAW7gZN1MkoKdJ62J49xiFwIDSMUzO-meJspCqUbpGE61_29QPOBpHZcFj_cyKE61o9kikMzLy7LDo71d5Z8PoGDSehTzd2iWZyF4xN_FCypsdsM4d3FESuwwBqXM2NVrP9IxENkbUQx_TY24gCW8DtndKwy5-p3tFw8TWrdwvDPgeR6-2Facrld3wY-Urvzx43Q169zdECcg-1cXyAbKqR2pueoNCMSz1XdMLiCcbnYEHUxyyC9sNcwKtR928QrR4ul6d0ZNfqLc2D9jTgxhKU-HijC-CIfJHbXKFhlFKNc9t1yVUwdC13Krst24sDJBUHXR7TiAK-bYKttK1yYVMfyZ0sUcYUJSbxnCgTSYJskrjqXt4YBmre2CVgVFB6c32d385t7fJAR0142_n1YY3yMsjjOj6ZYKOGx42isvZ67n-3lODMNJ",
  "id": "rs_0ed329b206099547016ab4a081be3c87d09731f26e32b10a43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.24,\"right_z\":0.14,\"right_gripper\":1,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185},\"note\":\"All three bottles are lying on their sides. I’m moving above the rightmost bottle’s capped end so I can lift it by the neck and let the body swing upright.\"}",
  "call_id": "call_7sPxGUlv1XMVr604GaoU8HFW",
  "id": "fc_0ed329b206099547016ab4a08adfc887d0a8ad339a133b46aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7sPxGUlv1XMVr604GaoU8HFW",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7982, 0.6159, -0.3847, -0.0227, -0.0292, 0.9985, 0.6559, 1.8267, 1.2049, -0.1127, 0.4976, 0.334, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1833 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9985 right_x=0.4361 right_y=0.2338 right_z=0.1226 right_yaw=0.0411 right_pitch=-0.0603 right_roll=-0.0442 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.7411, -0.0073, -0.0415, -0.0415, 0.1983, -9.4154, 9.0735, 1.7314, 0.5104, 0.3053, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbfb4d3f13151a2f690761ede832a3c9cf27085b49defa68f7622132b558824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0d96ec7cfaa7f9767620622b39da4cee734b456e5bf600fda5f9263af7b097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0eb656cee76940bcd0d3d8e5001c8296ba941e6d9dbfbc28ea352194697ab4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 11.3 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 6 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6102, -0.3763, -0.0227, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3847, -0.0231, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0031 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -1.4564, 9.7162, 1.7705, -0.0317, 0.1197, -0.1441, -0.8821, -1.1419, 10.2906, 1.8095, -0.0366, 0.2076, -0.2076]",
      "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]: [-0.02, 0.7982, 0.6159, -0.3847, -0.0227, -0.0292, 0.9985, 0.6559, 1.8267, 1.2049, -0.1127, 0.4976, 0.334, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1833 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9985 right_x=0.4361 right_y=0.2338 right_z=0.1226 right_yaw=0.0411 right_pitch=-0.0603 right_roll=-0.0442 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.7411, -0.0073, -0.0415, -0.0415, 0.1983, -9.4154, 9.0735, 1.7314, 0.5104, 0.3053, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccbfb4d3f13151a2f690761ede832a3c9cf27085b49defa68f7622132b558824",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0d96ec7cfaa7f9767620622b39da4cee734b456e5bf600fda5f9263af7b097",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0eb656cee76940bcd0d3d8e5001c8296ba941e6d9dbfbc28ea352194697ab4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKCYEDZV8HVlfwmvVn8dmBk27cARkQyP_bJerVS8y9k9TNHvq4A2dZqjfMyiOO54JczQMY1GTmiND4gM23BRPl17_YkEHUep0LqdMxBNg5jxJ94X27c3Bbwq_nsETbKMnJMUgk7wF6TDTHSUiJNoDusRq9kvYNdjOvAsiMHk7lZlMLWPzTH-zo_PaFNK9NTrDYNHmoifwOC_lSU8XbN8nzsSinddHnt6s-JtTJooe6IzNIsohBKFuuQjajvc_tIcihXijI1HOYvmLnKAqT4mvNRgJFfHji7bFPWSK8kBCATUABh7cr0wZ8tOXMSUTsVT1fSvir5yqQVOT8WScXKCvvL0TnRjozDTFiz2_Uxl5xpdukwzfP4iGGwYhC0M8jo_5L1rpfrQT_EouiRaFR5jZBA1nxTh2yCtkskyGxEoM6ANOz09rvEX7EmB_KEFzQXfvGO09I6cMpQ_JUFC6IpuzEdX21oNgk8H0n_gYRMP7UuGXcaFi5fEOYj8z4ne3wjT4hl8AyuzFJMoviA32A2-T_t_Oz1jztDzQK_jZsssmOLp1m2TplmC3M79-m__iUdnzZXwkDO-KoA3pMyJsv24KP5Cyx26IPiHx3cPDEM_SkDkjqYjOMANJSo2ebXxHqlaZvaRvwbMaPxWFQm0BLybZJ4igJBagj9IGVFY0Ji-twEz-fgJbTvx4vBqsuc2i7XM5RjqzA-As2jqfSGwnyaAt6UZN4hPSJoA8Kav_qiznxqJ5cBAOzd0PPTBHegzdMnlUZfuH0uo9ZzXZ_5ZfOXcKU9LzQLUUhe02eQXZgytrHLau8PZ2QuxZVGWMBJ7d2nTugymzcSC91YfjXLvSJ6v1t2uLDVJQXCOKHGk0Iumo5J5a6ePnBG7KwrTelt9K7oSmsjMUoR-WrtXlHLiUgPCmMHhXVWhWz5bCcQLhmBZD8SJvASneRIH3YBfbyMeikYKpnFbl9FTnWQIQgsCZgUWlWVtzE-8wrFeTSfU0JrsLLh3OaRsbtnN5MMt2UL9Z-0K22khq0diY6WMBjB4GQLxf2nKgjxmKYZrk_lJfBdijm1Qn9RKD5NKyGiNfszURQlBM-YTXulaoSZYpPP3lDLQ80psKNQ1Brvr3NaR0Ep6tYDEe7UbV5ldz3Mu6yjfQFNJLkbIThd6tArj91wXw0zleoUDlbDnhuhLrd-t0eV6EJ-boJurGrQMFTG2NOv7VP_j5qbpZbEhKpCOwS7OYoxCOo_KvbLvqdt8jzLqBD3j2x340JQIg2v7wnjeFSiooK4YtJKKPG08ZS4cG2_c0P7x5-4O9ywanO89gezflqedlI-hBjhjO__BNBxmYuaC9mam5ISDawiTDXZsAht5dEluWYiFA8wykpsvC8TipOVEAfNH0OXTqAP3HjdZkrp8UE_cNUQ9Z2HZF1QsizG1_UcCBg8cLwzY5mRVb3k8zySlDaHtAtIgNERYTemBNq0bD-W59fzp5QNO6D9dkucVNaFWoWkEy2Zq4n3DseGhFcLh9Yy5Tjtu-pWzAkT5JSf8UZ8TC9tMyQvqkLynJW_F6uEgsOzyZU4LGNd7ycBTfXUPgkn_W-KQIb9dokc2DGQOOL2Rj6kEZ7uVFBzsrikNlyxIVZJcMyP0FH9oHVCJ1iSRjfX5m_BVlByg3-Xm_5kcugBRaHR3fZVHkrpp9lZnWohopTwpjFrlQ6acqh_WFvOHGGldd5Jj-YHOz4Zi5GoRP3AATHhWoa2baMgNN1sEZunUckvMTbGtV263BAqXtzg5TBEeEF8cjgW4Xy0ytrR8gm5b_IWIxjo8ZZ3kJe45ubD0bZ5ejSNnoaaxI-uBEyJrC7l_V5LIIq0u2hqfANyfGVRopf-rDUbUscjOYQjxbXuPRcOexjhvj46TJOFvUoxidpRa2tz0WsOL228Ke_wI6uJEMHGf0pQ6istaGuf5ieO03RTWPvgggmS8sPTP-AQMBptjFUXZs87BGca5dAbP3Ie78ma9eRYmE8lB2OpzUj03Lz-jY5uJLs8Tw40dpTAZHK8ndgBoXrYJHqHNk8Br9Yo-GdA7l94J4SY0IF0ksPJz0mqQYAbWkUTZH0pjQo-SsyV2O9Py9EY7er-hZw45OwjK8cXuM_Bcl5tKzFyK5TNNBj57BGPdrzr-4bVsjMpf4YgJ2ddFZWMMlKKytro5GCGBbNxOIZ6SZInZRpa4AvbZ5KU6_UlhMPjKQ86ZrMvpIlr_7-d8wHl8Pw6qI0sPghi4inLXPERKYbJ_30PC6EhTUij919peCdo8wQLOjODw4y3bc_n0Tisus55T5KWGC_1dAZAbAnC6JvakCTtuga1J8Bcq7Des80Lx0a5lX22bmBrbu3QvFliuqcRRCQVZZdwBuBZztASTR-LgUHZjZGZ5Hnv1K-5ZulWtoSLiR9D2b-sDr5XgzB0GZjRgjvyXXXj7OGibhKFrYFc45y7XTiIDZJ1rIAISOad49n8CzkhLv5hQLacyqnaB4_bQgol4V1G4UafOXg1pYB0i0csgv0nfdNA1fG0bk2NduFP4fI6OTER-foQi2_YDqYhV2xFPC5nOBNtQIkNv5wjKnCzz2WQNkTVTdnRZH45T-Xuv9_-cxWaLn2k4tFMDDFRL0NMEZSxsb3XQRIpfrGPleY6pFy_jIpZt5Sje0sy97Tk0o8LlHKpY--u587i9Ij3n8QFYuAW_btcQ3Z79kjkpM0pUAf3mtJazgppor_oSKMGS3mmDaxvas5r4VTFYWO9WUbarh0If76cGsQRX-hi4isEpe7jz5BJU8mtSE60R6FuoppXP40VJi_oRKu5L8MJrSKxFC_30LoHD_tyOTOQsCGWLxAG959QS2-jIegeKJ0JwMK2zfpcuzhAOrZBYcIViyDj4eOx5ZMyy_4q8PsWbyd1V1t3571i1zcymshqdMtbc1JNaDATdEXfIkW_7QOXKPtkr5HF6QtjFfwH38cQSoJcnPxj6vqTfyWMaVPFvIusYbaOT1XhpvF1zqjgboOljG-hugF9B6F-yfDSUu07eanfqNkyCHel4nO7A1Y06GWeqJJR_MltA-YG3_GrxQlllahOuO9kKyVhb5MWDun0Hy6gzIL3NAWqg6J3lIqUVyZz8Vf9t3wSqRVRrlc6Jsnn1GBOv4UO5du5XXmOt20KuiIARMM8jzJTqdWXwkMsz-dP2uCYpQHtZPCn_sqoVCKfajH44RhHkAPwz",
  "id": "rs_0ed329b206099547016ab4a0908d6087d0b2e6d354c4d80f39",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.23,\"right_z\":0.045},\"note\":\"The right wrist camera shows the cap just right of the jaw center. I’m lowering toward the neck while moving slightly forward and right to align the pinch.\"}",
  "call_id": "call_8iQzh9FHo7Ml0QF5dQvvYK7L",
  "id": "fc_0ed329b206099547016ab4a097b32c87d084e89041fc2fc564",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8iQzh9FHo7Ml0QF5dQvvYK7L",
  "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]: [-0.02, 0.7982, 0.6155, -0.3939, -0.0231, -0.0292, 0.9984, 0.6041, 2.0251, 1.0992, 0.2188, 0.4595, 0.2981, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1812 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0001 left_gripper=0.9984 right_x=0.458 right_y=0.2252 right_z=0.0413 right_yaw=0.0393 right_pitch=-0.0519 right_roll=-0.037 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.6615, 6.4752, 1.873, -0.022, -0.0611, -0.022, -0.7453, -9.0188, 6.3658, 1.7607, 0.0317, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa81207ae1a5854bbd39434c890a6bb3c4da7522ee1d7cb87591626132cc8244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a24cd70ae97c46c5c5a45dced27ee93c1f7de686ba9c0f63d6e251b2f06b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7d72d6f890def4d0f72aaf18e2c50ad3be7f0bc1ea7738f1e309c143de103",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 3 attempt 0 · /responses · status 200 · 4.437 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]: [-0.02, 0.7982, 0.6159, -0.3847, -0.0227, -0.0292, 0.9985, 0.6559, 1.8267, 1.2049, -0.1127, 0.4976, 0.334, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1833 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9985 right_x=0.4361 right_y=0.2338 right_z=0.1226 right_yaw=0.0411 right_pitch=-0.0603 right_roll=-0.0442 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.7411, -0.0073, -0.0415, -0.0415, 0.1983, -9.4154, 9.0735, 1.7314, 0.5104, 0.3053, -0.2076]",
      "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]: [-0.02, 0.7982, 0.6155, -0.3939, -0.0231, -0.0292, 0.9984, 0.6041, 2.0251, 1.0992, 0.2188, 0.4595, 0.2981, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1812 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0001 left_gripper=0.9984 right_x=0.458 right_y=0.2252 right_z=0.0413 right_yaw=0.0393 right_pitch=-0.0519 right_roll=-0.037 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.6615, 6.4752, 1.873, -0.022, -0.0611, -0.022, -0.7453, -9.0188, 6.3658, 1.7607, 0.0317, 0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa81207ae1a5854bbd39434c890a6bb3c4da7522ee1d7cb87591626132cc8244",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a24cd70ae97c46c5c5a45dced27ee93c1f7de686ba9c0f63d6e251b2f06b95",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1c7d72d6f890def4d0f72aaf18e2c50ad3be7f0bc1ea7738f1e309c143de103",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCkbwCEOTu0-FI11pP80uiIEKlo-Wm1asDGP3Zx9j4lJ5hP3VTn61Lb4qWRIP4pdRN51QBNqSktWakpiqhFngIw_9UNuIDaljAu6uCz205Nf0V25BXVb0_U-KtpexY3ZH_0LxSidDRficsNeD5ubwZVRmKqZ7cyUFPwdXzt7akD_q-n5tcxA7sAccWBeMoUQMXJPrrAR5Whyn-fTP7D8vgOqxxI0q7yvdxwF-ZnmLlo4C8SdrBr1OtGoY8_OW4o0kaLKMB_cFluHEb2JDDOCEIcMOkxh70otPeR07Gv6tRq-L5Dbd6Vpq5dWROXEGcm9CjtvBcNg-FI0Yg6x35xfwpwuw9NhWDFnC94fiMuMxXL1KctVXDaCWIYPvN30tEFBgdCDtegAwIiOLyG_QesgbishrNJXGsabJSsLkKOv8LttLC4qY2Yp2XZL1PJtHo9WnXIOBFN-SiC1HEw_qCsr8hgoHPYgJdg7o-QuDhvWCKvatZYmCP03wJERGQZaeT8wbJX4tBEbKfN07NvOP_upmvlG6gZ0eOR6pS3gfmA3osE6dIoHFRfyUjWztjlZpTVEXko6BLBQjSFgdWevyp5sE3P7wjJfYZaE2AgQUyvZwMZXKH2KAbp7m2dvomNAj7mkIJrwvEed9qhCG1ejABp9ms6ha9RY_kznkpdCNpSda35YPZ9xE0-x3gAIVSrz4qWmU9wKd5zLBHgmB-5bo0BIXeoUL-dpURCw3NewMFmj0x-q9iMjz7pwpFKMYUIS2tS0ozV7bTDL2ISYJO9IjI5oRSW5fgOFPtRyl0qNVDjh19Hz5CAUUHT0lyQQbGK-oCbEZe0KC0t4d1MtvUouAjzkcLMrFDhRq3tKAUrayLIkkyxEzcConDMAaKpZlpcl_oFe7FPennRpORk3hA99jaQY3xyQiDqJ0WUv-WO_eULh5gESwUGiSlsyEWJvh4E8MP4Q4u_JUGsIFF7J2RbXmsRmWmLHai1vwqCkzdM3RCtQliGS7pTff9RG2i70mj2Ef9uYp7y73d4euE_geJ4d1dNG6aqNAifiBBz2zXtMywYPJt_WwKD7k6rnbOFDf1nqeJnU9dbgi20mk4ee8PkTQnnUDUIf90yPPaFPIK7v22GOZZNgxc_yd-2lIQsoBd1Jne0OCaI0wuPRL9D30b4wb1Ifsn69EvyGJmYCG8kXpIqQVdVJ46jDcyp-Wu8qxVaNGWjanDWW9MQzwq8bfcMVFqF5obyGQDA4bKNiqryK0MaXhLZGli5KDpHMYPOcXE6rfsasOzeDGad9TUzIhkmlj3VhDwgNG1LeZvccJWbIHc6OBIe6kXURONNTX3YKItHTOQsoupa1COoLHxy52OZVSj1QTlXvcJSMWPwaSL6zIWjO2ikBn1ecsBjjwFw3Jiw8JszRnVNMWc_CCGF7uLeodtXTzF067P0DkLZBceCoqN9nf9S-HgF49II8-sWCtD-QwaKVEKEjAeirVzNkMSP35RaFltu9lmTPr_rOQF2BhQEqR192IogYOD4EcVSGKsMOS6iPQJD6IKI8DOLk5D5w0ZcwAn05L2GLaMRJ2gSevZ0_bSRdlzAhRteaayeHyRtLl1YzuUNUOms9MP9Udb2i3gtzgjZx-Usx6yDqQEAuFhHl-mvqaIHRXVM5JXJxW3EKjkpwpfWG0Yh4iGuio7zN_gkFkrbiFucfou9tL410OnJ1X3pmdRKkwwZXld65nIpuKPbKRz97sgZidSRPvFBYgy87wd116nU__ZrTxCh8RgrO_i13rGsp3GW8UyO3dXcXRgDn-yj8ycXZfr8vaLIstIQJjxKo5FtLzDnGM5LAJLyhyrEKOGZgEL8foITrH47lNM8NOO-4kcxnSbxymhTSEHMkmTD-MqsyqbpNYJIAxyAZPLKQDu_JUFy3jo_YhzIDUqbr6AS7OBbNhW4V0fauwV6TQfi6JLMgQyirlLXvEtXVwSP3OPYSTcA-sS70dflwztq4iS4Q9_G9pDpJHZeJ_NRmtAKiYD9zn2rsrEKbeyqWutCEvrruafzRg5Oo9apphm3WrU3MWFx2g64Iuzxx_QcHbQdznEA_c3lhfp8tZ9qj5nKtYT8xk_LJiRfgr8zlYG-XBGSBUIlbdUW6-VZy5rW00Kvv3MEvNSsj0KhG6akYbOap05kYvufg4n-JSXzM5QeQRFbjtfc0NseBzaoYfRstpZuMaHMK5PCeRPXiNYLEmdUr8PEnxJVr5vj7c3Rg5QwNEDyugyaSG7ukdpMp4EPwJWPYf4rxNmulByF2SIFalID3eO5KCzHBlnwRuUB4vNTpB6_662gyold7hmfmCLpef7oULnKjrzcVkKEyfespNYR9LgV5FVTaK7wwrAZ6q5xp1edaWUzhDY3tfIy2Ka-rVQlAUEmRW0JS6UToo6T3dkctd2CHOoa7w83JJE2yy6_vI5Jsqh7bW6_6Yo85DliZ3POHVECE7m0P7PyRRl3GE8aY5PiJzQSYyUmoWtuyRop181FRAcXEZL9N57a6zBV8ot-s3kuw3Y_TxUrm05qtg97Rf1XpsOxuMq-A-p2L1slp1KFd6aZQRLNSt0O4SrDOOSReYrAUsYDvHyuL4ifFJ11kdW47n8_0LmyqRHbqWoGLwDF3osNF-x2NqkZiy7gvCiLBsG2Xsj1ihy0i7-mFJBoTAsa7kM1i5KPyqC6nY9iVR4MKSgwZs9Df3QPREb83yKnGgmq9whdE_Qv7Ryv7Xf1h52tj6SIPtjhLlzso1yPnqzYNIWQzuSBl7S3VN-fWrTvTRNz_wuiOCkOC3oSIXQBSFDvnCXbgQrRs98ZzrW1jq9I9ogxvIDN3sAb_XIwUvOu3kVCZiYvPHFk0LQZlCNZw8lj_M2CcHzej5PBuqCrqkqBVgPEsJekx3MiLXKhYEH36zShMSHMaKX5uLsbXXRvI-tXVH7FRoiJA4-kzDeXzQGVjLg-XhJSQbMaBhYw8H4ykW632JGTvn8_j7lixbZUL3vhJqH_eavTxI1AK6iueClBbTCqdLhdbSXRkTxnzIw0A4MN7UtTItzZ1kAkRZdEc4i3t6jKsTbA91O1ky6jeEZ2vSwzQzjUJ6k6y_zOHjNHwbYH_rnHOyPMq5PjX88dx5GhV6kV-rgCW9wYYhcCxH6EVrA-toaKm3j_Or9ofkTd3Pd1gDzhgws5dIfKtr4KUeb1rMZ5ZE3_RHevQ7ElcKQzerbbjbMBY17iqWQKf39jr4IVFeQwdmfvVMYhI0ssuwvTBtSK0b0ltUh1P-Lq0GDEGL72lgAq_g-f-fC8WkVaUlCCDb8pBNM06ZM7e6lH6mJkS0ZKZWBVCm7oFeFvkWDETNBSQqYwnHX_OQOlb_QQjeJO3vChfTdij1XxOGMeQaCIsbuBC7F2EMrIKpJhNTFancMj_EKRuHz4ihcetA4TUwsZF2QgdxGbd_Wg-REd43CA0EyCZ-YvGIJ6HpbpiERGTYAMhVq5-YP0I3tzaY1C8LnF7q_NRZoD4BnqSMpVVTNseaSG4NiVJzbvK3EFE7KXUBJ9T0JZ_-GXdpnIOYndef_RAQWFt4o8MkpqyyI3td_It16SJ3amBXq6i0ORQJkF4wUC8HmRR0Lw_LTlocDn5jMyoqmDksVrXg7oM3iL60H2ERdTSxmpSC0niPpob6MRST8c7bW2Bh2cYqTP6HDP8s1EQmpOjtQZiHNbZcRITIAr_nYVeOZVQE3xLc4H0wOvNUh0E301tU-H06_ddG_W-_WgSZmX4O2vWHbEHed9TsrLw1QUf9Sw3CsC9o11o91_thKPuJ0AC8uwuO1ZFotfNu3FkfFOY4MIH7rxH_PFo9NWe8G2DobcjStKvCVTqTPskVwxybMpIbuDwthqPuKKiZ5g0luAYVh9_H9JqdajhKtGgHGeof4HlcAJbiE4NdXz",
  "id": "rs_0ed329b206099547016ab4a09af9e087d09d062668fd785575",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.205,\"right_z\":0.035},\"note\":\"The capped neck is farther forward than the fingertips, while the shoulder is within reach. I’m centering the jaws on the upper body so I can bring the bottle closer if needed.\"}",
  "call_id": "call_XnSebRQSV0LZnqtP1sEJAdRf",
  "id": "fc_0ed329b206099547016ab4a0a38a6087d0bd1487e49f63cc83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XnSebRQSV0LZnqtP1sEJAdRf",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7956, 0.6079, -0.3939, -0.0227, -0.0292, 0.9984, 0.5434, 2.0548, 1.0916, 0.318, 0.4019, 0.2485, 0.9981]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1785 left_yaw=0.0004 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4772 right_y=0.2117 right_z=0.039 right_yaw=0.0525 right_pitch=-0.0169 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -2.0308, 6.5026, 1.9512, -0.0611, -0.0513, -0.0171, -0.9504, -7.4598, 7.6786, 1.9414, 0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c49be5b9d7386ae77c7fff99fc5fff8f290037d30708e873c5ec35ca5fdd084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fd224df31b26f99a9cb6323c3fcc25a13afca30a6f7c1db95ff639c3651837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a112284932c0ae90888e29b325caf872f9c9c693480bbfc95239253f9115a632",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.374 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.6102, -0.3763, -0.0227, -0.0284, 0.9988, -0.0154, 0.7887, 0.6037, -0.3847, -0.0231, -0.0341, 0.9981]\nstate[eef_state]: left_x=0.296 left_y=0.0017 left_z=0.1837 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.2937 right_y=0.0031 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -1.4564, 9.7162, 1.7705, -0.0317, 0.1197, -0.1441, -0.8821, -1.1419, 10.2906, 1.8095, -0.0366, 0.2076, -0.2076]",
      "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]: [-0.02, 0.7982, 0.6155, -0.3939, -0.0231, -0.0292, 0.9984, 0.6041, 2.0251, 1.0992, 0.2188, 0.4595, 0.2981, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1812 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0001 left_gripper=0.9984 right_x=0.458 right_y=0.2252 right_z=0.0413 right_yaw=0.0393 right_pitch=-0.0519 right_roll=-0.037 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.6615, 6.4752, 1.873, -0.022, -0.0611, -0.022, -0.7453, -9.0188, 6.3658, 1.7607, 0.0317, 0.0171, -0.0171]",
      "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]: [-0.02, 0.7956, 0.6079, -0.3939, -0.0227, -0.0292, 0.9984, 0.5434, 2.0548, 1.0916, 0.318, 0.4019, 0.2485, 0.9981]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1785 left_yaw=0.0004 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4772 right_y=0.2117 right_z=0.039 right_yaw=0.0525 right_pitch=-0.0169 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -2.0308, 6.5026, 1.9512, -0.0611, -0.0513, -0.0171, -0.9504, -7.4598, 7.6786, 1.9414, 0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c49be5b9d7386ae77c7fff99fc5fff8f290037d30708e873c5ec35ca5fdd084",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8fd224df31b26f99a9cb6323c3fcc25a13afca30a6f7c1db95ff639c3651837",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a112284932c0ae90888e29b325caf872f9c9c693480bbfc95239253f9115a632",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKCpK3bPHCFeBZMhCLNKM3LbXZNAgvFCdQADZxCj0wc-1ErPy2uCAcz_a3LVf82147ZvIwO2KvdmkGssWfmohNDht4h6Ur8hoFeBvu5DxzppTePEH02aON_oPDA3IdJKleDXJL62mll8EeGZm4tiDSUA8MpOz_KDD3BUNwj_P4FPx_tUEscGlJCPRchF-UDI7gReNmtVfe8eVjJUz3dCivXqvLwL6J9qyVXNP1W4mXbKwm8zvQZAweMCF2d0D8qzs-WPOdXk2gxUoTMlueIE4uPI6WsDFhyGTVox0J4t2Fg1HtMw71-zqNw9gv1fp4r2UgyOY90klluhdA0K9AG7_K602asBtUEe4xYOwW10l09ORYZNBzGxIHPVbsIy8f5B67GkkdBbrEUMAsQNrXIV6voN3MLGPpusSDNseODRC7LE1N1w7O1OtBCfXoUftYB1hRAyCiQiI-dNotT8-Un1BacHkfghUmXTrTndCA7IQTRnh6eOIHMepcjTaSda_0um2XsgPKW76GWTW3e8ElxYKN2hqDaulfdCYubIM-dK8S-6J1aQbviW7tkfU3V_RfehBCSqAoqv2wrixG9nW60vp1B-gocRmLzcceAbu--KFb3Jx5eChCg5HyzWxHQGtleiArZzxwqd144d-PK2yd-gPgh7GXOLENO4kj5_flLY8pkp-cksyq0h_KciKnZvrSrmuFyqLVhHq0pGkVSpBNMygW0Aegd3WFTxSL7ccAsdTbFgJucBNqIUBOp7mZiLnm8s8wqtgD1epHXdCPA9lCH6kLFohSx8Gq75Kc4W47N3sR8uimM6yNn-G8ySf_slrtagKQ1OmiLassOKxkvH2G2WmmxJazyhw3cKyI1_pppRpj_Bfw-0e8hj_IuYqE3IvTNUS5sYa4ea84Tu72tMWrGfB0wbtoaW-qHCAHT9t9Vju-msDKib_g6sf8pf4KhFSOn5gLDc2k0z4pSV5zZc2VUsINKUpSUhV2Fg_lMOEYeNo6yVS9QQWY9zjlrKG7MeMpmqUx1Nb_cfYDDIskWiCvkzNr0sIkct8RxGYvJMmbwwuVrwJwKKbR3-SBI0JVNL9DZg_W8VOPPRkwd9DUJUBB42AzKm1bRtYHWEZarOJ9rk6ZhgkX8F2vHCmMjgOrt1fiXXvr7gq436BTuGcv0sxxfx4pruyJQmtu-KQPUV2uRgDSCiaWnwsXKnPAZInEF5IV-sIgLlNriekmLw8DX8ag5FmyzKHfXEBT-hvWitfvG3U6EyfnG5Je7yh0a_rYJpDVEr-iGTy8lkOtbboqqabhlKOCyIqcslnGsrMvY31e4ghSIalLnYOrON4jZASfwxwPhi0Ct4Gw-y5EGskeIfEnSkQxOELbc9RODZ5AXHZGmS2_KJBcQxiSghDLJwsIRMJG92ko_q-Bpr7qQfpEPZevrMtCpfTU6yZ5dmCOYQ0QaopjwXhUj7o3hXTCKXNffyEsdUCi4L6FXsTHvLxYNjMXxgcPlyZ3VDR97J4NGtjifOGP3WubUqDHZMN46Ex4gQj8UtekCGRSmzNSJrIBGn2E2O39OkRO53niVFmcqbCMKkK2GGN7nRdNV_KJ5Yp49Whmw5O10b",
  "id": "rs_0ed329b206099547016ab4a0a6852487d0a8a7862795196ad4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right bottle’s body is between the open fingertips, but its cap is still beyond them. I’m closing on the body for a short repositioning lift.\"}",
  "call_id": "call_xXNFtUBA6f8CrTwR8xH9zPwy",
  "id": "fc_0ed329b206099547016ab4a0a81dac87d089324f84b71a66dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xXNFtUBA6f8CrTwR8xH9zPwy",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5877, -0.3901, -0.0227, -0.0292, 0.9983, 0.5213, 2.0602, 1.1027, 0.3943, 0.3824, 0.2298, 0.0198]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1718 left_yaw=0.0004 left_pitch=-0.0317 left_roll=0.0 left_gripper=0.9983 right_x=0.4925 right_y=0.211 right_z=0.0544 right_yaw=0.0557 right_pitch=0.051 right_roll=0.0161 right_gripper=0.0198\nstate[joint_eff]: [-0.1299, -1.7709, 6.8991, 1.9365, -0.0562, -0.0513, -0.0171, -0.7863, -8.4034, 6.3385, 1.4481, 0.1685, 0.1294, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab4da9e2129a477b2968f6d0f49ffb0f1ac827168ef4ab2c97562446abf12a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54663017a9a98c18cbe8340966994cf2cb2362aafdf990b481ac45bdf8f3055f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98c0a3a610ab1c4615520039d8301fbcf44506dfe2fbfd16378965cbc6b6363",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.164 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]: [-0.02, 0.7982, 0.6159, -0.3847, -0.0227, -0.0292, 0.9985, 0.6559, 1.8267, 1.2049, -0.1127, 0.4976, 0.334, 0.9981]\nstate[eef_state]: left_x=0.2959 left_y=0.0017 left_z=0.1833 left_yaw=0.0004 left_pitch=-0.0072 left_roll=-0.0005 left_gripper=0.9985 right_x=0.4361 right_y=0.2338 right_z=0.1226 right_yaw=0.0411 right_pitch=-0.0603 right_roll=-0.0442 right_gripper=0.9981\nstate[joint_eff]: [-0.1846, -1.5385, 7.0085, 1.7411, -0.0073, -0.0415, -0.0415, 0.1983, -9.4154, 9.0735, 1.7314, 0.5104, 0.3053, -0.2076]",
      "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]: [-0.02, 0.7956, 0.6079, -0.3939, -0.0227, -0.0292, 0.9984, 0.5434, 2.0548, 1.0916, 0.318, 0.4019, 0.2485, 0.9981]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1785 left_yaw=0.0004 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4772 right_y=0.2117 right_z=0.039 right_yaw=0.0525 right_pitch=-0.0169 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -2.0308, 6.5026, 1.9512, -0.0611, -0.0513, -0.0171, -0.9504, -7.4598, 7.6786, 1.9414, 0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7891, 0.5877, -0.3901, -0.0227, -0.0292, 0.9983, 0.5213, 2.0602, 1.1027, 0.3943, 0.3824, 0.2298, 0.0198]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1718 left_yaw=0.0004 left_pitch=-0.0317 left_roll=0.0 left_gripper=0.9983 right_x=0.4925 right_y=0.211 right_z=0.0544 right_yaw=0.0557 right_pitch=0.051 right_roll=0.0161 right_gripper=0.0198\nstate[joint_eff]: [-0.1299, -1.7709, 6.8991, 1.9365, -0.0562, -0.0513, -0.0171, -0.7863, -8.4034, 6.3385, 1.4481, 0.1685, 0.1294, 0.8718]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab4da9e2129a477b2968f6d0f49ffb0f1ac827168ef4ab2c97562446abf12a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54663017a9a98c18cbe8340966994cf2cb2362aafdf990b481ac45bdf8f3055f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f98c0a3a610ab1c4615520039d8301fbcf44506dfe2fbfd16378965cbc6b6363",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKCvbRAxAJ6te-e9gJbniB0wyvqdxwTVSgvAvlZn_nxBkYEdAb0xYoS6utrfrHr4WstNqpHqJ496CEDy0XvhXbBLb1eb-AozaATH0XNQc16XUj72ZG-S4RQZ28tb4PTcGlK_mu4URdTOD6WneFap70HO-Tt_GgN0A7b7NthMLwfmAw9I9GKVKC_bhCX_CRFRW12HimhFpSrrpUmaSPDHMVtyK823bCdpGaCkMRVsWRpVBtc9P6-4j9LkK0vnQuWn68nswVzZ7QznWy9FDivtRjU2pTUsok_74bzPXBiE1htW_k9slWn9tDV_hBJa8Xo6UwduidUpp32Yj3eDsrwfd8RmyrrWY2Y-MCdpD-L4dC24Bv4tGlZMX-v0-ufL1yCJC5AHegFJGu-Rw-o1BmGTCZLorEMQniUzFrCocxOzEj3C7X8XGSkRM2PlApWMuX1WC8iUS92BvygTHjFXrMN9Ig5nhgqm93XDVMhbPiJymwGvsEY05tIYFmHKeinLH3zCrRSThA5mgut6-0lmMzwErWEJ0hQST2q4RUX3w8YSr6qsBPGQ5ERpcdL8ukb4oReSUgSdNyZe7s0HdTUMfk-pFRJkZWu4sryq-fq9h65jn0Glhb5XeXvijtHyA2IdZT7aXlaJg5aXcp9kIKp1fu9QnV-XGzLeVVer3N30qxlJ6QEjSEetAH2DSSP03ph-rJm6s46OrVhhTeRSUvpPbiyx27s1pERmH2i39gGoFdnz_-yXHyyark45TrjVMtILTodNJ5yLBrHa1PA0fuj0sO4pRCd4kiDS-mZzN42zUZtsDqFZuM0bhdtE1ZVRW6fvzz-yKEQbPCzlErfIUQ7Lkgc23QVUJmqzDhQvmd_Xx2AARRjD4k8ocpKGDeMdUpJzq31kDQwECkZZlbBHql7clLkmv-0bSuM0IVQXIWdMaKl8xgelSoe3t3TEnZOmjB12kSGAW5gJ0Gybx-Y-LJVEB9s8tZpugcfNhs12Xzt_3K-Y6GFfF5E3wkz9vOwAWgpff7PZ_LjjyzcBPgRj0xhhnxc7N6h0zqEJ8ebcx41GnUdxCw_doiS0yGQdO-_h-msa7mwZqU0LZ8Va4Vi9yJlUnmlKtFGcO88CuZB53amsm403yBZ418ZenJEj1SKtRIuvANXw5TmR5WuVVt-UGU4QaZvyzjvw6-KlME2axs7wxKyToB_-aDqvbwoah4N9UqnRWNYklVSClEEYBoIrBSQMjg6Or3dSmIVTfSlgV-r3QoWfup67Gw6PQur4vJotcPXj93NGfratGEvxEybPv89f7VD3nwulz3jzmYB310spzg1nYk_9oLiOBN8NJLYs7uGFnr68z367VcJBsWVkIqyoMptDZ5Oq9LgprLELAjl1OiylhjZz6hglcIMy9HogpG8JkTxp7e9ssMlw6CwXDiBovleo8WRHWyBJSwWUjGb6g4aSukQEi_IJ_a8xtmxQQ35e7sVwZzEooeO6rJ8qa3k4cPDrGg04udWhgEiG_iWQzUYDR35ij7kJL_aH2_uCF2Leehy8ciLV3o6hKKvQtccsbLMxWcK6BXVF0kFEkjUUELIkP8YFtOWQfdfbb33fUa_o4o2RLJBn86_c2bBIPWXaqEmkKagxtUkYrPTu6_M8f-9_FjIIP-CzQc8zcQaLNbOy92xg0YXDklITfFjDaUOqAkgH7lg3nTpxVkMn8Wzxyaz2Z4a-qbVQ8qCtejEqWEBlpGpjvgI73cXmYqKUz9hcMs8GFzV46p4yUUzDjut_zWljbFeUMzGP8CfA38G4q4j1G4F9qIhEiUzF94Om3KNpOwAwdbFBhiJoxWQGk5huLUwNnH6aZcB2I0ewR554klHaIejrFNEaE--6wEKK6GFI9saZdyVsZowM2qgc_EMiC7JTn2EqAfUIIaMvOJ7VB58xRo2DAsrI59tdEl3XjpSR7rpGuIT_M4V5jjtm4gayP4r8bYPgMJE=",
  "id": "rs_0ed329b206099547016ab4a0abcfdc87d097b3ce82472a42df",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.2,\"right_z\":0.005,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185},\"note\":\"The gripper closed almost completely, so that was not a secure grasp. I’m reopening and lowering the fingertips to engage the bottle rather than closing above it.\"}",
  "call_id": "call_T4rPKvgorOjYpawjHl7yuusd",
  "id": "fc_0ed329b206099547016ab4a0ae275c87d08d7a23aa715775b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T4rPKvgorOjYpawjHl7yuusd",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7914, 0.5777, -0.3782, -0.0231, -0.0292, 0.9983, 0.5102, 2.1128, 1.0927, 0.4965, 0.3588, 0.2073, 0.9949]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.032 left_roll=0.0002 left_gripper=0.9983 right_x=0.4994 right_y=0.2125 right_z=0.0432 right_yaw=0.0751 right_pitch=0.0819 right_roll=0.0246 right_gripper=0.9949\nstate[joint_eff]: [0.1026, -0.7863, 10.5915, 1.6972, -0.0708, -0.0562, -0.0122, -1.2923, -6.7214, 3.9179, 1.2869, 0.0269, 0.1245, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8abac9d7085cb45172b93698d143cff4a776aacf002cff2729102d67e3d79a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5170caea87488213e69f6c847e37b67953fe3c2aa081a12b4335dde5dfe5aaec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f658fd28b2aefaf275c7891622cd057a5e24ec8343288781f6698979caee7332",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 12.46 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]: [-0.02, 0.7982, 0.6155, -0.3939, -0.0231, -0.0292, 0.9984, 0.6041, 2.0251, 1.0992, 0.2188, 0.4595, 0.2981, 0.9981]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1812 left_yaw=0.0007 left_pitch=-0.0168 left_roll=-0.0001 left_gripper=0.9984 right_x=0.458 right_y=0.2252 right_z=0.0413 right_yaw=0.0393 right_pitch=-0.0519 right_roll=-0.037 right_gripper=0.9981\nstate[joint_eff]: [-0.4034, -1.6615, 6.4752, 1.873, -0.022, -0.0611, -0.022, -0.7453, -9.0188, 6.3658, 1.7607, 0.0317, 0.0171, -0.0171]",
      "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]: [-0.02, 0.7891, 0.5877, -0.3901, -0.0227, -0.0292, 0.9983, 0.5213, 2.0602, 1.1027, 0.3943, 0.3824, 0.2298, 0.0198]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1718 left_yaw=0.0004 left_pitch=-0.0317 left_roll=0.0 left_gripper=0.9983 right_x=0.4925 right_y=0.211 right_z=0.0544 right_yaw=0.0557 right_pitch=0.051 right_roll=0.0161 right_gripper=0.0198\nstate[joint_eff]: [-0.1299, -1.7709, 6.8991, 1.9365, -0.0562, -0.0513, -0.0171, -0.7863, -8.4034, 6.3385, 1.4481, 0.1685, 0.1294, 0.8718]",
      "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]: [-0.02, 0.7914, 0.5777, -0.3782, -0.0231, -0.0292, 0.9983, 0.5102, 2.1128, 1.0927, 0.4965, 0.3588, 0.2073, 0.9949]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.032 left_roll=0.0002 left_gripper=0.9983 right_x=0.4994 right_y=0.2125 right_z=0.0432 right_yaw=0.0751 right_pitch=0.0819 right_roll=0.0246 right_gripper=0.9949\nstate[joint_eff]: [0.1026, -0.7863, 10.5915, 1.6972, -0.0708, -0.0562, -0.0122, -1.2923, -6.7214, 3.9179, 1.2869, 0.0269, 0.1245, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8abac9d7085cb45172b93698d143cff4a776aacf002cff2729102d67e3d79a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5170caea87488213e69f6c847e37b67953fe3c2aa081a12b4335dde5dfe5aaec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f658fd28b2aefaf275c7891622cd057a5e24ec8343288781f6698979caee7332",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_0ed329b206099547016ab4a0b2299887d08b76176818e02476",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.18,\"right_z\":0.015},\"note\":\"The cap is now near the bottom of the wrist view, but sits right of the jaw center. I’m shifting right and slightly back to improve alignment and avoid the arm’s low-height reach limit.\"}",
  "call_id": "call_L5UYV0eUMPcIXStEesOXHQG6",
  "id": "fc_0ed329b206099547016ab4a0b4875487d0b739288f6c5df735",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L5UYV0eUMPcIXStEesOXHQG6",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7746, 0.5514, -0.3641, -0.0227, -0.0292, 0.9983, 0.4824, 2.0575, 0.992, 0.5556, 0.3328, 0.1963, 0.9966]\nstate[eef_state]: left_x=0.2891 left_y=0.0018 left_z=0.1644 left_yaw=0.0004 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4872 right_y=0.194 right_z=0.0445 right_yaw=0.0743 right_pitch=0.0895 right_roll=0.0322 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6479, 6.694, 2.0195, -0.0464, -0.0415, -0.0122, -0.4581, -9.1009, 3.8906, 1.116, -0.0708, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addfc62613d3031c09b3d646f45f4b4053ed7f11521c98b1921b244575fbbf85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a522027eb796e4be4aa99af95316ec6985973ae4440e7a06e9445e999fdf94a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903502293c03c5d1e72ed518d3009e6e58b2c422f9e1a9f8120e9a799106558d",
      "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 · 3.995 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]: [-0.02, 0.7956, 0.6079, -0.3939, -0.0227, -0.0292, 0.9984, 0.5434, 2.0548, 1.0916, 0.318, 0.4019, 0.2485, 0.9981]\nstate[eef_state]: left_x=0.2935 left_y=0.0017 left_z=0.1785 left_yaw=0.0004 left_pitch=-0.0217 left_roll=-0.0002 left_gripper=0.9984 right_x=0.4772 right_y=0.2117 right_z=0.039 right_yaw=0.0525 right_pitch=-0.0169 right_roll=-0.0156 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -2.0308, 6.5026, 1.9512, -0.0611, -0.0513, -0.0171, -0.9504, -7.4598, 7.6786, 1.9414, 0.0562, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7914, 0.5777, -0.3782, -0.0231, -0.0292, 0.9983, 0.5102, 2.1128, 1.0927, 0.4965, 0.3588, 0.2073, 0.9949]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.032 left_roll=0.0002 left_gripper=0.9983 right_x=0.4994 right_y=0.2125 right_z=0.0432 right_yaw=0.0751 right_pitch=0.0819 right_roll=0.0246 right_gripper=0.9949\nstate[joint_eff]: [0.1026, -0.7863, 10.5915, 1.6972, -0.0708, -0.0562, -0.0122, -1.2923, -6.7214, 3.9179, 1.2869, 0.0269, 0.1245, -0.2613]\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 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7746, 0.5514, -0.3641, -0.0227, -0.0292, 0.9983, 0.4824, 2.0575, 0.992, 0.5556, 0.3328, 0.1963, 0.9966]\nstate[eef_state]: left_x=0.2891 left_y=0.0018 left_z=0.1644 left_yaw=0.0004 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4872 right_y=0.194 right_z=0.0445 right_yaw=0.0743 right_pitch=0.0895 right_roll=0.0322 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6479, 6.694, 2.0195, -0.0464, -0.0415, -0.0122, -0.4581, -9.1009, 3.8906, 1.116, -0.0708, -0.0659, 0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:addfc62613d3031c09b3d646f45f4b4053ed7f11521c98b1921b244575fbbf85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a522027eb796e4be4aa99af95316ec6985973ae4440e7a06e9445e999fdf94a1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903502293c03c5d1e72ed518d3009e6e58b2c422f9e1a9f8120e9a799106558d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKDCWPsYb5Zb0tcgbaKaDF9iJ8brrPcVuxjY69eY7QpuJYbplfG40_NBdq7N6qexXrUQTBGL8fMODGXvHJkEHzEDRkVyPZbgA0lR07oc9jh52KimW8jOOEsDMKH9hkduXE9V-uWb1qKmm3mpmVfLCiWuCaIE_gkDnRVyCew_ERBrXBrduNKWH8AmOH0gwlpFgPiwPZZmii8RparAfP-4HqXh_Bvjj1S0NhFbybCoO8lvdOi2RNUX4mYmdSpTckHjl_MuI9DUbLfuWaHe0zye5GNEDP4uCLOW_ylxvnDgOtN5Anspp1Dtst-KuHUsjeaddTt3QOB0sZGtwzKRdQ7iKlINFZGdUhhwDZ3PDsfnhzO8_u-ojvw5iCsQBJz8n04fHRYR3JxY2gTbyMkBLkAIvpv3PJs3eYF-Dg9G0847zH14uIUECWGuh1O6iozGIiLUbC8EnnOziI0DPwPMnh8nZSJNMulJSwj6TZKA76s09beRXv14aSPNkd_oVMD58WFe6WdPjf82q2YtYy7n5vbJlpNqq-XwnprTi-d2FyIy40DmIIJ8BAigpsGHN12Ex5lzcBlLbvHtMO0ynEvG7QyCXXb52-GlDFfK05skNDpH6Y9_Jdd5uAl0RO_Xp91YU7Wr1knhYiUcQFPSNKgezFT2_kMk0V7db4B3GpDDlY72Q-D423SD7dnEVFU6FGc2K85zUOWRlLQ90mcv9FrgjLsm8dnYUAnf9627zNneZKylTRdcoJAAz3CP_DKgGEyMj-XUay3a2qpAx3zU5MN0JfZ0mjhbrb5bu2mLyVh6fmg0HdDSCstjEyxPoOVuSE-DiX_sMx8Hf7BOrb9FsEVXhGszTU0_48AUfjz4Yn6KLsdJ4zNJNaKgaHTS7EuYofUCgk1hRo7AOFsJmoWcE58uuqMN6099rM1qbl1leTWddIXw8uoQIFwDeeAJUwNxoAKcK7Logu1wkz0VsM3J69VXAxZ8OPOC-V1D4CM2mqodxsoEqEG1x3CXuYNtnMbiVluVZtBZYjYKgU82JmrCGUwprlykqFFWWh4QAOwmWcNBH5RjriTiWiTt8SKKNFaS-3Tn3WKwq0UBxd3h46cTrx0Gz5lRTfi_8WJP9xLhTyNoB8PEeeFefT8Y9hp9yhJAgKVO-Xc3GYPhN0IJBv_KgkdiTo95bvX48UMMwvzfiy4BxGz6pDpDURoJFuohQs2TMre_L-MMzLgBZM8LUJTkBuWB-GxaJOUjydrfzakuvFYwn_df-ZwlUdsAojhFXnPGY2VW4vxwVN-i7UYXRvXNmkFRMCIei2zZIBJnG_cd1DGDvK78yEE5ZCPHwrLUFGzJqGNWo6ZzjtrSUb92KEfmsjrk0mm_uzIHQRn0z6NOSWKDnxtTpYIVtijU3B0pocslG5VyrXFLwajXw8Ra8DDuiUYOrOvi46mNprT19usg7F5wZEw98PSf7mFoBkIw8Z3-dLR3vvxr6jfHF1RwgVjG3Pts7-mFrBe54amOVTDCmhU28Fy6v2odvuZxljwShWg5poD7Rkk9SyBqplugnuoNMtA_aLL5xg3xdQJ1lIQzkClVzsMCjHNrDMNoA4tIQbGIB4UH8arzKg1wmRvsqmr_2LHpQWFw-N_XFt-q7Vx1fEyO0aJJhOcvov8efLID1lDFgyxfNjI7lfnPwcmfmIHxuHZLJhmc8leQx0nZ-5OXG3zbahIPF3Hl0jeCrRe6EJRs0JICW8OzmSbkbugxa_r_yXK5tF8gpjLOk3J3FszHuMvzv5Wc64iSNcL8Z6kU0plkZI7d6sNVMSXlAcDZHm05sVGOCFscLr9kxLa-w6na5hhmf7jJZ11cW97RnwHcobsO_GJKbVBLsY-U8pd_xVvRfIszKDVVQgOH0JdjmHp1MRUiwlSL6NoaLeYmiTB9H4nAO0dzOLBb0m3srGlVTrTLYk-A20W7mjmFJ6AcIY_Yt-C_8U_nG3uKdfwMZ5Q22tu1M48CXNiSi8szLvLY3It-7u83jEfQFPOacT5Vaj_swLWmLjp6sfbOkboSDCerGYPzKTlCH4RHoFq0DuXAVU4qR4bBTW0Emc34EwjebcncrvH45IJ2Vl_ulm5ESuX_gX-C-jKX-3hfY20sUtrvah9Uoj5KI2CrgKKaWZYnnidXV3R9sJyKdd0kry3WzEt7d0O2z93SB1MKv8DJdaxdIPwMiItF2sXXpxci1HW2zFQPGNcZOiFhYmHoEs7wX719zmwYPcNhl2ibx5xPiyD2jvvpHzxjLzAMZxh28PWLrM4olv2iAPKNKEK1of9heEIndGjYJ0bpyext2qwd9nek64DgtgiuG5FRpQ3Pk73TGYXkSFMFJcUsIOQX3ykatwTlDq7H2-jg98SGMse-_IVJ9C0FwMzl8ttuQfjDzS8z1AebMAsr2qw-erTZCKD9sZv-ZUMWOW4ipbaDBV7HtWHmt0kiFsoHotdEs7TGMGUZfEUPkbewqcGw7RGp_7oq836Y9oZD84rAXmoXAtz7uaKIlc2kTfJQ5OWlIUwbeom_HcqtkJVRXnamx84M7MqHy8BUnJJEHavFnjVu0EmyKiPlY3nasDTUugoIb8_9cyBHGonR7jx6pXFUlsoMZ2DxAsB_aoKNrE7L03HrwNZxsvvqaqH8KA4lOC5PP_-crjwsDAAKURW9JT-BvRc3Zic9y86M9pNMYPkbdY_whk3f45Z4QWEg7vCTTBn8cdft0Uks0NbG0eVsaW9S6i9KDZO01NAjaDydCnrtQHiNGvuTIJKgZlwgAy7BAyUZr1F_-n5jRFYV96DsC6_ybyp056Hg_BcL7bGD9hes6MClaZQtgmYkolIDft4BeP4CeG1lIbw9OKDGjAZH5O5RXv7s0iTJwNPYOXbGVvIcXuWT3bf1xxSqzkfL4lbKpc2FqdtBD71EgW6rc5WcX7gjOWkO3kKyVyb4iJuTkJTvTBt3GER1YSuhRe9Rx0g625hTo1dcPalNHPzjjWeWVIXmaq7Qc-TfOf2uOwj80Vy0yxkbyaqsOna6NHJfCTRBNadJTfi4cHJdON5Tx2SDqiT3a0KsEHGNjYZqobah61O_2CXrWIqDYxo-c3IamD-QrHUByLNBOfzIQ_YZThHWl0G5GD1T0E1oH-G4LEcI25Fx-5xBgAzMDkhnlvUNYXmgekqXSkh6Rm1Os0fRhyAuqdRi-U6i6xzTtgBHcvo8Fsiqf36bk6WHaOQmooyVxtwX-ssIOneYoyIupZCW-VTPZ0lgN_hsm64tQMUpIlKbEHA72hLSzaVG4wR5eT0dwjNA-rDka8REPxv5xl7BtKkZ5VZLVYFc0f9uD2_-kWQBdxlSs2Lt5q_dJbAVSPNJjkuasnZrRPyUltQaOXiQFVk1vWL8oZ--qMLR7WOMx0G-e5-DeN-pbxsezaScoJ_e1N5Usy0rw_cHg4BLAIIIoe4cLe0CJKdWA0-dKW4LgAWaeVlbTCQUjcYnsAi9mqavnZAm1kFvmNvXeXg0RyGFQccwp02wO-vh5mwaU6yOEneaMRTQ3Qkh64452jJPlEKG0TupYHguytf6OXRf_AMtAGINQ9BCJ8EKpEWPtHxujTh2_MFogwhHBSlgSZbBYKEFXDOet1a1TdXpb5dXJSF24eTuKKr8yHGBIv6BJQ4iP1fp_UbjL69ch0N0bGMx0YrLfQ8sD2gX4kP06syGbHBYsJ-CjweYvLI6yTVlyLIFHBMhjSksFvmAxGIEPLUY8gAMNnt2QGulZIervjh4QGHFbKqVRUyuJIwYv8afqjG88VkKcQgBEYY0It2Hs3_u_sEjT6JZJemf9z7gQHzOgIPnnmq38fyE-bR_hvhwB0fWconX83mBPzBhKVzSdEDuCq_thSkfUE2XOxbyVp--h7GzKMrt8H6jl-58_HP1GNydKuDuf4mDBj8fcFphVYHddLp2TDFkWABEe1UBWAJ-ZkVrjGgUdsNSnnitHvyid6Y5Ra7Dup7syC9Vb5CCkzyiNrFXM95aWsmAiN9cGlbsd_dt0cP8UxKDaIZm55w=",
  "id": "rs_0ed329b206099547016ab4a0b7792c87d0958be079a4335662",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.2,\"right_z\":0.025},\"note\":\"The arm is staying several centimeters above the requested height at this long reach. I’m moving back to grasp the nearer, thicker part of the bottle, where the arm can reach lower.\"}",
  "call_id": "call_fDVuiXuexxd4FdwMZXMrf9Qa",
  "id": "fc_0ed329b206099547016ab4a0c0ef2887d0b97157ce78ca427d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fDVuiXuexxd4FdwMZXMrf9Qa",
  "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]: [-0.02, 0.7624, 0.5308, -0.3485, -0.0231, -0.0292, 0.9983, 0.4652, 2.0476, 0.963, 0.5846, 0.3355, 0.1852, 0.9969]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1615 left_yaw=0.0007 left_pitch=-0.0202 left_roll=-0.0 left_gripper=0.9983 right_x=0.4863 right_y=0.183 right_z=0.0446 right_yaw=0.0606 right_pitch=0.0994 right_roll=0.0251 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.7026, 6.4889, 1.8877, -0.0366, -0.0269, -0.0122, 0.212, -9.1145, 3.412, 1.0867, -0.0904, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6eabbd6da26ab1abc90b9f9032c84409390fb910ce0f6d07ed1d9e433ba938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958065c454f29d28bc0f789968b36512d571c2fac3d6eceee47d74b10e85a1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282411696a73feb1c77cdad7f688cd7f568955cf0dd792e9ba4afcc1317865b5",
      "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 · 5.858 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]: [-0.02, 0.7891, 0.5877, -0.3901, -0.0227, -0.0292, 0.9983, 0.5213, 2.0602, 1.1027, 0.3943, 0.3824, 0.2298, 0.0198]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1718 left_yaw=0.0004 left_pitch=-0.0317 left_roll=0.0 left_gripper=0.9983 right_x=0.4925 right_y=0.211 right_z=0.0544 right_yaw=0.0557 right_pitch=0.051 right_roll=0.0161 right_gripper=0.0198\nstate[joint_eff]: [-0.1299, -1.7709, 6.8991, 1.9365, -0.0562, -0.0513, -0.0171, -0.7863, -8.4034, 6.3385, 1.4481, 0.1685, 0.1294, 0.8718]",
      "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]: [-0.02, 0.7746, 0.5514, -0.3641, -0.0227, -0.0292, 0.9983, 0.4824, 2.0575, 0.992, 0.5556, 0.3328, 0.1963, 0.9966]\nstate[eef_state]: left_x=0.2891 left_y=0.0018 left_z=0.1644 left_yaw=0.0004 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4872 right_y=0.194 right_z=0.0445 right_yaw=0.0743 right_pitch=0.0895 right_roll=0.0322 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6479, 6.694, 2.0195, -0.0464, -0.0415, -0.0122, -0.4581, -9.1009, 3.8906, 1.116, -0.0708, -0.0659, 0.1685]",
      "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]: [-0.02, 0.7624, 0.5308, -0.3485, -0.0231, -0.0292, 0.9983, 0.4652, 2.0476, 0.963, 0.5846, 0.3355, 0.1852, 0.9969]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1615 left_yaw=0.0007 left_pitch=-0.0202 left_roll=-0.0 left_gripper=0.9983 right_x=0.4863 right_y=0.183 right_z=0.0446 right_yaw=0.0606 right_pitch=0.0994 right_roll=0.0251 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.7026, 6.4889, 1.8877, -0.0366, -0.0269, -0.0122, 0.212, -9.1145, 3.412, 1.0867, -0.0904, 0.0073, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6eabbd6da26ab1abc90b9f9032c84409390fb910ce0f6d07ed1d9e433ba938",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:958065c454f29d28bc0f789968b36512d571c2fac3d6eceee47d74b10e85a1ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:282411696a73feb1c77cdad7f688cd7f568955cf0dd792e9ba4afcc1317865b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDGnZD3MHA8LFcdrloFjmWAj-DcM7qXKcs0xJpfCotJml25gPOBTMWd861mope1rz9QK2Jn9YYJU-Lj8jkEe424BcN3MaKPzVk0dIwN98fiLA-cwNGdcwdPcZNEUNwYiUMHZ38GSd0dCE0zxN5Ph8Xnw0Ufjkanc3X-KJIzZa8oM_CafA6vyEIHBlWF15ubtpFLgHRwvV1EnvncVxOV7Yt2zlxGBCsYwcWfuHGev0Ry9-rgrrXkHBYDJLkuhjfovgBqgIlmWyWzD8jVBxQZD6xKTOAsqds_Uk8aUxrfDKch_x8WoKo90kMK_RnVavvRPxa-zk6pRe1W7Al1wRRAdYYkHWhcEg5emDfSonWs-KUkgY0P1c8dgIj9ovivFE1USapHyuziGvMTEfbNji1MJNojxmwbReTFaga4h5y-NHsLEXrbwBNiE08rl07zp6-MXM0GGX41LkkkmTaDOVJozLEbT5jt1bECHfSJvfA_F8gv53K-ywBkYB8tx2iY2bBFqSy9llRfIm4b0a634Ui2IgdIfKTu5VQ5toTlzYlzlhmEPKzfnuQkjeWAkqE2FiCxYtFpj-RGJLVcErWFja8WNkLwmVnrsT_oBf9i4hIA9FBy0-Hh4qpHtO92ewI1KWLKXFBwPtpx_Bro1GgK_Q9jWNYlVpPapXR_-WtYdCgxJHpp5z7pfuIGy5ldf4eY81bJYSSoKi5rDQwKZhDUFFCNsTXFFq5PPt5i48cmPH5cb-cOR-pvI6qM-PyFIX75E01TieyyoIRWU9BpE164UNyHDAbujg47NJJ8DJzjqGG48Jm9PkcaiAUeVUndRhrxQk90ub3eZTyL9N9qzDW0BolUtsHpp7awotJLKvjfgokBn4CgLBM2hayHMcW3UM953x20MbPp5PU-Vp8tn9Ii57IqIkPGCOk8SowmvswXOXqZTmtMkabmhZ55SG4_03WU3J-PdZlbWACbRfUh48VFGM8ebe8GnsRoOmQkyHAY-ZUtCMfxQfk-pqkdLYNqoAGAFxPQ48ONegAgsC8tOm2e0mDAoPTLp9tOFGMxjIR2RxWq_HCd8CHsjdwOR594-tHkT-4XDc0-3xaCF-dbE07hblUitzn2zoxyRQY2Mpzz2FPktYnLRMtzLG_TvajOK1Akt5uJ1vIwY7jt7PknJq-g40oFYi9xm3Gon5dLaJbPOwrVYKsJzQZpyCXqbOECLf6AwK9yaSqugEDHxzpO0QhRh64b4hZ1TZH4LTKnNhAQ9qxOrZYyo0L8YARQhzPvwj7EjIsY-BZMobjmeG00jLITze5gHM9I0cw1x99WQ4Z23O5A75Czyfs3Nu2OiVESsSenmhoUv8ohY14E58D2kPbkctZUzdh7UwYLaqGMr0Fr4-cpTUhX5HfIbaLepy7hZCXD7svpryi6wAkHRqGGzbYQMRESFCfixw==",
  "id": "rs_0ed329b206099547016ab4a0c48f8487d09222c215fb81f0c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.2,\"right_z\":0.15,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185},\"note\":\"The low repositioning command did not track; the arm remains near its extended pose. I’m lifting clear and retracting before making another descent.\"}",
  "call_id": "call_MQ49vVhjsJ3zGkC17BOIMUnE",
  "id": "fc_0ed329b206099547016ab4a0c5bc5c87d0a60c53b340229b82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MQ49vVhjsJ3zGkC17BOIMUnE",
  "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]: [-0.02, 0.7971, 0.5739, -0.3798, -0.0231, -0.0292, 0.9983, 0.6163, 1.7977, 0.9619, 0.2714, 0.4145, 0.2588, 0.9975]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1654 left_yaw=0.0007 left_pitch=-0.0431 left_roll=0.0005 left_gripper=0.9983 right_x=0.4341 right_y=0.2247 right_z=0.1039 right_yaw=0.1088 right_pitch=0.0574 right_roll=0.0256 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -1.2376, 10.1949, 1.7607, -0.0611, -0.0122, -0.0122, -1.7983, -11.8085, 7.9385, 2.1661, 0.4713, 0.2076, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ea699fb3446ec57ced5d3e74018e32d74fd8d8e4a32eba850c789048077715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8ae2929d75f53b34805a92771062f8cd5510b65d3e3c5521fac3bb7d07a4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8a3df3c20065830537dbe18cd8d99280073bd8b841ca504c5f995019bdc56d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 4.504 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]: [-0.02, 0.7914, 0.5777, -0.3782, -0.0231, -0.0292, 0.9983, 0.5102, 2.1128, 1.0927, 0.4965, 0.3588, 0.2073, 0.9949]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.169 left_yaw=0.0007 left_pitch=-0.032 left_roll=0.0002 left_gripper=0.9983 right_x=0.4994 right_y=0.2125 right_z=0.0432 right_yaw=0.0751 right_pitch=0.0819 right_roll=0.0246 right_gripper=0.9949\nstate[joint_eff]: [0.1026, -0.7863, 10.5915, 1.6972, -0.0708, -0.0562, -0.0122, -1.2923, -6.7214, 3.9179, 1.2869, 0.0269, 0.1245, -0.2613]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.02, 0.7624, 0.5308, -0.3485, -0.0231, -0.0292, 0.9983, 0.4652, 2.0476, 0.963, 0.5846, 0.3355, 0.1852, 0.9969]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1615 left_yaw=0.0007 left_pitch=-0.0202 left_roll=-0.0 left_gripper=0.9983 right_x=0.4863 right_y=0.183 right_z=0.0446 right_yaw=0.0606 right_pitch=0.0994 right_roll=0.0251 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.7026, 6.4889, 1.8877, -0.0366, -0.0269, -0.0122, 0.212, -9.1145, 3.412, 1.0867, -0.0904, 0.0073, 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]: [-0.02, 0.7971, 0.5739, -0.3798, -0.0231, -0.0292, 0.9983, 0.6163, 1.7977, 0.9619, 0.2714, 0.4145, 0.2588, 0.9975]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1654 left_yaw=0.0007 left_pitch=-0.0431 left_roll=0.0005 left_gripper=0.9983 right_x=0.4341 right_y=0.2247 right_z=0.1039 right_yaw=0.1088 right_pitch=0.0574 right_roll=0.0256 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -1.2376, 10.1949, 1.7607, -0.0611, -0.0122, -0.0122, -1.7983, -11.8085, 7.9385, 2.1661, 0.4713, 0.2076, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ea699fb3446ec57ced5d3e74018e32d74fd8d8e4a32eba850c789048077715",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8ae2929d75f53b34805a92771062f8cd5510b65d3e3c5521fac3bb7d07a4ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e8a3df3c20065830537dbe18cd8d99280073bd8b841ca504c5f995019bdc56d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDNoCYPYwT_Dv3o4jzwikqmZleClnbA2IvafjQx56R3NVRzIkdinVaymGOkzaD3WW2Z1iYbV8fEIrzzKZI-Oa0Q9-7AHz6VcmreF_sRA3TkuUi2jGHnOJS7101Ns0Ekej_oxEr5_ntyi22zJC4BmHOsuexZx6t3QdToWnkpQQAm10fAyCUi-ZpkY4kvWow9k1GDW1iIk3tzBOFx0ycz4bSSsrkOR7gCL2ghMBHg9t5dJwWFmQeHA00Dc_oQifk2sFcZ9y9lM5cdCBUaRFR-ZVvkqDcny9wHAFwQRwJx1PJZl19pPs91Pzf1_1TmDYN8jNm9-Wn3F6GzjSwpvFnPe_A_JuFHJtrSiP1er6fu1XSB2XDvV4-j9z6Ibm-r3eteT-PJ4G4AdgKNwAF7xsfFnwRTpA5bLHWVWDOfRvqaMwFhXSybzDnXbgA3rqWEDXe5Q7U2zi2xSsXW-qmcmAZQThTwEANnBao97lwKf-7FA9Y8a1QEDInOpg4dM5X4KY0Gha_aXCxQfMyiiSazdOi1IkBEG_aMcXnQgtCjAPjLQmtKbIlpe_OOLFlG4Ox7zrC_F_Ew1qV4jWMzg5po3RBemOaSGjeh3M5uVSvoipoo0Hg1p53Glc0pbN0q7Jk91uTaFlUlVSrwegt5RVpMWYEMiNAsZLtDJ4cxIFLDN_UG_gSLIsfKhodxMJozQmEg0dgOm-Sixf643F_lw5U-G-khUUJeHJSE_QERq9eo5CnuDBHxZbScZ2yH2NddqUCDHRyOytXvRiOJn7XEqvgMlpZyyXCdf4BPox2q-QW_oAI7tmi3XHvN3LdGqRQTyB-O63wpFGKbOM7NdJmF80mW-WdhI-zUUdUgAYJEuFzEP5mW3LWo2znwKtlma1DEUJm-Vy0lKor5CHg1E-vJ7ft2Nbc53naPPGQXNUfTnCCZC9zDWToTidPYR3X7j_seOFzWFBpY0AjHndeUgKBZNX_M95p3RZmAOuoIWasOajPBugBGhs8IkDii-5sD12bzkobYSfC68V5urFupnpa2RRw3VfgVP_Zg4dAEcgnz0DaOHHBgBaF5lETUAlfnJCDRY36l92qewUMHdoeA4BPB3nxeqk3FrossBpSwQZnJZZovDgPEUAYDWX3V1tSiug9u-BUAT0R3VxSND3PQrYv5QDcv8bg3M6TRtTPR7d0QziGLzTPeARrwK1TYvug1nkNOOVsEBsHT-A48tc8FDe6T-VeyLZ5KF_bY9qqlw-dqAn-85g812uI8y6YMn70ssr8KV3EHIWONHfaT_qsw6z6VNWF0gYqUUY9oVIP7ZLoyBMlKPL9iBc-O_mjpOiAEM3pSyHvrZwXmjkxZxlhn1UBjoxIF9K-EHC_EpL1LzJzhnBOwjK39W4tQh2_Nr8McM49jeiY05FzEDhibAsuAEvlG4uwr2Z2Y-GQGLs-RRViu9ybuVidNVNMZGNhLJ3HgcPkQ39K6eDtz_leIzZtc7VAXpIIM4UYpetfLmDx2fJwJ2J5Ci5UK-oaYjUMzPqs9hwhq6BuUhNcvjo5Y1eJH9WkufhYXDJ5EfDfUu8TXwlPIn0J_Rb6W2KYB7qADQD41JptfZtBqxV07QQl8bJ2DoHNrZDNEwW3VZ_bicdY3dgg3-lUOxjwTj0j7BJ9oxD3sIlfip7OabM5pgcTrX7w1xd2t5KVVDiG4NZbc1CDwm5uWkPKB7UwDE7qXKVQw0NeUonmCKYyJyQfXApoXgdMtWNNGGyRle77KmDJJAx45OVcpYjBs5SV_3OfTCpBi0GXsbJR8eXEs6fjQlhvCzvXO66MJDBUHTMayN2S0d4SJ4oOp_IjCi4Nunm2A_29HY-EZ0Om7xdj-g8yWwa4VWXxcQuRk9qN9PIt0MNZMn8XL9cDMTSvNKfcImowXL-F3dshpVvaVeYJ-eirHBEUr-wcMklh0W2NRuqGpU0Wi5CBGY9UufG_FMWm6mdsE7KY=",
  "id": "rs_0ed329b206099547016ab4a0c94f3c87d08f5e34f61e1b8fba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.19,\"right_z\":0.085},\"note\":\"The arm has lifted away from the bottle, and the bottle is still lying flat. I’m bringing the open jaws over its nearer end at a more reachable radius.\"}",
  "call_id": "call_LRLF7ZtlmzgQJgyT1U7MTpMQ",
  "id": "fc_0ed329b206099547016ab4a0cbf37487d0b0ddcb0b5960a535",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LRLF7ZtlmzgQJgyT1U7MTpMQ",
  "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]: [-0.02, 0.7723, 0.5335, -0.347, -0.0231, -0.0292, 0.9983, 0.6621, 1.6054, 0.6846, 0.2043, 0.4351, 0.284, 0.9976]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1604 left_yaw=0.0007 left_pitch=-0.0259 left_roll=0.0001 left_gripper=0.9983 right_x=0.3582 right_y=0.1893 right_z=0.066 right_yaw=0.1239 right_pitch=-0.0685 right_roll=-0.0399 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.2103, 6.8171, 1.9707, -0.0317, -0.0513, -0.0122, 0.5675, -8.1436, 6.1744, 2.0684, 0.3004, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967b4006c078b0f98837c2131ac67abc9c1de064df5f9a7a4a1dda4638a70ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a6cfee8b9b8f4aa99fdc3b724a58064dc1f68431b7c801107cf943a73678a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eed37d5d530489cb2debc390a3f8adffec647e395dd0788446d94aaaeb86cf6",
      "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 · 2.679 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]: [-0.02, 0.7746, 0.5514, -0.3641, -0.0227, -0.0292, 0.9983, 0.4824, 2.0575, 0.992, 0.5556, 0.3328, 0.1963, 0.9966]\nstate[eef_state]: left_x=0.2891 left_y=0.0018 left_z=0.1644 left_yaw=0.0004 left_pitch=-0.0275 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4872 right_y=0.194 right_z=0.0445 right_yaw=0.0743 right_pitch=0.0895 right_roll=0.0322 right_gripper=0.9966\nstate[joint_eff]: [-0.3624, -1.6479, 6.694, 2.0195, -0.0464, -0.0415, -0.0122, -0.4581, -9.1009, 3.8906, 1.116, -0.0708, -0.0659, 0.1685]",
      "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]: [-0.02, 0.7971, 0.5739, -0.3798, -0.0231, -0.0292, 0.9983, 0.6163, 1.7977, 0.9619, 0.2714, 0.4145, 0.2588, 0.9975]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1654 left_yaw=0.0007 left_pitch=-0.0431 left_roll=0.0005 left_gripper=0.9983 right_x=0.4341 right_y=0.2247 right_z=0.1039 right_yaw=0.1088 right_pitch=0.0574 right_roll=0.0256 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -1.2376, 10.1949, 1.7607, -0.0611, -0.0122, -0.0122, -1.7983, -11.8085, 7.9385, 2.1661, 0.4713, 0.2076, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7723, 0.5335, -0.347, -0.0231, -0.0292, 0.9983, 0.6621, 1.6054, 0.6846, 0.2043, 0.4351, 0.284, 0.9976]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1604 left_yaw=0.0007 left_pitch=-0.0259 left_roll=0.0001 left_gripper=0.9983 right_x=0.3582 right_y=0.1893 right_z=0.066 right_yaw=0.1239 right_pitch=-0.0685 right_roll=-0.0399 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.2103, 6.8171, 1.9707, -0.0317, -0.0513, -0.0122, 0.5675, -8.1436, 6.1744, 2.0684, 0.3004, 0.1099, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:967b4006c078b0f98837c2131ac67abc9c1de064df5f9a7a4a1dda4638a70ce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:998a6cfee8b9b8f4aa99fdc3b724a58064dc1f68431b7c801107cf943a73678a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5eed37d5d530489cb2debc390a3f8adffec647e395dd0788446d94aaaeb86cf6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKDSVj5tDOpnQMeuyrCEOGFn7q-o0izLJQS5JrJQJ8O0ZHY2hON8CzbMAFGFbzD3zjXladkcCNExC6fOra1aNurlvhCGe_5GpgbxhZRyGZNnbqHXBdpc4sn-Ogsxl7UZZ5Xm5MwxNpQ_SAGjsx__HV9e8rCgBF08AaiB6ST7BOozbXVaZBR8z26hBtHTJPlRlL5ruuHMknnhSSZ8U54PG5ffuq5MxeqpSYDd6HJgmcobZ-c81WO2ZVIcLuM08nKtZhaWBEn_MgmuzaGYAPI6L5A8AZQsVg-dkOox1xXSavecZy-KTfp22X_7FRT72_j1EYzBg0t_H6fmmUCw5H3Os7R7UqduMKsRMR3Jfaq-RTKpxzy7UViDevT3uC7-BEhE2cdOAXOYK4lpgXL6knkhGFznE98ur44FPYv7Ubxw-VaBbr6AyHgePaVkmwt9Shu3016RQ0Fl9cNzZBp0m9lXle0MLQHj_f8XreIioni0JBg7QMVUfGv3--2G4M1kk3ORD-TkwFcNh0Cmu7wdIxwUIkI9cTevgZdp2osxEluTIWUGYRwqbukfBtF3tWEAGO24o04UroeeE2LU8K8WTayvPsPFvDt1OcBJzRExDkLfxXyOrFN0LAkK4dor35D2QvFtewqVTS18fPT-8rHZJsPANDzfPeTY_2jGEbwr8LB34WqfCH0u4yziUXrRqWid3PY37ep9kwvKJMaFKOzpiBO4_7AbYBgjkGI-JrISFreLWkyZCTy_ugjvIHikt2e_wGmeBz0clDEMzT90U1YJbfs981qptWC7kk5skixuyPUwxYD5X6oGzt3LIrGcOcf--hgW4zjgLvgonqgq6_R57o8FxmhCMZp8JFGynMAvPWw66hXy_MPXTO6WBbpCXIIcKJ2q3VMV7TYlyuP8gxv45U3wt6yWAsoEc91ScOdwc_LJqKH1fI1f_1EngjS3RGh8mMvxIQkpmMXwHQ5IF2VZ22bnjbjCyLcXMAgHrBEvavSvCo56LwIwbT3x2AkhSbvhpPVtwB7ICvuNgrWrJsZpGLKJ33QcP4_BfY-4Qis36Jcldt_IrumtmjOcAbRgjBG7mCv8ov2Gr17gaFCbH-9idW3dGlbs3ZSiCM21pY5MSvpWB587-u-2ZEqHrBzOF14M1WOfmHw1-Hix-hGPNk_JphNbUnQqNjpnFwB1dFTDJVnCM92IQaltV2MMn-BlwGZ6Jyk-woj3pK_bkWWNLMO-kl5y9ELEKU7mTiF6pY4s4eDwUySLhVeGe6cjxAJcE11kzoJc_m1P_jsVOUBun0v2O2YFC3if31PW4FSPpWkzGWAczMv00edF-kTr6UL4rODeQhNvZfQjam2TiTng4v3jg7C9uJ3P8O-i79BvIFnULjOTfYSgxEfWdNaUTN2jAWuIDN8Ec08pvoSxF3WnAzbRrR-mWpLN2iPkiKE3MXO1kuNryAFbjAnWbJlxzn2udw12uJX-MH7UoGc9_ZtydfZ0VzAuZOrb471aa0zkJLp5tH-vhQGagSDGdGNuvCguJsJ9QguybrX93Y9EusMWB-gI4zgfgR24EIIJDWIGd4goxoPqtBKhvj1aXOLR3XAZQ74sSPzFyr2T",
  "id": "rs_0ed329b206099547016ab4a0cf610087d0bef1b8a9838aac2e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.19,\"right_z\":0.005},\"note\":\"The bottle is now centered between the jaws in the wrist view. I’m descending onto its lower body to secure it for moving closer.\"}",
  "call_id": "call_BAhtNf136pQH1LrwfR6BBFOX",
  "id": "fc_0ed329b206099547016ab4a0d0dcf087d085acd45c38f8bc11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BAhtNf136pQH1LrwfR6BBFOX",
  "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]: [-0.02, 0.7601, 0.514, -0.3344, -0.0235, -0.0292, 0.9983, 0.5961, 1.8797, 0.6765, 0.5999, 0.3824, 0.2497, 0.9977]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1573 left_yaw=0.0011 left_pitch=-0.0206 left_roll=0.0002 left_gripper=0.9983 right_x=0.3967 right_y=0.1938 right_z=0.0239 right_yaw=0.1204 right_pitch=0.015 right_roll=0.015 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -1.3607, 6.653, 1.8877, -0.0415, -0.0171, -0.0122, -0.8957, -4.6291, 4.2325, 0.8083, -0.0024, -0.1099, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae361f8cafe659adb118d444ed37e1ea30e46ecedfeeea5904d39d29b2a9755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1745a23b3866f5dedca106e500a94725cfefdb720b760e31b9f00c35dadb68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5079cc875d50031a4caf0b5e93098507892366cda83c5089989c5c2210f175",
      "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 · 8.232 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]: [-0.02, 0.7624, 0.5308, -0.3485, -0.0231, -0.0292, 0.9983, 0.4652, 2.0476, 0.963, 0.5846, 0.3355, 0.1852, 0.9969]\nstate[eef_state]: left_x=0.2879 left_y=0.0019 left_z=0.1615 left_yaw=0.0007 left_pitch=-0.0202 left_roll=-0.0 left_gripper=0.9983 right_x=0.4863 right_y=0.183 right_z=0.0446 right_yaw=0.0606 right_pitch=0.0994 right_roll=0.0251 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -1.7026, 6.4889, 1.8877, -0.0366, -0.0269, -0.0122, 0.212, -9.1145, 3.412, 1.0867, -0.0904, 0.0073, 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]: [-0.02, 0.7723, 0.5335, -0.347, -0.0231, -0.0292, 0.9983, 0.6621, 1.6054, 0.6846, 0.2043, 0.4351, 0.284, 0.9976]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1604 left_yaw=0.0007 left_pitch=-0.0259 left_roll=0.0001 left_gripper=0.9983 right_x=0.3582 right_y=0.1893 right_z=0.066 right_yaw=0.1239 right_pitch=-0.0685 right_roll=-0.0399 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.2103, 6.8171, 1.9707, -0.0317, -0.0513, -0.0122, 0.5675, -8.1436, 6.1744, 2.0684, 0.3004, 0.1099, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7601, 0.514, -0.3344, -0.0235, -0.0292, 0.9983, 0.5961, 1.8797, 0.6765, 0.5999, 0.3824, 0.2497, 0.9977]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1573 left_yaw=0.0011 left_pitch=-0.0206 left_roll=0.0002 left_gripper=0.9983 right_x=0.3967 right_y=0.1938 right_z=0.0239 right_yaw=0.1204 right_pitch=0.015 right_roll=0.015 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -1.3607, 6.653, 1.8877, -0.0415, -0.0171, -0.0122, -0.8957, -4.6291, 4.2325, 0.8083, -0.0024, -0.1099, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae361f8cafe659adb118d444ed37e1ea30e46ecedfeeea5904d39d29b2a9755",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1745a23b3866f5dedca106e500a94725cfefdb720b760e31b9f00c35dadb68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a5079cc875d50031a4caf0b5e93098507892366cda83c5089989c5c2210f175",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDV0TUADRLKQPp0BShgkjemHXfjswiXSvsXO3OVI6LqLyUbyCwHEqJTZ_NDl1W3_VX5YXM7k8r3PmkcJAmSyKAEE9QDd93y6xPGZHZX1dQj1WWpI1nhNC1FZXotu7VnzZ10R90CSTXcXgpyKkuwYRt-Z0-lSeEAqLfILCTk0FlOgoxxpn6ilgENfJZ2o_-oWdx9eRJ3pxZ3-K-jMPrtbtQR0KFgMevnPXkXqG-AR1vk1ONl-bxQ8U7Xe6w-7JInSI83XFq4wCkGe_45tJbaYNgmHf9Z4NlJ7FhQThghdR9ti9X1NiRfq5HCJBpbSYFsFzyRbxHhO8PgDqzStsWUDiQyM3nD-oVT-2lvlbJf3FnEGdc5wKqR1VlZAvOne4l8WSg0lp6kn9PXdaoyRnKA2-bNeF-2lvyH6u_toJOz1da4GaDTcFnrvWCWbRHVmyDIrb2zkTKskNBjZgqzq7Jqv-QmM5LeT7hKGIZ0CrMwjkTY4yF0707IJAERm7P6d1SkQdNUMdVTPPZtuN_MswjsIGT2z2pRu--FLauqbTZ1Yexk4jrXCMbeBhdaevTKpqv9uH_0DLj7eodXamhNU9W7ve3wq37owPP7X0aILDdZZ_a8TfBB3C3OSOMdwVqsdaPbOZ36E5iXqzH4aIkUxQFhq594M4tzeubRhKS5QrHACMW1wE2h1tlvj8ewuv62RsVZvgJldL6dnz-3Uua_9JprED2Tv1rdQQSyGfWhiA8g39zfKj0-tyaNH5Uvka-Wa4a1RGk5RmpFQiuyXG05V3QcSI7tUU04aA0dEOEPCAMhTRo2teXkOCtP7P6CPMs1QQkynJtJJ79mAPG2mUf7CFrY95LkJAb1uBF_IL7FlHol4p7DVW2g6SlI0_pHDzDe69vKQqQAn4jPSOcIRvg7Yt-UOGgJLSD4u4e3Sholo6-mjxMzELtN1M1MeAtx_TKJRgVaBPQMQKr0hGnBJajbMq7Q0uoiT04Fyei6O3aCKA4fuqYevmnboJK-hsCKI7UQZdnsrsYx9ZlIH1bwivMVVDIQzVX1US0KAJfjp6Btq0JbPknR30KWfrUPHsaDznpBjqK2tlTe5L9KCW-U80j3BxoKzqWpHb6maQuLOnKc8j2GxnJZNlx7p-PbaxtxW-hhJ3rhHslT8pK6hWkxTPnAi9ZqWxswrBZAnT7QjklAe9_pxpknO24jrKXtcOi6MoOaTF_yHVK1w98exY8Cw6FvCAQIgQshcjJvIvPvh9e0yY4Kt3En2w0=",
  "id": "rs_0ed329b206099547016ab4a0d4247887d08b43d2e336cc66c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are down beside the bottle’s lower body. I’m closing the gripper and checking whether it holds a nonzero bottle thickness.\"}",
  "call_id": "call_zmNpAOUACzIbc9WioHMbvojZ",
  "id": "fc_0ed329b206099547016ab4a0d4825c87d0982debcec5b0aeb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zmNpAOUACzIbc9WioHMbvojZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4995, -0.326, -0.0235, -0.0292, 0.9983, 0.5961, 1.8565, 0.6968, 0.6685, 0.3893, 0.2344, 0.0202]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1537 left_yaw=0.0011 left_pitch=-0.0217 left_roll=0.0002 left_gripper=0.9983 right_x=0.4108 right_y=0.202 right_z=0.0547 right_yaw=0.1195 right_pitch=0.1167 right_roll=0.0499 right_gripper=0.0202\nstate[joint_eff]: [-0.335, -1.4701, 6.694, 1.9072, -0.0269, -0.0513, -0.0122, 0.0479, -6.8855, 4.4923, 0.7399, 0.1197, 0.0806, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707e2e1bdb86d00d79f4e7a643b3582fba3700276efc3e2b635d42172ea80fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08571509dbafd5340a9c226e2181ddb9520141ab41cd47ccdf8fe75cfcc3b798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1bf03b79166a187303cd555e793c4c01af34d6e7ffca57d8d83a557b0c097b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.326 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]: [-0.02, 0.7971, 0.5739, -0.3798, -0.0231, -0.0292, 0.9983, 0.6163, 1.7977, 0.9619, 0.2714, 0.4145, 0.2588, 0.9975]\nstate[eef_state]: left_x=0.2911 left_y=0.0018 left_z=0.1654 left_yaw=0.0007 left_pitch=-0.0431 left_roll=0.0005 left_gripper=0.9983 right_x=0.4341 right_y=0.2247 right_z=0.1039 right_yaw=0.1088 right_pitch=0.0574 right_roll=0.0256 right_gripper=0.9975\nstate[joint_eff]: [-0.253, -1.2376, 10.1949, 1.7607, -0.0611, -0.0122, -0.0122, -1.7983, -11.8085, 7.9385, 2.1661, 0.4713, 0.2076, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7601, 0.514, -0.3344, -0.0235, -0.0292, 0.9983, 0.5961, 1.8797, 0.6765, 0.5999, 0.3824, 0.2497, 0.9977]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1573 left_yaw=0.0011 left_pitch=-0.0206 left_roll=0.0002 left_gripper=0.9983 right_x=0.3967 right_y=0.1938 right_z=0.0239 right_yaw=0.1204 right_pitch=0.015 right_roll=0.015 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -1.3607, 6.653, 1.8877, -0.0415, -0.0171, -0.0122, -0.8957, -4.6291, 4.2325, 0.8083, -0.0024, -0.1099, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7551, 0.4995, -0.326, -0.0235, -0.0292, 0.9983, 0.5961, 1.8565, 0.6968, 0.6685, 0.3893, 0.2344, 0.0202]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1537 left_yaw=0.0011 left_pitch=-0.0217 left_roll=0.0002 left_gripper=0.9983 right_x=0.4108 right_y=0.202 right_z=0.0547 right_yaw=0.1195 right_pitch=0.1167 right_roll=0.0499 right_gripper=0.0202\nstate[joint_eff]: [-0.335, -1.4701, 6.694, 1.9072, -0.0269, -0.0513, -0.0122, 0.0479, -6.8855, 4.4923, 0.7399, 0.1197, 0.0806, 0.9695]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:707e2e1bdb86d00d79f4e7a643b3582fba3700276efc3e2b635d42172ea80fb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08571509dbafd5340a9c226e2181ddb9520141ab41cd47ccdf8fe75cfcc3b798",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf1bf03b79166a187303cd555e793c4c01af34d6e7ffca57d8d83a557b0c097b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKDejALFtPVEQb6jK5ax-Gmr7uiN8najsp5ABV5pHvO3NV4HH_FN2sthGR-mWkzeYUAZrK8YdbO4c0FbmmFdMyiGE-3Pwx6ZDd5jcWXpsMCIALOzZen9YTuA1fye1L_ZYuzeJQj8Ld8K5UmMF-NXNu0jTjI95WLCkIDXthuws1zc7260fXM5tg9ImJkMcPAE3gWAGFNExq6TsMzWlgQvSpsm20BC_Ceus-ESahU63ASkorEXOnvl8ydfNKJZswq-AJysNQwq3PT7y_B4NlFGOroWzm5yAbKNcAiF0SX8mszt3sa0DLE2NippezVdq3B1V3YZFdc2rG3SUxg_88iTjRyFWxsNtdUWKCJH7T-rl3BxJhUVhE7lcgz2VY8mBpObfZpVkj4Pdwfo3v2rFGUeQ1qB0P2gHDsOgG5yGoobvI4W-QguQr6v3h4oYhyZj6XvlovLkmfl5w2bDz21f412O90GipquhoQnmUfZsjdoVS2pMkC72NdFQBDWimZKbp0ZuDcRUQb1bfcvCCNF3mR_S7Me6sswzwkHCjlM79RCsWBTULzGQopSb7JxWGwZFdhBpMnDu3FzlefjKRuDPIzMdmdCugAJzgjDBRPHGecvhDUOIl_HB9ZkGx_VPkZ1b4C2MPSgWKfGCWv6Ayd0GZ0Lp1gkjHDQEkjZ3j9oUZzpa5et8E0PRmDuNn3HOXr_JeHb2JmtbnZxRHmoNrvC5xxw3uB7-l_QDGNmwhZE29hgv7xUMf0Z0q5oXhwpJ0xiB_qIaogUV_3XpPnjyb7p3LSX31rCDLwUBohdwiXVfoL4M-9tUg87cINZJapaSsG0-6DoSkxhLW4soZtFwN8oGt7tgJZOR5Sovnaw-PUnRhfRsr9STW1l212syj64CgWYCdTZiM1jbO3EkSwyCm6K6P_61sosFEthRsA7loQAw2SEKi1pXvTsRlk6kwhTaMM7F7raBOu9zEm8sozIb3Uvd4vRd4nmc4rmnqdMo5CTfGR0Gmi_j_3PYtOxkguGGeg8nKKecB3F4dlEjKwT2PYZ_CLRVdKztrQbu3Ggi6Nm1CnnH0o3WMgxx4kqHuULjOM5RTg89cZQAFUPuHjPUi4wNcjbCuzhybdWBuZdPZmGL-dQx4t7bCEymi1v6YGOshdy-Etbzk3rLhPgZcGHCHGtlMQ7HmSFx3bJQ4Lx919YO_0FxxBMIz3L1xELaTAdaCBVPxk4cxNZBXOPCBfBKCrh7DTdXk3SR2WB2Gv8a22H8Xg2Ezyu9ll18Pii_mtBGbxtCjT5WDZg-VShTn8KJl9iZWpcRwmzSB4AlF4FflnZX6qKBpqVUeEjZURS5gzTfIOG1gBRwXdnsEvteFAIOQ2HiW9LgZn9fyc1qsbCKy29iULEQNSYp1J4HjqZKHjTOTyzQJaJpc3RO66LAhtP-yyBC6bDoH-M9E557XIAkw6QjIFVUtdckrDZSFouLIpCSc3XhwK_zmrGxE_rJPU68DrE5QSqK5HwF2LREAb8ROGqnlHY7S-Bj7DKqOzwNVh-WN7m0Hb_ETLruW-Ii6KQfloqbbKmutdLyQd74_eUKIbbvuavCN4yAIjj8LgXPeQOfxVeLf3Xe8inem4OOlwd6ffRCTu_eFk8rxIfSdukJLeLI9PK0-otJEvOeccORb7pvBBnMMkQ1ikBVefbHNtAcu9nbpQ8Es-Kxo-Ia4tRh-o8bri5gQTN2czy-uH7xDnYuyMi9SEzhIXNAijhDairOwRIyLc3J51WOBqKb3Ii_jezLAa--IpFLYkN8zGgCdnjdbThekCTjfWubWqgaxlzeZwNVwZrm_GLMynqQrXuip8rCWxV3rhlh7xTE4b_Z1ofhFMw9fuvYR1iVtbw45EjyPDD0jAe5X_csvWXDGnc8una7W5uaDmDm1_bkB5d3qBy7DiGj00gtme7xHk2x-DmG1ojTN1tGe_2ZpyItuCJWGmRxbFiWM8CbxeLax7ni06f1BUIkBXEclLShVwdlv9LxNeL6KLUWTD_PYcSDT7GBF5uzGuRhCmkVMNAEtiurQbZ8xwG2hURAjSPCySYY-DeUbKUweVnvBhfGKj1Gml2gDvz6QH-T-BQqPY1FYT3eKsRe6WSTffdJ-F73AUBPeEZ7es18NB10fX227xSBgBf-5-oirCFrteEZuBGjbXRwqzQEX1vkZJd1NexX3vsz6QLnrU0fYmjVrESFAkv5GaXcT--pDkcWieUCxSVEx9iQW-k2Gk7FNaBuomRb0Wd3jYzwglBZ1x6K3yvGsmBUZ811d8fkyIY78onauTdRgF_IsYKBpxHIo07WPVzkCO6WDRQ6vKPXiE_FFU4Y5OfBZNuf4aYfonUKdVJUThbK5OA6xJvQVXvrtyqJqatULorLX3MdezdzkUFNUxAEMbZbwLuvYLwaaTnu0ZHlpeC-o-X8ZmBXijyWAVPFn2fpWGeqQIMv1x1BaQ19XTgUaW44ggU_9X1GLfu0BA6KECd0VImkGW6pKX9LQgGZcJK3M-9C0BD8SPw2Zp3XWZkuxQJBDYF-0QssASejij5SprHOt_Jdwdvja8g7mzA_t2FX6-S1Lmnoxpg8G2e0DrCfMPZmZGTo7Ort_j3sRo4NDiiN3GwOcrPthgSPVbpWoMr1l_9UfdsRgMxxquAz-UaCz4OJaf3icGrjGYB1eVus0Lucii3VtsSBdyd84VKdPhNkoXeut6Os5_pIU5CzgeIchGvrrkUcgI5PtjVJjVeQVVm5GHWfkTz1wrot4HJ0CrRxHm-Adei1cSWfrcp8Ofbvg==",
  "id": "rs_0ed329b206099547016ab4a0d824f087d08da5611d88220d41",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.445,\"right_y\":0.18,\"right_z\":0.015},\"note\":\"The bottle slid forward during the close, leaving the gripper empty. I’m reopening farther along its body and slightly to the right, away from the tapered base that slipped out.\"}",
  "call_id": "call_26HMzkjRHIhLibYZtte4lb2R",
  "id": "fc_0ed329b206099547016ab4a0dd0ba487d08f50a8b8489636f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_26HMzkjRHIhLibYZtte4lb2R",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.485, -0.3141, -0.0231, -0.0292, 0.9983, 0.495, 1.9598, 0.8146, 0.5808, 0.2993, 0.1741, 0.9949]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.151 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4436 right_y=0.1843 right_z=0.0303 right_yaw=0.128 right_pitch=0.033 right_roll=0.0081 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -1.7983, 6.5162, 1.873, -0.0366, -0.0513, -0.0122, -1.0188, -6.3521, 6.5299, 1.536, 0.105, -0.0415, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dbbc61f717780bcd13dde74b01c198337c4259b537a683fa6811d38b2a0ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ab17a7e03707c37125854a751dd5189a0731dec27cd32b7ed48a0770fc0113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610c106784a982314fc0d9a07f4755c23a12cb61a39a27f757fedee83528a135",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.624 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]: [-0.02, 0.7723, 0.5335, -0.347, -0.0231, -0.0292, 0.9983, 0.6621, 1.6054, 0.6846, 0.2043, 0.4351, 0.284, 0.9976]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1604 left_yaw=0.0007 left_pitch=-0.0259 left_roll=0.0001 left_gripper=0.9983 right_x=0.3582 right_y=0.1893 right_z=0.066 right_yaw=0.1239 right_pitch=-0.0685 right_roll=-0.0399 right_gripper=0.9976\nstate[joint_eff]: [-0.3624, -1.2103, 6.8171, 1.9707, -0.0317, -0.0513, -0.0122, 0.5675, -8.1436, 6.1744, 2.0684, 0.3004, 0.1099, -0.0073]\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]: [-0.02, 0.7551, 0.4995, -0.326, -0.0235, -0.0292, 0.9983, 0.5961, 1.8565, 0.6968, 0.6685, 0.3893, 0.2344, 0.0202]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1537 left_yaw=0.0011 left_pitch=-0.0217 left_roll=0.0002 left_gripper=0.9983 right_x=0.4108 right_y=0.202 right_z=0.0547 right_yaw=0.1195 right_pitch=0.1167 right_roll=0.0499 right_gripper=0.0202\nstate[joint_eff]: [-0.335, -1.4701, 6.694, 1.9072, -0.0269, -0.0513, -0.0122, 0.0479, -6.8855, 4.4923, 0.7399, 0.1197, 0.0806, 0.9695]",
      "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]: [-0.02, 0.7494, 0.485, -0.3141, -0.0231, -0.0292, 0.9983, 0.495, 1.9598, 0.8146, 0.5808, 0.2993, 0.1741, 0.9949]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.151 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4436 right_y=0.1843 right_z=0.0303 right_yaw=0.128 right_pitch=0.033 right_roll=0.0081 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -1.7983, 6.5162, 1.873, -0.0366, -0.0513, -0.0122, -1.0188, -6.3521, 6.5299, 1.536, 0.105, -0.0415, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68dbbc61f717780bcd13dde74b01c198337c4259b537a683fa6811d38b2a0ca4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9ab17a7e03707c37125854a751dd5189a0731dec27cd32b7ed48a0770fc0113",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610c106784a982314fc0d9a07f4755c23a12cb61a39a27f757fedee83528a135",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKDi-cqIvLNIrpcRwsOKDjf9n_d4qQ9g88RnQ65aaFckAlHjsKWcdoZ__2SHteAgI5d_jQhaDtKYZyl_R7aHoVs8CLEOeORKCSAELWxFRhRcKBD9rWkeIV-_OsRGac0zSALEuvdECsqqzD4QFAJ6swifhiT5GDK0581TeDfRdCdenhUmokaKWjIV3YvEfwMLnqfE4dr6WUTGPPhgOFCJjGHgQJOMAEHpnNw1DaE7GPdQMaTLPc25NSxkCL2CL8FCuEmOM5dgNl6tidMqz1EYwJLqy9ZgRNj-ftDAG8fMtS1U858kTWZKY9DbyhJ_QW5VZ_t_mUzxFc98xM-aQYddrDmrYagSwQ6M9g2gVzxFGUuQDfG59mOPESvKirmh3c17GfWkLXPK8lztnZbhbm_b6RzWYOXZWPDSdwOwbmC3QkxyTmeEfBywlDYhqdxhY-UFkDzOCVNmXsyX_OaJ1kZv0j4twBZNF-gWmrjcLdnTy6_LS2ZY_DJISJMT9MI5X1S5rJPw5xyOBiQ_JXNTDPPyCn5KcrHQ6oRoqxFDyI1aL4tov292iduH1DfM1tqoSs7axtC9C_hqr4Sl4apLVTj43M5ITGgMLbDFyXcT07EKoC7up8C_U5DWuA68U0pkX-TEX21vlAaFWTEW-gOymJ9qNzE32ttwh5FeDPZ-qlDv1BUagIh1dNRDCN9UMFqxHBLUyRzytcOHklpUP6EuXBbrvjGOwmGhHRqVH7CHVnUsMrqZ5Ht4kwJP5onFgSU0VOmMJYy7zFEqhQjJj3RPShArdu0rCm6f8IET6z--NvfZdTsXSZursxqcp8-nmnDl5ibCHJSieRIQbHMs-3MCTfT7C_L0dPMa7JH4pAKIfK3YfR00q-AGVJiz9Z1h2ZfglILujUMDC-xLdjNQJ92JL9S-QdWImJ96ni_hST_bAs7416kgqZ8nHia0bFQ7tZC7eZWdVAk-LQa_eoSRkmhsxrOjrpP3lz_S3LBflB3X7pjNFlYI0OVMOhNDYxSQRc93Rb3Kzgv2Felr2EqoNHrkEBfSB1zPiWKKcejDPD1N-ZXUSxjlL6Rw24gMizmbq3735DmS2YN0nSX04hQOVef38iKygIOV3fsTHYtONxf0F6eprJdJqP0_R_GZR1OiigWiy253BqM0H1WQpqu0Mls7b2KAFgSKW4QauLIDhWJlA3HNr66W-l7LA03aT2cMGjsF7xh1-XntjZLZbU-9T_UdL31IJrd4A1BquomH7mywNtW6rzN9p_kkI8al14BuD71nHG-32mTuNNUxRqMBLivhkt7WelmSPWJDnHh5m2dhMMYZI-VoUFs9CR10dchvthAJQlJYOE9gVKSyTrgHyhPykQg88G-yaAY3PUpVsaVfqgNI_vv6-EKt3xZjg-pjcTHCTHENyH6FSFuyyxE6-lCDHCyQ0Q9XAuLUV4SNImqCiTxWR1Gr8kFYCRbtQO6I3UMr0kYJkiuMo-gnkloaJD8IxUaM11G7IISeUa9Rr2UEWWKWw__RAElYo9Nywh13tHUh7c94QAz9UvR42VYud3eA8wc_MIEjBFsWrLtGIwceM-7hcoosqso=",
  "id": "rs_0ed329b206099547016ab4a0e0db2487d08aed9075b9ad2377",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.48},\"note\":\"The bottle is centered across the open jaws. I’m using a partial close to hold its round body without squeezing it forward as aggressively.\"}",
  "call_id": "call_H2fuP63TkXeTnMXbTXsfguQf",
  "id": "fc_0ed329b206099547016ab4a0e2002087d0bef918532030144c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H2fuP63TkXeTnMXbTXsfguQf",
  "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]: [-0.02, 0.7494, 0.4812, -0.3111, -0.0227, -0.0292, 0.9983, 0.498, 1.943, 0.8406, 0.5701, 0.284, 0.1738, 0.4872]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1499 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4496 right_y=0.1922 right_z=0.0449 right_yaw=0.1434 right_pitch=0.0601 right_roll=0.0266 right_gripper=0.4872\nstate[joint_eff]: [-0.3761, -2.0171, 6.0786, 1.956, -0.0366, -0.0659, -0.0122, -0.6906, -8.7863, 5.7641, 1.1355, 0.188, 0.022, 0.3443]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956a521fac720260a8d2e188acec5f13f31ed38171bd368b5fa6740be02c8e05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22faab1e03b28b348cada6b8625aba65a4b1debf443958f724dc443e9905610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534c25ab659d55d90fc1558f52927a556fe819e4c0e1ea2527ce4e9e6b2c1ba2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.406 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]: [-0.02, 0.7601, 0.514, -0.3344, -0.0235, -0.0292, 0.9983, 0.5961, 1.8797, 0.6765, 0.5999, 0.3824, 0.2497, 0.9977]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1573 left_yaw=0.0011 left_pitch=-0.0206 left_roll=0.0002 left_gripper=0.9983 right_x=0.3967 right_y=0.1938 right_z=0.0239 right_yaw=0.1204 right_pitch=0.015 right_roll=0.015 right_gripper=0.9977\nstate[joint_eff]: [0.0205, -1.3607, 6.653, 1.8877, -0.0415, -0.0171, -0.0122, -0.8957, -4.6291, 4.2325, 0.8083, -0.0024, -0.1099, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.485, -0.3141, -0.0231, -0.0292, 0.9983, 0.495, 1.9598, 0.8146, 0.5808, 0.2993, 0.1741, 0.9949]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.151 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4436 right_y=0.1843 right_z=0.0303 right_yaw=0.128 right_pitch=0.033 right_roll=0.0081 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -1.7983, 6.5162, 1.873, -0.0366, -0.0513, -0.0122, -1.0188, -6.3521, 6.5299, 1.536, 0.105, -0.0415, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7494, 0.4812, -0.3111, -0.0227, -0.0292, 0.9983, 0.498, 1.943, 0.8406, 0.5701, 0.284, 0.1738, 0.4872]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1499 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4496 right_y=0.1922 right_z=0.0449 right_yaw=0.1434 right_pitch=0.0601 right_roll=0.0266 right_gripper=0.4872\nstate[joint_eff]: [-0.3761, -2.0171, 6.0786, 1.956, -0.0366, -0.0659, -0.0122, -0.6906, -8.7863, 5.7641, 1.1355, 0.188, 0.022, 0.3443]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:956a521fac720260a8d2e188acec5f13f31ed38171bd368b5fa6740be02c8e05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b22faab1e03b28b348cada6b8625aba65a4b1debf443958f724dc443e9905610",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:534c25ab659d55d90fc1558f52927a556fe819e4c0e1ea2527ce4e9e6b2c1ba2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKDmrUjROcXKSBORbRTb5fWR6aeXWAWecOvHkybBTuk4n2vI0e4e4-gvQNeTop2FHCX9wfVUTis3chqB9aJFEB9rlcrUmUQ-RrFwDOFDvWxnhGOFXHGDmZSoMl5M6r_QAVuEjKP1wnW1iXRq1bvxIKfDUYY1xmaSgwcvpy34KU_T9WlIGpQzxsREKaZqSS-Ox5RoG434c_rNSPJ8Ca4T0ht_yje79fBda-nRs2YnRN_hon3z9Z4EfDjAggTrEcKLt175UimMMkdLu-bWvjmg4VsLfXjCMHKTL3KnrAcmfTro2CTBQds_N-WF81U97w4sGmiHvxpccOSxskXBwNHm4nq2Fy8CJ6nZgoRU_LQFGxaB4Fs2MncrLi8rCO4nWCgCzqYmK9GOwy63zzM-0cby9IKNVr968t9csgKqzrYF16q8pLi7btdK1XSkOkYrl5kYfPnwWf5SB06QssCdc_31Ed6REdsy_4-pjrsiducUWccb9lPOCeL2gt7SYRvJJcfHss-zkD3WGirdWZQ1X6g_i1z7u4cu5HtGrlP-FrF_Gh3Q3BDnTnqVnDTtV946OKkrQYMy4y5DH0hsBzHoJSXB16VO-OiBBDzlBsuk1zu8eQeWidJ9XU5_JbIUmuNkiidTETfU--RyJOKI7Fme9olxBD9_R57if6puIyLyUa7dC3pmJeABAMMZlMnxAmfwqaxQPMm1l1W_FbIWAtjoplSqrXsh43D63z-_fZPKdB2xwmTkr1XQn_hTQJDPDrTKSxKAONNrHQ-d_8dvCtF7tneMJbPCWLrd5q1G0TZWhhDdZgDeY4clPth4h-Ka7SsvQTLhQYgZFRxhm5r53WQfI0sccuTMHVnMwQfkgs-W63rsZyy1en5B3nW8wH8NO94kyPAv4XzWz6cOQqDGDNYEDXMmp8jyCaqA_BawjVYeTVjhv1vmrzWjMzY0kHzF6gbsqBRooHOkMurn7m69H2IBPSyHfJCpXRyl8sy0BFP31wW00I60YWQbAy7sW_iiB1xveUJ1B9BACiaMHHvmqGA-iWYTGI2lOqhGg6MCAq0aYrM_6jNwE40WvNgYlkYvYTNZRB4nSnoAvenV_lRSBWEdy8vNry4jkZaPayBEFq464lnoyyVuDMjlQ8fAEyq74PFQu12AWoUusMndKjmV0mCp6Cu8vuTTdzc4hl5wIHzRSaOfg9-AuT24llMugx2Tw7R0QCG3ymLmgQ5Eo5SKrJ8L95qTsbv0pTZWxaSYEmOP2_BLUbZO5U056Hl5WNIqbIueraw7tMrk-voeV47zheMnSjt7BX7DUIFCjiARES_A_yGij6gpC3tBPW58AdDZXyGYFU3F1MSa-0aKctANjjy8HmK7mimlGscMcoDAodSWr4ZTiDArzfPbjbaR-VH5PS8tMLfhGsJcHRwGPTg_6EEKd_OPTDW86iTnn7zTzfw7xiQi3ukBkYd-ewD09yq5gmt2VGBfjmwuQxOZJBNaGfmO620Q-RkkqnZGrmjwsoSlJPaZzvR9Bnm4brbBf5bMGcdiJCrSMcebN9UE3GyESPDcUZGh1OL7OHJX875WV3YyndDV4MF8vt4=",
  "id": "rs_0ed329b206099547016ab4a0e4ca9c87d0a3a5af85181d0c54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_x\":0.425,\"right_y\":0.19},\"note\":\"The jaws are partly closed around the bottle. I’m making a short test lift before attempting to reposition it.\"}",
  "call_id": "call_8kJD1LMhGrK2Ojhzl8gJAtqj",
  "id": "fc_0ed329b206099547016ab4a0e5febc87d0a6e91350561a92dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8kJD1LMhGrK2Ojhzl8gJAtqj",
  "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]: [-0.02, 0.7429, 0.4698, -0.3038, -0.0231, -0.0292, 0.9983, 0.5293, 1.7123, 0.8837, 0.223, 0.2897, 0.1745, 0.4876]\nstate[eef_state]: left_x=0.2847 left_y=0.002 left_z=0.1479 left_yaw=0.0007 left_pitch=-0.0172 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4242 right_y=0.1938 right_z=0.0973 right_yaw=0.1702 right_pitch=-0.0074 right_roll=-0.0013 right_gripper=0.4876\nstate[joint_eff]: [-0.1299, -1.4017, 6.4479, 1.9267, -0.0415, -0.0757, -0.0122, 0.0615, -9.6615, 9.0188, 1.8681, 0.2125, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070b5924161039bea9ce70444cab923c0ceeb0faf1d52ec521f121bd87ef4a00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0edbe37a4f61ed057273cb5e1268d32d6d478ae2227368b6c430fde63bd746e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56684c46c9ed47e8a05123d3c39efa242e96342ebc8ae2d9c0f9b9b5f7828a4",
      "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 · 7.75 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]: [-0.02, 0.7551, 0.4995, -0.326, -0.0235, -0.0292, 0.9983, 0.5961, 1.8565, 0.6968, 0.6685, 0.3893, 0.2344, 0.0202]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1537 left_yaw=0.0011 left_pitch=-0.0217 left_roll=0.0002 left_gripper=0.9983 right_x=0.4108 right_y=0.202 right_z=0.0547 right_yaw=0.1195 right_pitch=0.1167 right_roll=0.0499 right_gripper=0.0202\nstate[joint_eff]: [-0.335, -1.4701, 6.694, 1.9072, -0.0269, -0.0513, -0.0122, 0.0479, -6.8855, 4.4923, 0.7399, 0.1197, 0.0806, 0.9695]",
      "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]: [-0.02, 0.7494, 0.4812, -0.3111, -0.0227, -0.0292, 0.9983, 0.498, 1.943, 0.8406, 0.5701, 0.284, 0.1738, 0.4872]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1499 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4496 right_y=0.1922 right_z=0.0449 right_yaw=0.1434 right_pitch=0.0601 right_roll=0.0266 right_gripper=0.4872\nstate[joint_eff]: [-0.3761, -2.0171, 6.0786, 1.956, -0.0366, -0.0659, -0.0122, -0.6906, -8.7863, 5.7641, 1.1355, 0.188, 0.022, 0.3443]",
      "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]: [-0.02, 0.7429, 0.4698, -0.3038, -0.0231, -0.0292, 0.9983, 0.5293, 1.7123, 0.8837, 0.223, 0.2897, 0.1745, 0.4876]\nstate[eef_state]: left_x=0.2847 left_y=0.002 left_z=0.1479 left_yaw=0.0007 left_pitch=-0.0172 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4242 right_y=0.1938 right_z=0.0973 right_yaw=0.1702 right_pitch=-0.0074 right_roll=-0.0013 right_gripper=0.4876\nstate[joint_eff]: [-0.1299, -1.4017, 6.4479, 1.9267, -0.0415, -0.0757, -0.0122, 0.0615, -9.6615, 9.0188, 1.8681, 0.2125, 0.1294, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070b5924161039bea9ce70444cab923c0ceeb0faf1d52ec521f121bd87ef4a00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0edbe37a4f61ed057273cb5e1268d32d6d478ae2227368b6c430fde63bd746e4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56684c46c9ed47e8a05123d3c39efa242e96342ebc8ae2d9c0f9b9b5f7828a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKDscRI1ab54C9gCmSWn9WsziD6Xqsq7ChPuhh9uYIQKGDWHcMcSEvV-cqGIq7pF4yOFNv-kylakRMei7B6Y3dI0gPDalvY1p7B82z89nriR4yRr3_L__023DPUSy77ndKbdUexRl7WzEOSyEhb0TsCuRV_GHVgWf50xBwnjjiIbD5gXxxsZhuXVoYhA81htAk2V5fS4uEj85qLSHrCvKE13m-P659pLVatlTVwyOHcOGc72F8PEnRShhWQAsCena0DyFN9S9C2w5lH19_seJYJn3DwJuNxmIVUdOTdx-DeZefXoNW1munFuwwO_kjNKYmgaPNoEcrfmUtMlztE5vdM4kemIy--9GT1EMfqa7qetEGfhXKAoAmwGuxL6id67pKXrAJEW8VwvCyXZZR-KvXY5hF5_PHaF2cwaQh0WGy0V1OGmOYw4nItYyfJP6oF-c8QtNXyAhJmOr7Py-dODcj9t5JK6B9mlYY-LK7SP-KWK0c__UcxANIZaTUcTObZZuB98yOXJr77k1FCBnXTpyoOVIFtT36eQxw8g5Z0At6eyChKWSj2eNGxuvV330J-MwEnd0P3qUY8vCNyi9kgne3XRcYbXHCXLq1jmY878BG6fQ-yvhG1srtpPdPFKPR-dfKtG09jYoKCEpPiigkDWYUwHK-WBHEmgaFRbRPTZdWoicAnpNq7kvz9R05Ay5j0q8I7cqzaqGM_Cziy774jt6UVdNjbraZ-aXMRE0_AYKBOI3ooLoPsp3dwCniw57wtyDqKKfmqAf4cAoW9HniipZywMnwR305fYjxo_TuZHX63_V3BHW3ztWdwNeNJtQSoAetkjACLRQIC_FLw3RVy7awFjoRnJBGyq4r4CcivCmR5f9GAvxyE5C23cp7R8dOTmp0wnUawYmFITpTe7ic8XKM6MiXI91AR4Kzkn9UrFnM-aR4700K7ypUg664kApV01lawTI_KKa8PWg9_xp-ZGDm0bh8uJFXONFUv2hF007mf72zzyEi9CHtTCZviKGnSZxphpDPma37wC1-Irno0u5jNoi-OwHrvXX9LpsX8aaOX_Vy0RbEIzkSqay9PGhdk6HWCHFsIsXVEWLsQCEZVcK6PmlTIL28zgNqCSFPXb7d6iyxTrgseNJ3kYX2HqDAOwhwCu1guvMedrkcVjhiC3IZiiwxdGEBgkiUFEKxhxgyYPPyoNnUTTESjCydO1GTcuABggacb_pon7GZBAtv28j1EQHYKyU_eMRoSKpY3qkcbojFA6072nKDbi3r6kBpfmFqjacPQDnZIjZxzoWsBWF7HNyRVQJv-xToJr6os-9A5Ov_IxIEyou_eNJuLVs8v_cFgE8dMewN1DpdiLnE1w_6nuSdA_3twnOhV1UlX1lj6Cng_VOF1pONGTp_P2Gft8uus7d7rLqJAALXTeqkRL0cwnxzHk32uJqVpQIGBzjLwqHMZ2BAX-KNYmAxNupUZZVA8j3NWKhw4vj-S7Wvinz1qDKTYw5iuOgW57PZv-E1piwUTYtogpTkdJNLnbpegB2li94-nlrswxENOzHqqdQRrpKO7HOu3yXeuL98dCLA2fvL4XbXVBigoAwaKCb_4xHPQ7vFe29M60ujx3Y0b0_YYPMErZZHJlezwJy9CinOSztehaaXxjDsX7o3nutoXOOm-phc3DlUvgU3h3EM_yBCUnsQOCXSofZ_RGwB5PqX4kiUTGUmyVaXqEKJMXScyACrXMG7J7bPOzmv6jfsQF2xRzv0K4rHeFirbdlKLnoCZdHLqIaS6zBESK7uHZiE7Tn8I7cVRxcMW4yROaWAkIEyn8wA6UA5bNKpoLgL-Tw60Rb44=",
  "id": "rs_0ed329b206099547016ab4a0e8cf0087d0b419f01f9b3ef8f7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.19,\"right_z\":-0.005,\"right_gripper\":0.8},\"note\":\"The test lift did not visibly carry the bottle, so the partial opening was too wide. I’m returning around the body at table level before closing a little further.\"}",
  "call_id": "call_u8O1kOs6w3ekOg8nSj9K1NVB",
  "id": "fc_0ed329b206099547016ab4a0eb6e2087d0b8ed64ba6ec806de",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u8O1kOs6w3ekOg8nSj9K1NVB",
  "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]: [-0.02, 0.7387, 0.4648, -0.3035, -0.0231, -0.0292, 0.9983, 0.5022, 1.9968, 0.8371, 0.6659, 0.2604, 0.1436, 0.7979]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1468 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4533 right_y=0.2012 right_z=0.0378 right_yaw=0.1827 right_pitch=0.0934 right_roll=0.0237 right_gripper=0.7979\nstate[joint_eff]: [-0.253, -1.5658, 6.0923, 1.8974, -0.0317, -0.0513, -0.0122, -1.2513, -4.3145, 4.1778, 0.5885, -0.0073, 0.0171, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4b3ae546ea61b8f6f910d3e162870a02b8815b06629dba20fddb50e1f5be40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a573fb20989173d3a23eb24b038c6692bd534fb498f64da3cc75eed4ca890f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c54c910a63932c7d88069bf11b1579893ba9a2f6b07a8302dd1fe361dd174c",
      "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 · 11.75 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]: [-0.02, 0.7494, 0.485, -0.3141, -0.0231, -0.0292, 0.9983, 0.495, 1.9598, 0.8146, 0.5808, 0.2993, 0.1741, 0.9949]\nstate[eef_state]: left_x=0.2857 left_y=0.0019 left_z=0.151 left_yaw=0.0007 left_pitch=-0.0187 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4436 right_y=0.1843 right_z=0.0303 right_yaw=0.128 right_pitch=0.033 right_roll=0.0081 right_gripper=0.9949\nstate[joint_eff]: [-0.3761, -1.7983, 6.5162, 1.873, -0.0366, -0.0513, -0.0122, -1.0188, -6.3521, 6.5299, 1.536, 0.105, -0.0415, -0.1392]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7429, 0.4698, -0.3038, -0.0231, -0.0292, 0.9983, 0.5293, 1.7123, 0.8837, 0.223, 0.2897, 0.1745, 0.4876]\nstate[eef_state]: left_x=0.2847 left_y=0.002 left_z=0.1479 left_yaw=0.0007 left_pitch=-0.0172 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4242 right_y=0.1938 right_z=0.0973 right_yaw=0.1702 right_pitch=-0.0074 right_roll=-0.0013 right_gripper=0.4876\nstate[joint_eff]: [-0.1299, -1.4017, 6.4479, 1.9267, -0.0415, -0.0757, -0.0122, 0.0615, -9.6615, 9.0188, 1.8681, 0.2125, 0.1294, 0.0317]",
      "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]: [-0.02, 0.7387, 0.4648, -0.3035, -0.0231, -0.0292, 0.9983, 0.5022, 1.9968, 0.8371, 0.6659, 0.2604, 0.1436, 0.7979]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1468 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4533 right_y=0.2012 right_z=0.0378 right_yaw=0.1827 right_pitch=0.0934 right_roll=0.0237 right_gripper=0.7979\nstate[joint_eff]: [-0.253, -1.5658, 6.0923, 1.8974, -0.0317, -0.0513, -0.0122, -1.2513, -4.3145, 4.1778, 0.5885, -0.0073, 0.0171, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4b3ae546ea61b8f6f910d3e162870a02b8815b06629dba20fddb50e1f5be40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a573fb20989173d3a23eb24b038c6692bd534fb498f64da3cc75eed4ca890f5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1c54c910a63932c7d88069bf11b1579893ba9a2f6b07a8302dd1fe361dd174c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKD1UfqzhEbt0MgD8cFNYN-zM6W2KszkP4T1V8ZAAFNvP5pSS4Gp2rXjVX-s1uUs9KHS0BpjjWVJ3ICRYKyNJG-vVu0nFUTlBDt5M9IkrHNHpVRFeL6F1Yo8BveWO9bDimW7wPalk45gMV7lNelfbCP98ino5_6Nya6hq0z3vggboEB3DxEjqgJUcdLMcLSaDo_fW1LPhFAeZc-J3NddSFGB7Uar1a83hNgU-l222hr0RRdx9c7quK9lPfRZGwyLRGolwrXiIcdaNOozotQHnvmvmEGqZNomboOcAHupAPk5PCPzumXi5Bmvu-cIjY7cWGDvBqX9FpvhzWdwLGqGHdYJtsPIHS7QK_t4ZXvDlgW9LrIDStSzyc0D43hIyvCs71xpjd3NFwLUHNF6y-s0E6P7Tp2lRZeQPcM-x_y0t5meGuXjUjY5mTYABAm9U93_Zqrg8dBsgTGhtNwYKMPFoRoGW-QJQzRHm1A9W129kGLlcZxGRvTbrSRSkEdW4Kf7sBQMpM47jasOwgcAKJ6eqhac0qL9-CWsx4oE-TkmsuvtCv_7wodENemVB893WUQaQKW4EfJHGUXmlgF8mj4HT4t1DxxnT-IPv43wYPrA-M2Ao0I7Vtsdy5_1EkiA4HlFmGjpRlVmhTrVMFYcEP9jK8KbTxHtDwBdK0GU6ea7o5jY8HrBTU9qVVNkmuDCUB8093PdMwBIrzjKwmsXWuM7xoJvSI0mGbEgTkryiCdhBdCivkQ_dl1ik8VINj-BxY8ElXHaUwsUAu1-TsNJ0xVmkJxbWmnJCvJ2Zq9tsfPmJz6T8Zb50ZHqPnom8-_EYvy0EvMDzJEur1XJD0DYnCQYkJwksbigS62HhpkEIOz-S5MTX3py3XtZmyHmRAcVPYEmKcjCdM2-F4uL6efMaQoGIvtPZV324rxEDxEbdvCQ3RL596d7tW2DZky-KBaBoFPqBMFS7UOqJH6VW9l7Q80ISH8uM4zHHacpvHO3BSc0XrIye5r85aeilzXAERQA8cUYN-dfD1tVU1cYldcVizN8p9b9da4qvIDtKGP50BK0ffDoR1ILyF7WPbc9wpv_dA0TxCIwn6hRA8Ypqp5hfOuA1KwF1X1_0qZ4EfyME5AvhMNb-aT3WuD2Ow5PetDRePh5tS4aPbGbiqL-k_uqgVmdqxInpeNLZ0jelzElb1E0cMPVAcKp7M6j26bVyD9ADBivqNS7NKYzwrg3NPGiQ37agUtDONnGUE2iSCeVcUd4aXEShYclFaSw61nB5TqJX8h2Vx814uAc04L5kMQzLq15pqbNPNKyDesi-H-4uuupy_dW4K29BDTxTGpYWRqg_XEBRp0gVIWUWclxjB56rVXudrohXUVu6IHrz-MeKj-SCq8RQrDJHxM05FuEoZiLLIAZP5vJQwLsLWGBLqbFdcRZYa8ZMLjeE9TAhDtiS47QIxqYOyBdp1nMwGJF-L9SCx9qIj9uqCh2vdWQzVhynxN4FYlxMy4M6clBO0KlHCHdZeAwoyHHpXNcNNGNQoI40KYTveiM43KcOjA9_sxzte-5VhdxE822HWcPlcKyy2lUOJu0ztGe0iHo_GzBmUdx42sd_ljRMo4s5EY_zuah4Wa3zRlyQoqb_zdsJdeNsgzHbP5wc-eYj8rIto53GzAucR3LKKRiyFLqOFdOxCcCO9pQD2qVxPFIlPvOzi2XKayrFeIIzSM3hl1p7xqv-5IubZeE1DAcGa9UMwpMmbPvz3yHzKVbToMcdsXW4qn3nGJtqZldV9BjKrBmm1zysW-lCwQrCzzf3JHNzsF4UIuzni42bpok5BxaZ9jWxMRgjjmR5g1t2oNjGp3sWb9WdAG2Y7iOpWmNPdAvCxPUz0eScoCTpjSrO_bqbNoY74nsESP3FIwBLxJoRxHUM9kYkB0kyz4vBQpkP7sWtuR02gVEbwBtD6eCmMpNXCSJQ9Fcmyflsi0kD7VwIoko_SpfNrOy2HnM5cScNREZcRE_EzHw9otl2leS82osE2QbBtsDecfkrxpb-8je-yWCI0cusezgWT6KHAYSjKpqMEBI1OwhdbYZsp8PHI94zkRD8nMwwG4DExrJxNk6iD_gwe9GECd-zLz0amO1",
  "id": "rs_0ed329b206099547016ab4a0ef79fc87d09a530fe276c14891",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.28},\"note\":\"The bottle remains centered between the fingertips at the low pose. I’m tightening the grasp to about a three-centimeter opening, then will test whether the body follows.\"}",
  "call_id": "call_aWx9e4vgSVENOFSbMrxs4CVa",
  "id": "fc_0ed329b206099547016ab4a0f3fc7087d08f463c21a1c44dc9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aWx9e4vgSVENOFSbMrxs4CVa",
  "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]: [-0.02, 0.7361, 0.4641, -0.3023, -0.0231, -0.0292, 0.9983, 0.503, 1.9583, 0.9028, 0.5426, 0.26, 0.1368, 0.2857]\nstate[eef_state]: left_x=0.2838 left_y=0.002 left_z=0.1474 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4606 right_y=0.2057 right_z=0.0548 right_yaw=0.188 right_pitch=0.0753 right_roll=0.0118 right_gripper=0.2857\nstate[joint_eff]: [-0.2393, -1.7299, 5.7094, 1.9805, -0.0317, -0.0611, -0.0122, -0.3761, -9.0462, 6.3385, 1.0379, 0.0464, 0.105, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9b595c992ac84888d11cd7e2a67c8374d24c7d48cb1c50fd20c12a8adb02ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ce968df1fe3c70304e2749ac9f012983dd03410bc4dd495293624a05eeee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941e663e98beb582ff24c0fc3c49933926ce3cf0db8b9f210e51ea1efa178497",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.373 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]: [-0.02, 0.7494, 0.4812, -0.3111, -0.0227, -0.0292, 0.9983, 0.498, 1.943, 0.8406, 0.5701, 0.284, 0.1738, 0.4872]\nstate[eef_state]: left_x=0.2855 left_y=0.0019 left_z=0.1499 left_yaw=0.0004 left_pitch=-0.0194 left_roll=-0.0002 left_gripper=0.9983 right_x=0.4496 right_y=0.1922 right_z=0.0449 right_yaw=0.1434 right_pitch=0.0601 right_roll=0.0266 right_gripper=0.4872\nstate[joint_eff]: [-0.3761, -2.0171, 6.0786, 1.956, -0.0366, -0.0659, -0.0122, -0.6906, -8.7863, 5.7641, 1.1355, 0.188, 0.022, 0.3443]",
      "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]: [-0.02, 0.7387, 0.4648, -0.3035, -0.0231, -0.0292, 0.9983, 0.5022, 1.9968, 0.8371, 0.6659, 0.2604, 0.1436, 0.7979]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1468 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4533 right_y=0.2012 right_z=0.0378 right_yaw=0.1827 right_pitch=0.0934 right_roll=0.0237 right_gripper=0.7979\nstate[joint_eff]: [-0.253, -1.5658, 6.0923, 1.8974, -0.0317, -0.0513, -0.0122, -1.2513, -4.3145, 4.1778, 0.5885, -0.0073, 0.0171, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7361, 0.4641, -0.3023, -0.0231, -0.0292, 0.9983, 0.503, 1.9583, 0.9028, 0.5426, 0.26, 0.1368, 0.2857]\nstate[eef_state]: left_x=0.2838 left_y=0.002 left_z=0.1474 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4606 right_y=0.2057 right_z=0.0548 right_yaw=0.188 right_pitch=0.0753 right_roll=0.0118 right_gripper=0.2857\nstate[joint_eff]: [-0.2393, -1.7299, 5.7094, 1.9805, -0.0317, -0.0611, -0.0122, -0.3761, -9.0462, 6.3385, 1.0379, 0.0464, 0.105, 0.2173]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9b595c992ac84888d11cd7e2a67c8374d24c7d48cb1c50fd20c12a8adb02ca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425ce968df1fe3c70304e2749ac9f012983dd03410bc4dd495293624a05eeee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:941e663e98beb582ff24c0fc3c49933926ce3cf0db8b9f210e51ea1efa178497",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEBjy_j-M6wGViSYv_5ux1ZJRPD4fkXh2-hRu8KI340Ol3bsRq7AjaZ4ObMMnhP3TbryetcEdgUZwaJZcYmVp6e_FH9v8EbH8GLF4BKq69uJwbUEX1CuTIDHN1IkTd6BQYaOHm-9_ppLQMOqIn8Wj-EHLmTkFDmq2Q431PwfDO22mtEYn0VND1cR38F2MJuUTuY3spWiguoMkruLoAc4fkkVbbHHT7Si5c7ZMUHgiddTSLgawTE9877FVSZZN5Nx7DIvm4YjWDZdg4TzO8POj1rTgDByTIPb2x8j4DlnJvo3yOh-tS7NZ0x_2Dv_0maYA4qW1hrOC64BnNdbLF7-uyax8BMnf5f3gAocqqA56JIIuoX1B5H0dgFqo6jIB4_tK4dgtEsQ7fVYz704JUPNdzdXhWkVQfw-h8KVAnwrVDTGV9iHB0ANsJOUbzH-opIuEm-bOLP0WywqQ2NRAY7DnzWkxTqUrRGRZK_s7cb8i7EhgJUS782eA_CZ7Lg-fR_RU5dsLmNxO7T3cB_fW8E5a0EfSS120EuSC22lnmgdw4Ikq8I4XwGwr-rkX3U5emlb4O0IRfOPshE7PoLBXAMrvPLuDlxQTVGRFUiSOMXfpioi2LYSGH4nJETb6EmnsZ44hsDvS6_rFooipKgW-JCkw1jRtPIsUNezPVIB9yXiViSa8ky2xTu_o7QcdVJa8QaVRH0wXghTgxc6PQ897OvoSUri9XxoZLyTRc3ZGifMmKZ6YoJiMJBoSBnSNLjX8ut1Wa3EyI2i10fAqPIXfR6VjXxPnffgPbnY3NVXaPRFofIP9LGuNRfTNpiz9Hzbsh9wztrwqsEc3zRPAhPfpWuXspC_To9Vszniv-2pf9xJZXt05aX_qWWR-3TED2b8xbNmFLrkCM_Q7iLXEtwfC9b90y1QiwGLFK-_I5-023rANxTsiZZ5Hk9VxE1rAioGkQMCKcYHUk5LXDqGBj2UwwGb2fi1UPhJ8r61Y-8qTM90qkGgiXMzkC-t0Qa9EvCaD8yvWUlBmzN-R1hGya_R5nVuWaObyzm3a1o4pYHe9a0g0uzI6-_cVvNACq7ECkuSRwGOHxg-9DFjXj7Cprpc1_ok0DlnWjCKBG5av_rRlMf7Of-01rN-LYAHll-fSjuLQsHYhcJ9udoNGVH8S3untfvhZJVLJvlOPCIsc9ieBj1ZdfOPYzUGdRzYAaV4JLFe3JB6QkBcFpMmluwTdDg8pAgjCkbnw3jpvsVhn693DcZWAflXcS7PA2OXcDLsekU_qhPdKBtM9s1N98mbyqBmRtmRPs0X7oETxVvP17aukHj-Sway6cUqiYUCiWdUVSJQaV8leqWeG88XqkjnKwJAQFZs0RSWhR6W13YAjbPseiGlTuA3os0j97RSBarbq3Y6HX0UFMaDXlmhO0h3D2La7UISTYQY4DkN7RbBTBNCcMpZyJiNd9qBO11XiDD_MJMt2KGmJgZoi4KMAYE4DOJQj0IVRMQeRjMfsiCj11mFShIgDn_ykGbi73RcLHhy3txCv8yoic2ouz04GCmRpcXccnOdk0KyDyXrlw-JeDVdsPbXr8CeFRys7AOJaHrNwKwDNf6vYOKkQynvYVjn6tOmhKlRSCOs_ovirCGyFFlwgS3P5uMNO_KesH1wMIBfgy66KOi7ozkq2fWGnr_nxJ1hXTcuRn51yRS5Wsm4ha7qzNGBXI9Rn7TeypSsxoAqcWv3ZLcooAar-pxP5sTxFTJAjrfhEtNhvYYOwv_SXEs5suijJYvYDiXKB3JXmBac7UfzZfC5mI-zvYSrau8Cjex5fyzui39eiLZsRlQq1mYBPKE-jn8HcADuuCnKVO8Nu9uc8r7tkas0Y6iKlLiiBLQvhbwJp7QLDXg75HyKeSLf5fHz7OB11qM8Lv6Qbb-Msei3i4_AgcdPvUY0dG4pwvzVsHQrmkyzNTw8eQLPa7_0v3xlhzkhdIOPxNp80G6ArTTEkR-xtWt2SkpL4mJYvEjtU3Fch9F_mPukx9YUd0fBL-oiyJlwz_90nBJcSfe3cT-jbGFFsK_jMBiBhjQPweGnydql29l3iqlL0rmN4ILagQSFj_LJ_uPWNS1Vwc6Q6RMPhdvyUmZRfMXL95v4VW67aRHCGj9ZDMx2nMZ7OcwuMhYd2gnM_-5-HfYsRGqq_xr41z8lcjJSGbbC1siPTo_-RfBLa9myqE7IHWMBa8drjF-Wic68eQ7cUubMguSx4ZL6j_zmMzv9gI6GKSuK9SYrMR-Rh5TFXOrdNFawmwMgQRlDUOnhJcR2yzS_VrMWWqdZ47ZJVh8Lje--Soa3XCSchY0GO1Visy7FfS1xndj8-DYgwqPoACveifguxZmVWoT-YS9Rg6O60fyRYPZANSGT_Yd8O1SQ-yzc0aFk3CKltz83n46g8f4FDXIaXAK6ekInKco9XdK-86UisXNxn75fBn9J4mbGSi_30dTM-dvrfoRDRRf8cBEsil2aokGFQwu6XkHJFvDBYrcNLnTwfhNmDcx6HBYFF0MrEAXADaeVS6nVV8afDqygk-dX9otu9YgkGe88cfx29sj2CQh5CA_XrlMctQ3IHlIn5P5YxbRFjVxIs_nu1oQpXUKfp40JmqzZFwI07lgulpLgAhyACjFR7jP4GtN8KAFU6BytIDZHjsXIIiqsAEmvuDSr9p9mDUl7pD9tSV2az3N8rUJ6h9R-6eZsJ4ck0JzP_nOEYngFKH3sFSXmWv-IBRSF6sIlCrBL_fCH4EBLKkqgxT6sTTmFAmBvL10RGlbbY9icUfShfYDx8fsGtuwi57EoI2lyffJD00xyR5a47qMllSuiiM2qTQrxUjK2U45iJFyQnv_KXrp4VhvfCa2XCQfoj18YJKJAOhwG8_bVoFhO0gptyZ6xDjZPY62XHsHN1thBADPYang3IBNAzzLdrkeBQh2JNrO4nF2V6nqvErkmFiMrorPsGTqtSlrMWAqpEbToVgBiKbNKdvReRdOTHH6XUqzuGVpMf-QOHNDN5V1wTw7ZjouSQMA_Bkz98GPmxYifQPjCP1CjOZCzVh5mE5883HgnYPe5pV3bSZyVz-5UqoF6FYVfx53F8GuVIzg6fJDQY1KbeBgm89KYbCSvAlFZKDPCZO_2B1k4QPEvmPWlwCxaWOBQjNyi476GJMrOztP4kFBaYyynTnIwulSAZr6wpVD5deW6Gosak__Sat9DkGRh5paoUYT1NWGQh2oD_4c-ExaLqH02uYJZqwLuHcwqV_hcXG-eac5ggL-6TqKE06K0K3uZreJyMiRKrke9NazFG3NCpcieP0mIx87lMHruJu7fFaEcbIoiykVFEdT84TjTMym8kHJ6ClEm0N40X0WtV9qnxWtfCeXSUyKJpaTQAf-iUx_mgVpphBC8IuCt5YxcABhvG86V04wswLdsBsQDYrkHyDlewZnbYpqS8u6p6ksTBXwV68XIuL30QsuHxVpjW2LfNvyE4M-fvwX5PwJLCHdETaDr-PFtO4bQsQic2ZNJGQA04WoNRLGZvzK30hPs53COY40oea4FUG21b8qQma5fM0ZSI-vFfpgm39maLHhGqQj0HYned_iAqhHo3zj_UV54se0fjRxaKtu2Izo-_hvyZzvyZMZl6d3N_WE8GfEHAHwNx4LCZaSqASy7z--LgZjbdC2Ew_51jy4RY0xrHmW2PjFHk7kkaJt7njuCtYaNJIcKbPqaMMHsuaNadenFZ9wJOQ6UyZCg_8uNM_mYruFaU9K8hv0Tfg1Kw81WujAXVGW6yZABWXrW1PWPxgg4TKg0aidh6CXXw==",
  "id": "rs_0ed329b206099547016ab4a0f7ea5087d08a3dc3199fdc8f32",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.175,\"right_z\":0.015,\"right_gripper\":0.8},\"note\":\"The bottle has crept forward during the grasp attempts. I’m making one farther-forward approach to surround its body rather than catching its rounded end.\"}",
  "call_id": "call_Kh8qGJ4fUUryIJKYwzsBAIv7",
  "id": "fc_0ed329b206099547016ab4a100033c87d08b221bc1d0b0695e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kh8qGJ4fUUryIJKYwzsBAIv7",
  "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]: [-0.02, 0.7326, 0.4526, -0.2962, -0.0231, -0.0292, 0.9983, 0.3958, 2.0914, 1.055, 0.5011, 0.1329, 0.0769, 0.7962]\nstate[eef_state]: left_x=0.2829 left_y=0.002 left_z=0.1443 left_yaw=0.0007 left_pitch=-0.0164 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5047 right_y=0.1894 right_z=0.0358 right_yaw=0.22 right_pitch=0.0391 right_roll=0.0158 right_gripper=0.7962\nstate[joint_eff]: [-0.3761, -1.4017, 6.8718, 1.8144, -0.0611, -0.0757, -0.0122, -1.5111, -7.4872, 6.8034, 1.5849, 0.4615, -0.0317, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea978bd1c82b05ee95305cc4073156b8d4f4aca00142bc580f79bb16711f7db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2c81e71ec3bf69f7539ff62dc1eb2cd672e5c97190d6e673665e75580f0e8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2b1da9bb7be9a5c54d219abe06da28d9620ff7b861a3012991311e11cbba60",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.07 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]: [-0.02, 0.7429, 0.4698, -0.3038, -0.0231, -0.0292, 0.9983, 0.5293, 1.7123, 0.8837, 0.223, 0.2897, 0.1745, 0.4876]\nstate[eef_state]: left_x=0.2847 left_y=0.002 left_z=0.1479 left_yaw=0.0007 left_pitch=-0.0172 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4242 right_y=0.1938 right_z=0.0973 right_yaw=0.1702 right_pitch=-0.0074 right_roll=-0.0013 right_gripper=0.4876\nstate[joint_eff]: [-0.1299, -1.4017, 6.4479, 1.9267, -0.0415, -0.0757, -0.0122, 0.0615, -9.6615, 9.0188, 1.8681, 0.2125, 0.1294, 0.0317]",
      "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]: [-0.02, 0.7361, 0.4641, -0.3023, -0.0231, -0.0292, 0.9983, 0.503, 1.9583, 0.9028, 0.5426, 0.26, 0.1368, 0.2857]\nstate[eef_state]: left_x=0.2838 left_y=0.002 left_z=0.1474 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4606 right_y=0.2057 right_z=0.0548 right_yaw=0.188 right_pitch=0.0753 right_roll=0.0118 right_gripper=0.2857\nstate[joint_eff]: [-0.2393, -1.7299, 5.7094, 1.9805, -0.0317, -0.0611, -0.0122, -0.3761, -9.0462, 6.3385, 1.0379, 0.0464, 0.105, 0.2173]\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]: [-0.02, 0.7326, 0.4526, -0.2962, -0.0231, -0.0292, 0.9983, 0.3958, 2.0914, 1.055, 0.5011, 0.1329, 0.0769, 0.7962]\nstate[eef_state]: left_x=0.2829 left_y=0.002 left_z=0.1443 left_yaw=0.0007 left_pitch=-0.0164 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5047 right_y=0.1894 right_z=0.0358 right_yaw=0.22 right_pitch=0.0391 right_roll=0.0158 right_gripper=0.7962\nstate[joint_eff]: [-0.3761, -1.4017, 6.8718, 1.8144, -0.0611, -0.0757, -0.0122, -1.5111, -7.4872, 6.8034, 1.5849, 0.4615, -0.0317, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea978bd1c82b05ee95305cc4073156b8d4f4aca00142bc580f79bb16711f7db6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb2c81e71ec3bf69f7539ff62dc1eb2cd672e5c97190d6e673665e75580f0e8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d2b1da9bb7be9a5c54d219abe06da28d9620ff7b861a3012991311e11cbba60",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEFDzkTJSqF92wfE0mJKIaKjO9l8Csw9FXihiKQwQ5UTY0hKczD7L7SkfCphNt_M7cUIVwwU2DkEgOHr1I9_UkW6okvkdTX-5hq3UAr1IjDzx65DttzGG9sUuY_dSm-vKtbq7_Xi4K5amwOSXQvbSi0j7UBFETG6ytqx9JaWQsMW7niVla3Hcqj7yVD4Hh7MVo0glq4KpwDYLuai-ORiNa4WQwHm1BOwy1qV_hVB6sPXi8x9_oLa3I4tE7X1Vf9ZGvgVoYnQJMQXOGlufaoUtn1mZcPpaJtnUhgPRrwuJeQdZl9oq2qDxGzFdH7VOIFJWAaHiVogoJV1qBYUGJ5MxV-T6YYwf5VVmtQL5Nwfe64IQpb4EeXuP7Xo6C4GAat3idORyoPqfsYCx35v8xok0IAaNH21akRS6-QTV-qGWm5K5XAO-WnK7LcNFkRcnHSXmVxgu9PVQT0qUCyomi6YjiPjASMtw4Te1jIjJYZRXhC3m_GaSe3S1AZaC6dAcEyGzuK_C368485zSyU_dujzHMt0mqMzkJqL0Xv6qnBRvR6EJ7EFCXIWpt4U_jKt1IwBNAOcKKHB9YjfZvvff_V0_zS-oBdxQXBFBlupeHCgKheYaF7UvlC1x8KmOO9gEhOinqiIq1iyxDTTavwodME0rhXh-LG7xoDA67ICRzCmlbaPBPUF6Dup-UiW8qkheUDo-_0OddrcfTdxj5sTX2cAxILr-ZUBleVoQcErAzHPjggm_RdTJsR9s81lsBKlqSNPDcwlMG1jXOurU4loN-DwISBA895pwV3_swI5-j5H97bN1VpFPs3sO5l-VhAIgDW1DQ3F7g72h4rGhfsOIQPqXiR7Uh1-r7Fy5NEb-89DWTyJfYiKGKQTJ9feyHGoUqwJv_ljJghl21TkqPtLrPezYrMNMSY8-MzO3ChU5vTScX_tAeUhzvmy3KlbFBcWchuL0-rD5Cf5woG8QayA2_cNFjhweAllwbQD37RqB3rNzuqtIbHqZMGjqXW8yv3b46J3FSs0jvq7vRGWRBrqgbECuaZ2n2F9740jjJjDmu4vh4IMz26c4j01-fFIPUrwRPmulAqOJ1mnX8iHNSEsXvSHK5uGALIIsr2HiaPkNZxrhclhMVw3-WuwxDDiIAL9msAkopobj0AyOPD4WsV9IqFN_30SDNSnT9kbaa37USP3pSvVYJToYcSvzOVdUEHfieCmSLqvMA9oz_HZVPB6FUtDZBU7rPYwka1tOpJ6MEj4DRtCvFydp3H_-8Kh815TNCk2XySp1S1leb5-mRpeR6BIHo08Pi3TmXssMEAKHSEPLSEYIERVRWP7h4NyVLzba3KDuwS6z-4isiNpxSCfWP3RTlGFP47UouQMk5QJGl3YibNrgqQzK7cFNnLz8nKhE_LYrJa",
  "id": "rs_0ed329b206099547016ab4a1037c6887d0be81c1a08d44ccc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.32},\"note\":\"The body now extends below the wrist image between both fingers, which is a better engagement than before. I’m closing gently around this thicker section.\"}",
  "call_id": "call_dWPScs3c6vO5JNIk2FKMPSg9",
  "id": "fc_0ed329b206099547016ab4a104342087d08d12575167f94ccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dWPScs3c6vO5JNIk2FKMPSg9",
  "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]: [-0.02, 0.7326, 0.4477, -0.2935, -0.0227, -0.0292, 0.9983, 0.4057, 2.0842, 1.0851, 0.4976, 0.1253, 0.0586, 0.3365]\nstate[eef_state]: left_x=0.2825 left_y=0.0019 left_z=0.1426 left_yaw=0.0004 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5108 right_y=0.1993 right_z=0.0506 right_yaw=0.2459 right_pitch=0.0723 right_roll=0.0092 right_gripper=0.3365\nstate[joint_eff]: [-0.3761, -1.7026, 6.1744, 1.9512, -0.0317, -0.0659, -0.0073, -0.9368, -10.8103, 5.7368, 0.7692, 0.1001, 0.3053, 0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2c43b2d54fafe613d54b30faf4e9c3f0494d2ed255452ddd885b27027729f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c755da245ea1591c7316d4b28d0f83304181a07305e93a7ce27fe5cedeff92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e63d0c01ba40e814eb27e1a8ff4624a560751bed04003c057df20d4fccd178",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 11.2 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]: [-0.02, 0.7387, 0.4648, -0.3035, -0.0231, -0.0292, 0.9983, 0.5022, 1.9968, 0.8371, 0.6659, 0.2604, 0.1436, 0.7979]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1468 left_yaw=0.0007 left_pitch=-0.0175 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4533 right_y=0.2012 right_z=0.0378 right_yaw=0.1827 right_pitch=0.0934 right_roll=0.0237 right_gripper=0.7979\nstate[joint_eff]: [-0.253, -1.5658, 6.0923, 1.8974, -0.0317, -0.0513, -0.0122, -1.2513, -4.3145, 4.1778, 0.5885, -0.0073, 0.0171, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7326, 0.4526, -0.2962, -0.0231, -0.0292, 0.9983, 0.3958, 2.0914, 1.055, 0.5011, 0.1329, 0.0769, 0.7962]\nstate[eef_state]: left_x=0.2829 left_y=0.002 left_z=0.1443 left_yaw=0.0007 left_pitch=-0.0164 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5047 right_y=0.1894 right_z=0.0358 right_yaw=0.22 right_pitch=0.0391 right_roll=0.0158 right_gripper=0.7962\nstate[joint_eff]: [-0.3761, -1.4017, 6.8718, 1.8144, -0.0611, -0.0757, -0.0122, -1.5111, -7.4872, 6.8034, 1.5849, 0.4615, -0.0317, 0.0415]",
      "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]: [-0.02, 0.7326, 0.4477, -0.2935, -0.0227, -0.0292, 0.9983, 0.4057, 2.0842, 1.0851, 0.4976, 0.1253, 0.0586, 0.3365]\nstate[eef_state]: left_x=0.2825 left_y=0.0019 left_z=0.1426 left_yaw=0.0004 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5108 right_y=0.1993 right_z=0.0506 right_yaw=0.2459 right_pitch=0.0723 right_roll=0.0092 right_gripper=0.3365\nstate[joint_eff]: [-0.3761, -1.7026, 6.1744, 1.9512, -0.0317, -0.0659, -0.0073, -0.9368, -10.8103, 5.7368, 0.7692, 0.1001, 0.3053, 0.3932]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2c43b2d54fafe613d54b30faf4e9c3f0494d2ed255452ddd885b27027729f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c755da245ea1591c7316d4b28d0f83304181a07305e93a7ce27fe5cedeff92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e63d0c01ba40e814eb27e1a8ff4624a560751bed04003c057df20d4fccd178",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKEJMhmDjbxG9F8KpUdrT3U3QCSzrCLnXub38GJLNEH0AwPR8V-u8XpUu8pLJK6e6SLgxIv7seUzh5Jp_G-aUddUlqcy_kC07GPWGJxsow8VtvhSRqbEILpZwBc8zu-z9l5z-I8uvDujWmG5p1WkglFFe01JAV47L--Ed9mqp4fObHVL0LvRmwH5Qu_4XXSZyOsJyPoUAhwZiYMH1XaOTaldtxLNkrg9rz9zbUlx8r2dIRE-QhYeY2SfyVteUiI_dgNFLGx73Q7SF2oaRXlA_KmxEAAzlUNAOB8NgT9s76DmV5x8jk049xGWzYslzyytt4P6JjR_tocyF7vFAD6uK1G6y-OZdhQcuJy62gNoDGZOfvVV3K8jWrTiGOgKI17N_YuJUsbezClcQiF4kz5U-pdYTdPIYzJHSFi0llhEeZZdONXKiuOoqPm4hPG56a-TPv-ceWIn82nCw77zabUeLqiV8HCGoTTp2IkPYMdu_HSmHGf1emOXvVxkYtf7bBbOwGSbhF9jJq1RUyB6WaoqHqV9PfrppuGfJJFNaFKcMxYCcvdD_CbTOnCoL9rl-hr010TYR3mlLaYkP0MQGIsdXw1QTsYsoWXwAqpyb_00HqEm-g0lreGMp0mqSC12frQ38mJn3wH5qkYR-KdJl1JuqCDSqOOUDgfeOh6Czwa2oRN2WwZtQ2v4njCwgsjEhN7wQYBajMe-G7sCi-PvppoAX0OHML9du1ietrXWKOqMenIQ3OoNqpCwvZbNHZFSkKg8f6Ve_x6xwl_kbFN_2vL6ZqknoSbfk4zl5-2GHcmrDFpB5Nn8rz7ouJaMbmRlx1OZancOgwb2fZJ2AAlvxy-Dk-HeTOX8vTIIMCcC_gweAz0O6Ls4MU6mO1j7HWDEXD5289W7KGZphjEc9uqCem2G83s8sRP_LEaMCdbGyndZ6iDuvQWipuQn-Elzj-zU46ZEm4iwRHH4hRJ3hy9V53_qCGlO11VFbbO74EB3fLWj9h73jXXrxMPi2l945IbK3ODwotLLYPVaDoXo3ZX0wIHtP8KJm1sb2Mg1m4Abw4PcDGFNypcSpmNv2pthXxbkIGQYXU7oox-B-3fxGIhnf3UXA0-Z1lFFTTLGpLIb-xo5qRGdcthmaRHFFoBed4RoqpAUQFIPaeWviuoNGyUubXQbmTctXM9E4_bFct2NElxjWIBezuEzqjdEH-WBnYRtGS79DSRIiR0qjpjS_RRocRq1oIiw92v0J5qpGzHfEm6levF1_55g-WWxlbhC_V3mvWGNeNxh",
  "id": "rs_0ed329b206099547016ab4a1079de887d0ac2cceda3f80f1ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.16,\"right_z\":0.16,\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.185},\"note\":\"The jaws have stopped slightly wider than commanded, suggesting contact with the bottle. I’m lifting and drawing it toward the base to check the hold and improve access to its neck.\"}",
  "call_id": "call_Jydb5bYA6R8HDOFkkkMotSdd",
  "id": "fc_0ed329b206099547016ab4a107dc2c87d0aedac4392990ea02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jydb5bYA6R8HDOFkkkMotSdd",
  "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]: [-0.02, 0.7937, 0.5755, -0.3759, -0.0231, -0.0292, 0.9983, 0.4156, 1.5288, 0.9131, 0.0521, 0.1268, 0.0547, 0.3365]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9983 right_x=0.4203 right_y=0.165 right_z=0.1524 right_yaw=0.257 right_pitch=0.0111 right_roll=-0.0047 right_gripper=0.3365\nstate[joint_eff]: [-0.1299, -1.0325, 9.9214, 1.7509, -0.022, -0.0317, -0.0122, 0.2803, -8.0068, 6.5299, 1.9219, 0.1001, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4153ac1579b3692c58acbdaef9437ab11029364f8a893edafa8fba1a30c08c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fcce7f2ba150a5d611cca0880a81881bd629864c8b984b51bd93ae3b2cf7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b57811e1068c27bf7ef2d18dff004032f80f88c38bd4ea79bf4c3027fffdab9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 7.359 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 66 changed as sent

message 74 changed as sent

message 78 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7361, 0.4641, -0.3023, -0.0231, -0.0292, 0.9983, 0.503, 1.9583, 0.9028, 0.5426, 0.26, 0.1368, 0.2857]\nstate[eef_state]: left_x=0.2838 left_y=0.002 left_z=0.1474 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.4606 right_y=0.2057 right_z=0.0548 right_yaw=0.188 right_pitch=0.0753 right_roll=0.0118 right_gripper=0.2857\nstate[joint_eff]: [-0.2393, -1.7299, 5.7094, 1.9805, -0.0317, -0.0611, -0.0122, -0.3761, -9.0462, 6.3385, 1.0379, 0.0464, 0.105, 0.2173]\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]: [-0.02, 0.7326, 0.4477, -0.2935, -0.0227, -0.0292, 0.9983, 0.4057, 2.0842, 1.0851, 0.4976, 0.1253, 0.0586, 0.3365]\nstate[eef_state]: left_x=0.2825 left_y=0.0019 left_z=0.1426 left_yaw=0.0004 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5108 right_y=0.1993 right_z=0.0506 right_yaw=0.2459 right_pitch=0.0723 right_roll=0.0092 right_gripper=0.3365\nstate[joint_eff]: [-0.3761, -1.7026, 6.1744, 1.9512, -0.0317, -0.0659, -0.0073, -0.9368, -10.8103, 5.7368, 0.7692, 0.1001, 0.3053, 0.3932]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.5755, -0.3759, -0.0231, -0.0292, 0.9983, 0.4156, 1.5288, 0.9131, 0.0521, 0.1268, 0.0547, 0.3365]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9983 right_x=0.4203 right_y=0.165 right_z=0.1524 right_yaw=0.257 right_pitch=0.0111 right_roll=-0.0047 right_gripper=0.3365\nstate[joint_eff]: [-0.1299, -1.0325, 9.9214, 1.7509, -0.022, -0.0317, -0.0122, 0.2803, -8.0068, 6.5299, 1.9219, 0.1001, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4153ac1579b3692c58acbdaef9437ab11029364f8a893edafa8fba1a30c08c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fcce7f2ba150a5d611cca0880a81881bd629864c8b984b51bd93ae3b2cf7b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b57811e1068c27bf7ef2d18dff004032f80f88c38bd4ea79bf4c3027fffdab9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ed329b206099547016ab4a10d0df487d0aa09c53c16aca5e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.12,\"right_z\":0.15},\"note\":\"The bottle appears to have moved, but the lift view is ambiguous because its long body extends beyond the jaws. I’m retracting at nearly constant height to check whether it follows the gripper.\"}",
  "call_id": "call_XFRs2nxULYdCKuMd8R0fM6eH",
  "id": "fc_0ed329b206099547016ab4a114978087d0beaf0fcd04058ccc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XFRs2nxULYdCKuMd8R0fM6eH",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7742, 0.5476, -0.3477, -0.0231, -0.0292, 0.9983, 0.4248, 1.042, 0.5724, -0.1001, 0.1276, 0.0551, 0.3365]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3168 right_y=0.1226 right_z=0.1504 right_yaw=0.2653 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.3365\nstate[joint_eff]: [-0.2803, -1.0462, 6.653, 1.956, -0.0171, -0.0171, -0.0122, 0.3897, -2.906, 7.2821, 1.8681, 0.105, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c626f8c8ce97c92f6c9378f980cfa1a208d1fcd35bcdc5e858791dcf9b0909fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b08718f8aec1213e2ba845aa8dbccda5ea9127ab78719fe371dbd2758782a38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f57634dc2d2fdec6bee47df3b369742ae384da07a823aa59d88678e9232e7c1",
      "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 · 6.669 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 70 changed as sent

message 78 changed as sent

message 82 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7326, 0.4526, -0.2962, -0.0231, -0.0292, 0.9983, 0.3958, 2.0914, 1.055, 0.5011, 0.1329, 0.0769, 0.7962]\nstate[eef_state]: left_x=0.2829 left_y=0.002 left_z=0.1443 left_yaw=0.0007 left_pitch=-0.0164 left_roll=-0.0001 left_gripper=0.9983 right_x=0.5047 right_y=0.1894 right_z=0.0358 right_yaw=0.22 right_pitch=0.0391 right_roll=0.0158 right_gripper=0.7962\nstate[joint_eff]: [-0.3761, -1.4017, 6.8718, 1.8144, -0.0611, -0.0757, -0.0122, -1.5111, -7.4872, 6.8034, 1.5849, 0.4615, -0.0317, 0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.5755, -0.3759, -0.0231, -0.0292, 0.9983, 0.4156, 1.5288, 0.9131, 0.0521, 0.1268, 0.0547, 0.3365]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9983 right_x=0.4203 right_y=0.165 right_z=0.1524 right_yaw=0.257 right_pitch=0.0111 right_roll=-0.0047 right_gripper=0.3365\nstate[joint_eff]: [-0.1299, -1.0325, 9.9214, 1.7509, -0.022, -0.0317, -0.0122, 0.2803, -8.0068, 6.5299, 1.9219, 0.1001, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7742, 0.5476, -0.3477, -0.0231, -0.0292, 0.9983, 0.4248, 1.042, 0.5724, -0.1001, 0.1276, 0.0551, 0.3365]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3168 right_y=0.1226 right_z=0.1504 right_yaw=0.2653 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.3365\nstate[joint_eff]: [-0.2803, -1.0462, 6.653, 1.956, -0.0171, -0.0171, -0.0122, 0.3897, -2.906, 7.2821, 1.8681, 0.105, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c626f8c8ce97c92f6c9378f980cfa1a208d1fcd35bcdc5e858791dcf9b0909fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b08718f8aec1213e2ba845aa8dbccda5ea9127ab78719fe371dbd2758782a38",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f57634dc2d2fdec6bee47df3b369742ae384da07a823aa59d88678e9232e7c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKEdG_taHQs51jZ0nk_57W1S_O3jKHUm0DGctzBnp4mlCvv1HCvGWpdzzr-5iyiU5Y4a53lOiI87Ei19fN7PE3ObHg2A2yEkmNYATYST08kZr_HSvVm92KR80DSG2ED07QhneFN8AFl1VULmSIHubh3ydsTiSQfVtfNdupnST9tyIf_K1UheGzlHs7K9dL5uOVTEc-ncL2vvwgfPtV1aCQTwp39Z8RjOhbXxRj7nW3xPfy-aEOuskibg33GWFgt27nFtbJpzz1juKCsjYJBYNSf1xXSVMR_ipjohMqbT7D9CSf4mO7zcnD5qZVtQ1cTbyQzWcHBP59T0aJIZQgMZ8j4DsTU9WnTHtUJ5UDAZPXChICrFhWququOpFd1A87n1v_NozUBpzM85ZWcD2UIdYSaPEj0umrIiPS7n6VLn307bpg-w3LDxkH4hpYsHBzzmy7QWS7XtZGQZIMKjTbAePgvp3j0j8dpCVAAdVlXfKa4BS8cBOszjSB_RGG8aScEP6cxxbqJ1OL_ROWjs5sxL6JetUJvLiCW11yH9v5dJ772ej8hi-RQ8_mOV6QEHBVMkXujgxmpMznZ2tb3Ooy-QR8LtNTPYSE-_0KUkH-8oO1FioefXZVMXY2MM38fwP-uu5hkFvZaoMSn1Uyjoo-kQH2vC5tTXO3ELYbd0EJhYEcvSIcVD-pYCSy7M6TfMRa7abuaifxfScv_5td9_JowhuRWNb6ouxk6XpjtE1RYpdJxgxBQhCDnn4sY67EjuUdFgYcOO1SL_F5ZZJed6-UfCWNxis7PvenAqr8jHQS0lby4iYm8apzeyJZ__1Q9PNFcdf7qNjuCd_V7kkJvwDUli53Qv1THvhDiumYmtxa2NfrJ_VE01Zv800KqLZUNcr9aMyivl0wsohaQht4udaInBQyD-wwjTNO7R9rl2VTeGplTm1wzsOA-_SAtCMb12hhexIwFn6s_S2HAHfbjay1GEK-xI_GaIg2LfoXUKHFEJo2KtgBRNRWyXlsUL250d6Papsh0kkAP3P6m5ngdpo3ntlDqB4CY3yNYqcLJspIA0IqhoeZ8clZzXBEm4sUNW0LlJ6JUhy3phmvm_KhPiRIGVqZ8c-yYJizoc-z0Brt0tXLqJXLwWqidmxpCKJSfsrulVJYiaaPKzLlIYDKGa4HylC0VyDUZuLhgUESWwokTTTpeZOhWAXIo-OpISsSBRNGsfzIJixZOOJg3_7aNY1WzN57EU0gHO5du2miC8BtUf4xGeYesYIL_COJ3INq3k4P3w0capAIQ4LGej1ALZalXD4908JcnprgbkKIWDYs_HE01MqRCCNiXm2z4kv9jEv5T-SufKehPNonETBo9P1zGLOC5f1fa7cae2PTsz265jfbA-dOi-H6vQLnV3VoZdIFpIpyyg0DPdCHiY52NuQLGleRV-dzIrbt6BeWlMcQ2mcpuw7wo2fMGMYOIlYuYH9uZxvGeOcg27ADuOJFi3gQFFwpjVOVFESPJEXQt1NAdLBz8oAeJOeDI4KqB6dJNL52UFMPKF2QDJpFnFLqD-kgfOkoDE8hxEne6BgXI-1gAY2LTvKRmuqGtgkKzK7ofT_yfrG4cp-LxqON0-XQZxymFSkeUdSjOTeWw2AljI2RUuVDogJ5aRYDDQHrIauS0JD7SyanOd8YHCpqZK_ALNgWqqkxPBYz45k93jbBIdOWXrU7JDgx2rAR7NYR_AJsRM7SYUfIz9KZRd-H0kxtbsPC_f6kr0rzTlVRt6po7TLoOoXXA2FfZsM76wkqqRgB-Vm7IsYXfEPPu0B1JeefJzDnxuBY0yRUD_ftMTMGCIN_J32Y-yhIlU5yvsO7bm9OQW3lZ0Zclb2v5sT9RUfzaxmDRv6wXA1piOv7mO9hTUMmYO1CpgD_yIgAf1pPFMp0wmLLvw3zVFlz5GXFsyiB9pnF5Exeg4XSpN0JbkKAgD34p4H95cqTVgNzmQUDQEjcmUKHwYFQy72JXhZhixBe5an2KD-HEihJF_yGWKKx_BaUFwjXBM3eSy1wAFKE_ppPxgCj2ZpE4HzlS4rX2C9ByayQ-lk_znO7LqkZxlYofNhPjkVl7WEEQlnIK-iT3dINxmVcYCpf1Y55I3r7_5_zLIxZVj3aThn_4tAz4I92zqnk2OVBCvP-Ko6s4IPnt5ExXwRMXf8Jo9F57FAs-hqzDGCUZD8kQsiVLMW6knR0SPQJEVr88tYj_G-VzATFcGnIamc4vTPncF7zu_RHKGR3gzKanrhsarpoiO_BOTLZFDU-xCzEvqo_3_foMWcflaGbKv7OEiJ-KqytfGFpSY-6LB0QjzxDB4X2f9-lFk9D2yqYSgTK2htG7ja8q5KxNELEGBQpY5j_Tn0HaOM7IRDqu3n5k60IvFXEj29zmG7oGD-YsIdmAj64quunOq4BzRra8NYd9AnI40MUKUcHh-HanrC9nV7Hh55k4Fc0mxPCa7Cya_7SoO4opZGQ8IJPKzt3fT-ExRTpHUHY9iB8XgZI0bnPzPLmuMBwtGaYzV4A6BF7WKoOq2C1g=",
  "id": "rs_0ed329b206099547016ab4a118667c87d08c76814ec9727d99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.11,\"left_z\":0.075,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.185,\"right_gripper\":1},\"note\":\"The right bottle did not follow the gripper and has slid farther away. I’m switching to the nearer diagonal bottle, whose neck should be more accessible, and parking the right arm clear.\"}",
  "call_id": "call_sul2sncRQa5ATm6amwhu4mA3",
  "id": "fc_0ed329b206099547016ab4a11c765487d0b40ed23e3b1775fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sul2sncRQa5ATm6amwhu4mA3",
  "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]: [-0.337, 1.7992, 0.8516, 0.2924, -0.284, -0.2081, 0.9988, -0.2466, 0.8623, 0.6163, -0.4301, -0.3939, -0.3027, 0.9978]\nstate[eef_state]: left_x=0.4532 left_y=-0.1026 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0653 left_roll=0.0143 left_gripper=0.9988 right_x=0.2913 right_y=0.0003 right_z=0.1652 right_yaw=0.2227 right_pitch=-0.0468 right_roll=0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -8.8137, 7.3504, 1.8339, -0.2222, 0.0855, -0.1392, -0.1162, -1.935, 10.4684, 1.707, -0.2662, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f890acdea253a20658566369cda79552316a8bce173aac3bdc7ee11a4433e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08078a13524aff1ac7bbcb284f42d9a2fe1b2c5cb57cd0fc9467541dc16b3984",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96305037a8e11178532d4673c95868d5ba3cd56a862cf362c5dfa2db5a82d6c",
      "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 22 attempt 0 · /responses · status 200 · 3.426 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 74 changed as sent

message 82 changed as sent

message 86 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7326, 0.4477, -0.2935, -0.0227, -0.0292, 0.9983, 0.4057, 2.0842, 1.0851, 0.4976, 0.1253, 0.0586, 0.3365]\nstate[eef_state]: left_x=0.2825 left_y=0.0019 left_z=0.1426 left_yaw=0.0004 left_pitch=-0.0187 left_roll=-0.0003 left_gripper=0.9983 right_x=0.5108 right_y=0.1993 right_z=0.0506 right_yaw=0.2459 right_pitch=0.0723 right_roll=0.0092 right_gripper=0.3365\nstate[joint_eff]: [-0.3761, -1.7026, 6.1744, 1.9512, -0.0317, -0.0659, -0.0073, -0.9368, -10.8103, 5.7368, 0.7692, 0.1001, 0.3053, 0.3932]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7742, 0.5476, -0.3477, -0.0231, -0.0292, 0.9983, 0.4248, 1.042, 0.5724, -0.1001, 0.1276, 0.0551, 0.3365]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3168 right_y=0.1226 right_z=0.1504 right_yaw=0.2653 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.3365\nstate[joint_eff]: [-0.2803, -1.0462, 6.653, 1.956, -0.0171, -0.0171, -0.0122, 0.3897, -2.906, 7.2821, 1.8681, 0.105, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.337, 1.7992, 0.8516, 0.2924, -0.284, -0.2081, 0.9988, -0.2466, 0.8623, 0.6163, -0.4301, -0.3939, -0.3027, 0.9978]\nstate[eef_state]: left_x=0.4532 left_y=-0.1026 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0653 left_roll=0.0143 left_gripper=0.9988 right_x=0.2913 right_y=0.0003 right_z=0.1652 right_yaw=0.2227 right_pitch=-0.0468 right_roll=0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -8.8137, 7.3504, 1.8339, -0.2222, 0.0855, -0.1392, -0.1162, -1.935, 10.4684, 1.707, -0.2662, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f890acdea253a20658566369cda79552316a8bce173aac3bdc7ee11a4433e12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08078a13524aff1ac7bbcb284f42d9a2fe1b2c5cb57cd0fc9467541dc16b3984",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96305037a8e11178532d4673c95868d5ba3cd56a862cf362c5dfa2db5a82d6c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEl6KSAvacOkyMrD51SPppZrXH15rQ5mWEHWNsV0yRnfWiS9OfaFiZSV4kRDiC64UjsOolcL8sauupCapfVWIaarY7P9m-PupfGIWgpoYntiJ6LOEgycTIWX_-h7z5elfLM7-CReROZVsxeEXw4zOTByUWSWIsswbaPeVuKGR_JupAxXphl62apisMhTsy_65ukKuJ-oubVAnWLGzYIRuIL9i2Fk49emyA2bmyRt_vBYx0duCcbx-w3Dcyr3ZBH6jkvgEc9TNML6ligE72S0K7NNPeoZDfZ-oD10buYvQMDJX7HBKqaBu4bJ7rZRvvWl-i2PyS53QYdiN0zrBD9TIlJbo8Y55rHmM_57k6oewP41j906hc16UApwJ3ejWLQNI4I7wxrf8vn5cDu6bUtj_PtRWNaAmcfPV18gNkUBmuBYm2lBA9e_4pZKdTK5-yH-Wa93ib33f4B6lsQSwmfADipvh-3uPEUdWcf15WuTMFDOQiAvZ8ofbqhhSE1dlbBGvuunddnsI73kYNAmS7ixf0FNEdjt9zhL1fWfTVkBQqu4JwCE-rD9bfgfGdzHYTIxyaQW1SUfIKDiivMCZNhBF7JbEXabwhB0wmTfw-tY68zHeMV09XtC5eE0jQWXTzXKmmW6bsemxx-fnfp0tapMsEtbZ2hJrl4ooWQlqEA48IUKtsze_xTY_H-Dnlxch4H-A2Y-imXF0BdI9AriTYaxSIbiCBfTqP7UN2fL77IYpNjkmcbzF13O7lYqfvtGR_HHeGDO6OEBPkuEVHWdE5A43yujTMKN7-iUDqguTqV4_KJztg8n6G1y84aGo2Wkq6DZJH0KhcjhDeL_fuMquiRLIaB2BFqeYGp9gv6Jwei7Lr4pZ7bh6Fw56Qe_mUXGOUImzcQHLMWwx3x8dVE5ykl9SR7MlW29qTL2Valx3Ugd39pEzgZIazRvCVq4NJbvDzMRB6-ejZmk0irZy0hihm-xeKRfdSl7YTZelCirDZg_FkvmGNzbuxvYe3Viz8K88USyNGV5F4ASYpDaWDcv9vLpRlVAYEwVB3E8ifPm2NgwpoaO7BqKzf7fnpzij6IvP8pj32FJC2BF2QVBHujzaOG-0lGji4AicfGjv0u9VNi2pOQ00QbFidhsF5ZuKtsCDhRDcM-Ac3lX4Z-ZkFNnESo0_dVDGp0TZF2gB2D4H8fscL0NXWePLxbsAOsIRmQ_LECN5wkiPVZBwW-24vV1PGx-cJA5E4Dfk3uL_btLsyx52EzbMkreUvH8cx1lE99yZWgrRAkJaNQ_-Q8EGtDM3vwu_vxjJN9jmNz68gDUKzLque5tz6TAiU9oREhg-XCCl2c308ypS1DI6JR1JnrgAn7JHk4JGFXZ-X7ORwYl7I4T9fJYbxjUxjRXMW8oPpvdkg2lKxJ6SN1MVxs9BcKtGv43wTAzVWXD9RgQZWZo0dMfyHG9vkcpCcHB-Ly8AZd49BoZhea95Fiqd1LaSO_n-Wz_fkUqs3N4W3Qd1_p4GN1zWPl7HlifuHEybwbsT5QBMZg5hNkvIGnGCUySecemCo-IcurLWH_jB02ayxD0E15fPzSbVXksygi3NpGsIWvrAj03xW9wP9bwRquaA1g0Y-bHlJBaWxADXWLUGkTQkK6_SG6az_JfVui0q4mNOMK_wwQtYhZIXxTshVJtIyFOKwcG88ACFTrcjeDa1JzYByNG0ldvS-ucX1VZhn7alxUBgvN0H1QXn4CdByyYInicU7PbmLX5PJUA_wo2H_gLUNYMxYzmdPXAvGFaikb5D7xZ9gR56OceNa_CbDXWa1b1Jp_XJ82CTnGQMZwgHXOD1R0KjwNTNRwvlZWH2cP83Fmf1HKHb1fIUhQYIwKO9Ps8njVni2hC-BBQ4utVgSna4-5uPc1RvtomfPKy3hbIuihSL0LKZ6NmZUQpwuMlEks19nuUvo-IM7UzVoV3OfzSF7CxRdX0Dpsdh6ZvZEzPgSQD8KZBtwKQ64T9oNdegA2r8m6mLnfbGUoF2P-jd3Wk3Q09RXvZX0pKpFe0emNrT2VN63DDQKiFwtA45ri3Tf7PwVjCIBGzQQs5lAI8iwRypR31Xkx0qPbsbvVbLWYy2QDC9I_xixcJjtTQJd5LR_p4WW_Zp8YD3qOiiAHx80B5ZdnM2CYpD8=",
  "id": "rs_0ed329b206099547016ab4a121252c87d0ba1b83f1531727eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.11,\"left_z\":0.015,\"left_yaw\":0.5},\"note\":\"The diagonal bottle’s capped end is beneath the left gripper and out of its wrist view. I’m lowering around the neck and turning the jaws to match the bottle’s diagonal axis.\"}",
  "call_id": "call_j48FBvV0KIdf5eAYhlLcngC7",
  "id": "fc_0ed329b206099547016ab4a124c75887d0b83fa8f8614e7a9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j48FBvV0KIdf5eAYhlLcngC7",
  "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]: [-0.5282, 2.0308, 0.9833, 0.2604, -0.675, -0.5678, 0.9984, -0.2554, 0.836, 0.5694, -0.403, -0.4202, -0.3157, 0.998]\nstate[eef_state]: left_x=0.4534 left_y=-0.1326 left_z=0.0191 left_yaw=0.3098 left_pitch=-0.0264 left_roll=0.0052 left_gripper=0.9984 right_x=0.2868 right_y=0.0033 right_z=0.1577 right_yaw=0.2419 right_pitch=-0.0332 right_roll=0.0129 right_gripper=0.998\nstate[joint_eff]: [0.5949, -9.7709, 5.4906, 1.2332, -0.6276, -0.1587, -0.0513, 0.1299, -1.8393, 6.9675, 1.8144, -0.0611, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce7cb81f4d866d13b762f0a955d29dd2d2fbb9a98c6043d569dffbe70ee98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777616a8786a2f8c1673352202e37b981056bce23949a10834eae699e9d22902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d76073691d3a71ee14036a906421ddffc710ea48593d54dc0767211f97d4cf8",
      "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 23 attempt 0 · /responses · status 200 · 6.742 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 78 changed as sent

message 86 changed as sent

message 90 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7937, 0.5755, -0.3759, -0.0231, -0.0292, 0.9983, 0.4156, 1.5288, 0.9131, 0.0521, 0.1268, 0.0547, 0.3365]\nstate[eef_state]: left_x=0.2917 left_y=0.0018 left_z=0.1678 left_yaw=0.0007 left_pitch=-0.0343 left_roll=0.0003 left_gripper=0.9983 right_x=0.4203 right_y=0.165 right_z=0.1524 right_yaw=0.257 right_pitch=0.0111 right_roll=-0.0047 right_gripper=0.3365\nstate[joint_eff]: [-0.1299, -1.0325, 9.9214, 1.7509, -0.022, -0.0317, -0.0122, 0.2803, -8.0068, 6.5299, 1.9219, 0.1001, 0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.337, 1.7992, 0.8516, 0.2924, -0.284, -0.2081, 0.9988, -0.2466, 0.8623, 0.6163, -0.4301, -0.3939, -0.3027, 0.9978]\nstate[eef_state]: left_x=0.4532 left_y=-0.1026 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0653 left_roll=0.0143 left_gripper=0.9988 right_x=0.2913 right_y=0.0003 right_z=0.1652 right_yaw=0.2227 right_pitch=-0.0468 right_roll=0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -8.8137, 7.3504, 1.8339, -0.2222, 0.0855, -0.1392, -0.1162, -1.935, 10.4684, 1.707, -0.2662, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 2.0308, 0.9833, 0.2604, -0.675, -0.5678, 0.9984, -0.2554, 0.836, 0.5694, -0.403, -0.4202, -0.3157, 0.998]\nstate[eef_state]: left_x=0.4534 left_y=-0.1326 left_z=0.0191 left_yaw=0.3098 left_pitch=-0.0264 left_roll=0.0052 left_gripper=0.9984 right_x=0.2868 right_y=0.0033 right_z=0.1577 right_yaw=0.2419 right_pitch=-0.0332 right_roll=0.0129 right_gripper=0.998\nstate[joint_eff]: [0.5949, -9.7709, 5.4906, 1.2332, -0.6276, -0.1587, -0.0513, 0.1299, -1.8393, 6.9675, 1.8144, -0.0611, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ce7cb81f4d866d13b762f0a955d29dd2d2fbb9a98c6043d569dffbe70ee98d3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777616a8786a2f8c1673352202e37b981056bce23949a10834eae699e9d22902",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d76073691d3a71ee14036a906421ddffc710ea48593d54dc0767211f97d4cf8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKEpJiYNcuJYxdTL0VznycZjwnwCAcSNwEdBuiQ02LBApN9g6Tzbw6CNK-RapSyu5bER1pZfEkxxE0ciwyxH36jAdq2PMusYDErbT3zpKWnRcRioEEJwEAffLmN5JXHnOz0cOguuk15SsC0645wAfi37G_cIVn_-oFXtQWrdJVXaYfYGyvddoscVyDS_qD8Ulz0MrYcf_oryLxft0Ng9bOK3GEsOGfRpJVxLrKr_wfE8GeSk_2ZhGvZArMKIMqYF29cEyfKUjYxFofv75mp-oIfGkshFNmr4eBp-dVyMzV4LQ76M10-H2egoqZ3EWvAcFnjxlsm5q7tS0-uLcKVMkorMWLVLYGeFNKOZyP44H2FR80sZGUznf0pcYg1YYDTDhq9MjkxuQ8MsAQEu1ccxNOryyFw9zv0kNGAu_TswsWA1XARoOrs3xK2HUzDt4bd54u0h5S6trtwWnvg2iT49YTdpTcvBYsvavNqs45v1gfRQ5Hl1S7e_Zgjouh6v973k5nWwOcrQLduYV1KqA19fKQ-EOyX6RlTKoJY3H-ZQQl944vsNgXOJrhBvCzJ5Qi1SxvIzfbWmXkFH5BydJJaFqEDPS5wjwyH-Dc5LT0pXJO4-A9wARrMwd7MlCCqlkhYjYZAhzK1iBfDINi5LeaNpC40w9EHZF6pJHz1fvWJM09nB9RHwCbicgHhpmDnSkehe5rhTPWpA_cbilSaW2tuHuwH9ipJcoMjB3IIAhmc2Z8SRuaqM3N1R5ZB86RrogbgzwmVkH8WS4irBa9o1CscWtEaz9qWHxV7DTMTOuHhyS0_YKafC6KEy5JZu3_2kHpL3mPv73NC-ICyE86G-c7aoCCgmrLoEZN4OUrgT9h07XX76tZ6XQ4XkviQmxy1G_oquCDw9LVP3BlQiTcF4oSqPtE3qanjsNl397Lzxuz8OqoGGhIv5QFr3UjEQ3IBiiZQ1zhXKiV3vyMm_muGbbqrTB3U0BtwzQJ1NGq1h1NsJupdVt4zXUHJFmZlwexrnHZZTtDUEqo_yoFJthHQ-JAGpd91YTZzve5zTxHu1HDGBVVo2OqTjNI5M9ZsG_jjJJp9k-j3WjI6j8Ebadhy9GY7xPU68fYFBRG6DmhMrk9ky_zIY18x76Y7gTolkXn6-3CA1BfrbYGFCc0-h8O30krxzCo1TGVl0b2VCacD-KURmO1Ghdc0tlby_2oOboQo1BUqOUHrTCyANxtnCwPFkxRG5jwUZgEW4ZHNd79inkKaxNtDEPuk8miT1cBn1RVlZdbg7hu87BmcnDwCKd3y8qid02YS7g3QDLEmkhkLfwv8C08R-aM8=",
  "id": "rs_0ed329b206099547016ab4a127f63087d0b8fa3453312e8b1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.2},\"note\":\"The left fingertips are down beside the bottle’s neck. I’m closing to a narrow opening intended to catch the neck below the cap.\"}",
  "call_id": "call_jYNcb0Nhd7rYeLSvI9ceebt2",
  "id": "fc_0ed329b206099547016ab4a1289e7487d09e8c81f2ee94b5db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jYNcb0Nhd7rYeLSvI9ceebt2",
  "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]: [-0.5373, 2.0609, 1.0016, 0.1478, -0.8051, -0.7601, 0.2049, -0.2562, 0.8215, 0.5373, -0.3779, -0.4229, -0.3199, 0.9981]\nstate[eef_state]: left_x=0.4402 left_y=-0.1099 left_z=0.0086 left_yaw=0.4927 left_pitch=-0.0201 left_roll=0.0027 left_gripper=0.2049 right_x=0.2849 right_y=0.004 right_z=0.1522 right_yaw=0.2455 right_pitch=-0.0256 right_roll=0.0072 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -10.0308, 6.2291, 1.3065, -0.5006, 0.0562, 0.188, -0.4718, -2.1812, 6.7487, 1.8828, -0.1978, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573f539ce108b61790476e9cf3784834d449748a8774373ad1635e51ffe16e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190ab6a5901324244e49768ab3774382d49ea1be2eed893009fc676fc579ba80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b6d95c2fbd3470cc8c1a32ac154afae392479898476b2333b2699c17a83367",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.74 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 82 changed as sent

message 90 changed as sent

message 94 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.02, 0.7742, 0.5476, -0.3477, -0.0231, -0.0292, 0.9983, 0.4248, 1.042, 0.5724, -0.1001, 0.1276, 0.0551, 0.3365]\nstate[eef_state]: left_x=0.2908 left_y=0.0018 left_z=0.1662 left_yaw=0.0007 left_pitch=-0.0145 left_roll=-0.0001 left_gripper=0.9983 right_x=0.3168 right_y=0.1226 right_z=0.1504 right_yaw=0.2653 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.3365\nstate[joint_eff]: [-0.2803, -1.0462, 6.653, 1.956, -0.0171, -0.0171, -0.0122, 0.3897, -2.906, 7.2821, 1.8681, 0.105, 0.1294, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 2.0308, 0.9833, 0.2604, -0.675, -0.5678, 0.9984, -0.2554, 0.836, 0.5694, -0.403, -0.4202, -0.3157, 0.998]\nstate[eef_state]: left_x=0.4534 left_y=-0.1326 left_z=0.0191 left_yaw=0.3098 left_pitch=-0.0264 left_roll=0.0052 left_gripper=0.9984 right_x=0.2868 right_y=0.0033 right_z=0.1577 right_yaw=0.2419 right_pitch=-0.0332 right_roll=0.0129 right_gripper=0.998\nstate[joint_eff]: [0.5949, -9.7709, 5.4906, 1.2332, -0.6276, -0.1587, -0.0513, 0.1299, -1.8393, 6.9675, 1.8144, -0.0611, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5373, 2.0609, 1.0016, 0.1478, -0.8051, -0.7601, 0.2049, -0.2562, 0.8215, 0.5373, -0.3779, -0.4229, -0.3199, 0.9981]\nstate[eef_state]: left_x=0.4402 left_y=-0.1099 left_z=0.0086 left_yaw=0.4927 left_pitch=-0.0201 left_roll=0.0027 left_gripper=0.2049 right_x=0.2849 right_y=0.004 right_z=0.1522 right_yaw=0.2455 right_pitch=-0.0256 right_roll=0.0072 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -10.0308, 6.2291, 1.3065, -0.5006, 0.0562, 0.188, -0.4718, -2.1812, 6.7487, 1.8828, -0.1978, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:573f539ce108b61790476e9cf3784834d449748a8774373ad1635e51ffe16e9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:190ab6a5901324244e49768ab3774382d49ea1be2eed893009fc676fc579ba80",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2b6d95c2fbd3470cc8c1a32ac154afae392479898476b2333b2699c17a83367",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKExkAYOHJnnxkcPDO-baOTxg5jKbDRnlKLcRDtPq5B85HBv9P0gmSSlOWeWMwRpsHLkb3ZcQiREgsshVueX_akHO5G_fske2GVdZRLMSE3ednKr2ltgm2Dg-pAosJCzaxQ9vUnfED4bWoCUdmfgJm0M0nv9L0EsCvY-uYZD77nKBS3ZlhFWHi18jaREoufzaSPNj7gaS_RcH7d3dF1cqTVCT1ZPat9ldAUdmg5dFd8qsWLHe9krFLCCY9d85KSRcWpcxECiTMVioB0M3MUaGiFNoV8e872LxxYffGF12S5cT2iUohD2f4croEXYhSpaRDNPRQstRRQGk3vKjMZqkPbOM_gyz2FeQJZSLD_BHUAvwKkApJIAhTgeJv0dMtprIvm538AGqF6HHt8KDyuWN2cAxcgM2c309DvjjUPut2Ik-6xRG0OrOrn-agQYWKwfm4tYDHyx4648wb2nN7lSzflkgd4U34jMbQPHvHt54FYqy4JKOsa0GlmVkicq8UsyGYtzWwrKzJXTIgIWjuWgxiTv41HchaKq-F12j_Ok2JJb8f65zyVUm8Pvucler9SlUJUw2BoNktopRZtK_K7yIKR1crwytHcSq8QKqCuSbOUZcAHlW37c94w8X12IRbaiT2szen2qwIHO-fhHO6FGwibbU3CDCx_FiKUIxEtSCDGsZkEVeT0UDDwM3qxTRVvf6-XEUfhPBPAV9F4b_B2pmeuDvnbAO6f9j91UQEelBSEhb5aDb2ZGAN40CsbyEB1tf3QWH8ofnP9kD8aiuMJpw5fgl_Sho3REPo4INuY9PZVL8aczb9m9okU7nV_EJLxq3qUYPowufVXU3Wjg85yAWTMFVDSDXyCllHScU53UUg96kcHBxBH0WHXDPYQDwp-24xa5b0Vr0Z7cAM8Ag0pX65hSSRHKIZqa2TIq0b2f1m7Yvunbh2gDBsBaItFKzPlT-8UhOJ_ta5THLgnqaVKVm9hfXXModWxKt0oBHkRvYxZdSQ4i-F8AmBh3ZmW-OyEz85q9uqNMx-gqTyCPYOgqapFbgfOfXR1slfPZu32_ZQnqZ1CHbjpypp_-5FuUmEgvNZfQUold-oWpt3vwzkod-Xp3QcwOya21GYjC9Ybs2J0vlQ6eVAYZjUexZDOoNpMoXTCDbb-a3YuNVgBGx7DYzQPf16ILOW5MJxFA2TkO8YXbLj8bUKaYgpvGFIB0lrSr5t3eWvpeug_zYoj50C3YalxxWf-c73NmbjFsmxqrfK1byFmKW_Iiy5acyh5FgNNAS8P21M-UqcOosIVxcOo9LHYegrELDdBtyHbaWtACG5iPfk4vxZ5yjqjcugE3MVf7ttx3xRvsgeWDc8xkasykB9jIwfSOe-O0VbkAgA0jwtTs9Nt_GY_LpxsZy7PeE5LCw9HjbCLV6Fp0PNvriSLVrjEdYj0HZxo_O97v2uhtsbaRoawhxUxbYkWYuCSGML__8VXzHgjcw8UcKAF-5IVH-KI2XYIuRBwGwTIpAAXqcxN6DNNwkrO8hKG42f_2pWFAl2tP_oxjgmyMdkPPyEsD0UCDx7ITwa0qMJXLKN934Q8h8PCzNhFMyy1Z5f-DNCAHO70rGCjjejfvWJiRFLmRjnaubM5OUOfbB9Kqet5O2Nug4sT9mKFRywRhG1r55AiIoDqomBu6CGQ8TIgaan3K4fFIj3uAPRsd_c5cI4k1jveWtHCMIYiFhKWa4xMgM0nU3DWZlhU9J8K-KCT_doqL9xos6l8P2aXKDThpsc3avjYbBOuFDbVOod-8YhGSBrFmDddQMpCb4agi5MgTnnNlr5xKJH17WmH7QO_nXGH2aCOEMOayDseof_czBh7sK-tCeWml42BJCUw_LxKQ_wPR_tf-n_hN2caUBuEtDgOc3ouiColT5riu3P7phw4f0BfwMu9anLVOKL9HF0sFfH9Qr1NJXT35F4q0sPji_2A9rZg3nDs4C8rHutZgr5qwgktN5DlKTc8voU0l-LloUzvo5sV3N4fvf4ZZUbsrkFt76GxEaEtjr-GAn8daAuovUcJwQZ6egPzQc9o1n0G2PhXJ_GthHlpTRkVlK97e8gks2fut9O6AU20ZQsUqy1sGlDLcIYk1Fa1J6FSyN-_EkDzjvNR0Z_FtNi19Kluz1anWAZOI7wHeLATXWRKw3-fQRyMppvAhPOH05Qhkv7zA0Yz8TZbXDbM3V3nP2MIc85RvkARIziS_lGFd6eggY2beIisVYxeyDR-xFBcikEOXTbX1LwXPyqYPsXFPKAdV8qB4QdrZ4KnZpd5B7R6ToSrTdMxa6gXQfc8vSMg6LMGonIS5qjrwTF_S-dYuWS61RFBJI3vvW24v7dTW_WLqVmkp8Fv8XadukPZcG1BrV5FqmAKlSDmSNg==",
  "id": "rs_0ed329b206099547016ab4a12c265487d08adffa89f01ed484",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_y\":-0.045,\"left_z\":0.11,\"left_yaw\":1.57,\"left_gripper\":1},\"note\":\"The diagonal bottle slipped backward and is now lying crosswise much closer to the base. I’m approaching its exposed cap with the jaws turned across the neck.\"}",
  "call_id": "call_8QDPdzZklxzinCfPWrp2mFV7",
  "id": "fc_0ed329b206099547016ab4a12ff7ec87d098fa08167cd52bc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8QDPdzZklxzinCfPWrp2mFV7",
  "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]: [-0.3447, 1.8854, 1.2343, -1.3178, -0.9237, -2.0598, 0.9971, -0.2565, 0.8108, 0.5148, -0.3656, -0.4236, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2975 left_y=0.0468 left_z=0.0998 left_yaw=1.4988 left_pitch=-0.0296 left_roll=0.0085 left_gripper=0.9971 right_x=0.2829 right_y=0.0046 right_z=0.1474 right_yaw=0.2457 right_pitch=-0.0251 right_roll=0.0074 right_gripper=0.998\nstate[joint_eff]: [0.0889, -9.5795, 4.3966, -0.4176, -0.4518, -0.3736, -0.0464, -0.4171, -1.9214, 6.653, 1.8877, -0.2711, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1eb810ed5ceff2f8e7b093aaad22b04dd1915a5bddcc9f2ab31364701fd96e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1d4792567d7bdcc6eb023f8810e8ede2a7d2df525cffc1ea3e184a0fcb5a49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd94c3caa856a29c629816da803470da7ccfecef5d5250f01e0bca7e7203930",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 7.681 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 86 changed as sent

message 94 changed as sent

message 98 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.337, 1.7992, 0.8516, 0.2924, -0.284, -0.2081, 0.9988, -0.2466, 0.8623, 0.6163, -0.4301, -0.3939, -0.3027, 0.9978]\nstate[eef_state]: left_x=0.4532 left_y=-0.1026 left_z=0.0594 left_yaw=-0.0007 left_pitch=-0.0653 left_roll=0.0143 left_gripper=0.9988 right_x=0.2913 right_y=0.0003 right_z=0.1652 right_yaw=0.2227 right_pitch=-0.0468 right_roll=0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -8.8137, 7.3504, 1.8339, -0.2222, 0.0855, -0.1392, -0.1162, -1.935, 10.4684, 1.707, -0.2662, 0.0708, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5373, 2.0609, 1.0016, 0.1478, -0.8051, -0.7601, 0.2049, -0.2562, 0.8215, 0.5373, -0.3779, -0.4229, -0.3199, 0.9981]\nstate[eef_state]: left_x=0.4402 left_y=-0.1099 left_z=0.0086 left_yaw=0.4927 left_pitch=-0.0201 left_roll=0.0027 left_gripper=0.2049 right_x=0.2849 right_y=0.004 right_z=0.1522 right_yaw=0.2455 right_pitch=-0.0256 right_roll=0.0072 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -10.0308, 6.2291, 1.3065, -0.5006, 0.0562, 0.188, -0.4718, -2.1812, 6.7487, 1.8828, -0.1978, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3447, 1.8854, 1.2343, -1.3178, -0.9237, -2.0598, 0.9971, -0.2565, 0.8108, 0.5148, -0.3656, -0.4236, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2975 left_y=0.0468 left_z=0.0998 left_yaw=1.4988 left_pitch=-0.0296 left_roll=0.0085 left_gripper=0.9971 right_x=0.2829 right_y=0.0046 right_z=0.1474 right_yaw=0.2457 right_pitch=-0.0251 right_roll=0.0074 right_gripper=0.998\nstate[joint_eff]: [0.0889, -9.5795, 4.3966, -0.4176, -0.4518, -0.3736, -0.0464, -0.4171, -1.9214, 6.653, 1.8877, -0.2711, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1eb810ed5ceff2f8e7b093aaad22b04dd1915a5bddcc9f2ab31364701fd96e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1d4792567d7bdcc6eb023f8810e8ede2a7d2df525cffc1ea3e184a0fcb5a49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dd94c3caa856a29c629816da803470da7ccfecef5d5250f01e0bca7e7203930",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKE2zLenW3tndgoVTDlv3VH_DwlGGXXNwle6w4vfjg4XKdr4UI3-Rvfa5gtfhoXaZsMizyRlClcxHfl9QF8sTLLIEtb5Zy8KcsFqDuwKq6YwSX8cKX-ZRWDqcxhuuZ68IUj-RKEMsRmj8duBu-m7nWdWYo4Gc3udmqsR-7kzQGa-HmFZobonZo5I9WjTg_fksjheXbeesPt6ntAWjdgf0iCdh18A2rsFv1jsy2RVVKFhoH94hft0gsmj7rihEzcZ-mvCK9Yu7KlGL12MqLb7Lh69H9f4GUvJ7Y07Mo2clJphZA0jsQKF7gRw6xOGi4SyjTDtTIyLZEzJmVYTJkw5jLWzF0pICnZiCy2LdYfViuw2IlP1JqYDL9F-qYXb5-Z5kBAy4sFu4_DkLYoZpZsV_Ip8lLcJyqhSqNIj7jmj48oP6pnVnu5b6Dfn_KJCmK_A6-LbdqANAm6tul50Dh9cPPyhccN7KYv1pThN4mBbLmKBjdZJE-iw6V0e58aX745b7DRphlIw6BoIKdntXKrPOo9kVizypMeKkHOGPnfE8w5hwmViKn6tCDYgjBcHdzOa-H1QsWSjMmAtfIVF8in4gXvtr9UPPydcpYBLDTOyiz7XuGGNe7QV41neFM51M46E1OIOsTnLoJ4AQq6cIjYyWPX9Vy1byZKZ0_rsD8h2eQwwIJNsecAlZqzD-97vLT-tzIBaEn0mc4WeaHz8RKu-IOB5UKnAAicc_CV6OoCq1Aab-lqTRcy3F0ZDbkq9gAujuymokzyTgqT0BmVdnydoGRqybP0u9cfZJ65eyz-94A3G2-dqOrGHVX8lTj-lzCtXzm-xvL9j8qmwZWtZGpumDh6j15GwX9xJrqb6Pc7BFCg8Sd0h6vQlaMe-inUwTGgPxpN4a2C96rXUrLVXyqI9j80SQSeSlFRwRJpGfI0FCigI3zQb7o3UV0ZHwYUsXE-Amtu3EF3SRlbQD4089-DNrVafTzHmL4AtRgSMhBhpROPSbtp9H6_33jaVLMY8qlbOlUkB24xPnAzVMWJa55tJhTZMBxLwfT9d1KFN8o4z5DrIrj3lyMdIIkfDailm3MYFIk-EnEQcbQo0VHP87vMrbYpDmh4yAmKjGB0_vuGKYGErF67NhxrmCt3jbuUtzPKD_97luhDJT9gy3DU6pZ_RdLTvPj0s4iBQxVauhxJ60KgIYXkOI69Z9K35u9MXtIC3GLF3h9XjEFwSrUK0dOWChIxtAmLrzlacsOp6mX8V5K9byHytKcQcn4gtdIOT1cFSUR3PeYjvVJ7wysq5n9Dos08xovX6jZGF0cikVbU6cJ4Z6ym56TFhTMv0AmlSjDCGcCFk",
  "id": "rs_0ed329b206099547016ab4a13454a487d09e513102b0c58282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.235,\"left_y\":-0.055,\"left_z\":0.065},\"note\":\"The yaw change left the arm well left of the requested position. I’m correcting that position before descending onto the nearby bottle.\"}",
  "call_id": "call_WQEWlrFfqAKheJMAyUvRniFN",
  "id": "fc_0ed329b206099547016ab4a13521e087d090c84e4e6735e2c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WQEWlrFfqAKheJMAyUvRniFN",
  "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]: [-0.3836, 1.898, 1.0756, -1.1885, -0.9241, -2.0598, 0.9975, -0.2565, 0.8028, 0.4908, -0.3576, -0.4232, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2767 left_y=0.0442 left_z=0.0639 left_yaw=1.4607 left_pitch=-0.0179 left_roll=0.0488 left_gripper=0.9975 right_x=0.28 right_y=0.0053 right_z=0.1405 right_yaw=0.2455 right_pitch=-0.0322 right_roll=0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -9.3333, 3.8222, -0.4811, -0.4274, -0.398, 0.0317, -0.5538, -1.8667, 6.9538, 1.8974, -0.2418, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f5d75e0c4e31d45761b99d44a03751c765645f11ec9a70db6cbe7a335cba39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d7c63f9f8b714902becc6b0dfcbf078fd54c489d3a00334b0b746b7643ed52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d34b03fc4c80e64cc4502ec3a3d2fd7e1d0c7a9d2f0725edfc0168e0e8ccc5a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.437 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 90 changed as sent

message 98 changed as sent

message 102 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5282, 2.0308, 0.9833, 0.2604, -0.675, -0.5678, 0.9984, -0.2554, 0.836, 0.5694, -0.403, -0.4202, -0.3157, 0.998]\nstate[eef_state]: left_x=0.4534 left_y=-0.1326 left_z=0.0191 left_yaw=0.3098 left_pitch=-0.0264 left_roll=0.0052 left_gripper=0.9984 right_x=0.2868 right_y=0.0033 right_z=0.1577 right_yaw=0.2419 right_pitch=-0.0332 right_roll=0.0129 right_gripper=0.998\nstate[joint_eff]: [0.5949, -9.7709, 5.4906, 1.2332, -0.6276, -0.1587, -0.0513, 0.1299, -1.8393, 6.9675, 1.8144, -0.0611, 0.1001, 0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3447, 1.8854, 1.2343, -1.3178, -0.9237, -2.0598, 0.9971, -0.2565, 0.8108, 0.5148, -0.3656, -0.4236, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2975 left_y=0.0468 left_z=0.0998 left_yaw=1.4988 left_pitch=-0.0296 left_roll=0.0085 left_gripper=0.9971 right_x=0.2829 right_y=0.0046 right_z=0.1474 right_yaw=0.2457 right_pitch=-0.0251 right_roll=0.0074 right_gripper=0.998\nstate[joint_eff]: [0.0889, -9.5795, 4.3966, -0.4176, -0.4518, -0.3736, -0.0464, -0.4171, -1.9214, 6.653, 1.8877, -0.2711, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3836, 1.898, 1.0756, -1.1885, -0.9241, -2.0598, 0.9975, -0.2565, 0.8028, 0.4908, -0.3576, -0.4232, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2767 left_y=0.0442 left_z=0.0639 left_yaw=1.4607 left_pitch=-0.0179 left_roll=0.0488 left_gripper=0.9975 right_x=0.28 right_y=0.0053 right_z=0.1405 right_yaw=0.2455 right_pitch=-0.0322 right_roll=0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -9.3333, 3.8222, -0.4811, -0.4274, -0.398, 0.0317, -0.5538, -1.8667, 6.9538, 1.8974, -0.2418, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f5d75e0c4e31d45761b99d44a03751c765645f11ec9a70db6cbe7a335cba39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d7c63f9f8b714902becc6b0dfcbf078fd54c489d3a00334b0b746b7643ed52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d34b03fc4c80e64cc4502ec3a3d2fd7e1d0c7a9d2f0725edfc0168e0e8ccc5a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKE-7m0ex9cXEAcY2BtuZEycuEYFf8FPr0_IiFj4GmS9BjyavRqPjeri4XGD0XG4n_oH--svvtnH4ahDguaBog-IpN_QhmoffaKKbIrW3WjOvnnP_n1oxgTih1jVKUN3P7y-h20d1zSiRRaVvfYhJVWSqsvoIuTBtaZ9x9Coro9ngCrZecYYeZ7BjDNbjNCBvQe38FZtdM3j0cswyRlk0pe4HL9Vk2s8gBXEXGl8haYavqY5OHMFvan9fstQaLwqid10DIJ0e9ZGGCotInbiRaLy2bEPGsjfPQsGpZMeRidQ52L6fTfXnoVwi6-0jHAf7qR7nvPTQ2rGZtA19dcQe8WhRA7MeWXvJZcUCK025fXIXnwjA-_qcd1nUqllRlqD417GTtXP2bK-7YSfX98d1phKms-59oyUZN7N6UIN_yWqFvHRDo5iBSZW2lTHB49iirkYe_WlIEIXs1JScE7NP1QDRae2UhT3NSZXyiPOM4HK_NSezvg4Fm57WGdn_NJgryHXP74XIwyw-Hb_Z3UH04-YS1KZW6pd_cxhQRq8lNLfbPC4Y-FeGJ4z_1AWlzFDtOkzhwBBAaNI8Bt-qiFuirk57xTR26K21oUim-KfR_-sAx_XV0McI9X-tO6fluGEK1xKbX5sYz6hIJXNGd8usEW3x0bqv4fUuWG2Gn-5JOaeK3Dq0qvFnzcpQWpj8P3j23KP8N674bmnr2GLbFOe-C7n4IfAW_Fj7vZ1aveaZoUrOOzw2AS06i0uN4qm5EvtywWZRaaA-nPOS7otwLYyoS3MR7F6KTJvqYKTw2gI61BPhTlPA5XjYkpE3qELi6CjwLQErYuAzSbgpReoDtoAjr49cKk3N1o5Oi2a29WbBxTM4RNtNVmX4trrIXa7k-3xyyamMsHCeQbYW5S3I3DCdKaWi7NYmQbc-IF3tunQEC4WAi8V3W04NXJsJHdJL7QfFyD_OsA0V9HhI6wVsIm4pKJ9L0CaoIn8w2oFUCeJTeruqQ7r1e5iF7tk7ZmKmPz2i3FSoy_REh6dzQ3c1deWgpv42BhcBQHJU1DXBzV18s59CuKWI4QNUjyKVvOKCdZsaIQsHCAbHGJNru5BUNix4UKtFCiYCpHjZMko1Y_LuUhe_ZWw8TyMVuzskTlNSa3MjvZPtXK4fRmfgT6mUP0SRCqwdgeEvSxzJZcyI-i86tcHmBNOQCUK3zDtMdSEe7JV4BBTQtJ2QGfFETMqPEgt6zsUa8K33A4oY8djoGUcAvxyxb4LjK6jQYO1BS83hoQtfv8uX32TYIDIuipY9LR-kCXNLIZEfEvlC0JDUP2h-5jrx8GTabpuBXfIALu0S3a9KUYQZ5UCgCZBnyd_ok1m5NkDeMGn3sxc02j2Vh3TO0YCiGjm3lSQ8X-vAvbNymwfudGkF51nsMBiHnxECXCG0UqXqwrm7_OzvzRT9GuZ1_Awbew2N8oPYzpLZqFdy4fQFDk3Z58DTwBKpEN0Lwyh8rWU715P8QxsWKprKfZB-_3cV-KUy_RTA13p5UsYbwyIWYRCtaAeYKq2W8Vpq95-0VV8aWWH4EYE2A_fCbJmhrEKB7CB-BpHOIEh2GI5PZmQo27ApZHJogJ1sIHW-lqDcjpwXDIvRLnuSAs5A_cJDrJlorK_uBrtvrbMcbd1IEgUpwtThbnQMvZ9Fp1Uez6kogtzMxOrRKzzZdeJfofUT9FLOhtfOEsHo-WZ5oqoGGCl7w2wTRWWK1Oj5TS_fsEcRErtzgAkxPQ8LCmjGSe4wXt5SQNkOPcnCRlJ59nSMS5eEbwk2yVQSIK4NiOnPDgZwiE3kTuHcp9OWo19skpMof-1PNwIycUo8R4zHlwlv4rX7EamtVpsG_UEbFWzHgft33oR2B3sMzpdxpeIiryF0R7FWHV5dSHqxY-BWpQIaADgpYxCSJI90jGKbzAY8XYcQ3PMX54rFv0hfHnsx-mGYkuyPi93gNmksTs7-ssT1gG_qxBn8HGJzZuq8E89yx29-s0dtl5MMzpsBePB5EiG_XmyFu5aIi5XJJihP9Xz2uIHddPmo4G3Qjr7zELMFnPHfHUfzfpRCtqE2knkd6BBGdql-1brg60Q828Sav5_Y_3wJPcD8qKpQxVqonlxSOEmvRRM1SLZ5jfYMEYa2GTCSVx3UdABM4sK3ASdbzl-WYg72YWQJJwnqVI_60QrGkGp1U3UGATybx8RV4KsAgHmXtwCLRqX7F9EeR5QEuPMCyM776Pa1IOIPVJdnLkA1vmlsLCMjyf2aQcJKltofjPvdGy8o9iWfXqHGPutxqgoFFfqVFnmy8A9EgUuL9RSnNqRH4JWpYLlyRTtb3FbDBtnmS9UFl5iiNaHU1RGERXYHxVGJ9b-yw_Qf8VDaCkyqsvmErVQSgbom8tgOYnWFzSp2JHB8sEgRgjXyLIfu9crHmWa_i5DjYyI9p_tPFVFQqDdcjkcTD3j7ChmmQmPsE33XVQXpyaK5xSym-zU0UlUCLe4gRM9Gdu7l7rVBlCkPeuWEyTvzV-fiWSh7zNf-hbjQ_RiyfcK2TiA3qL0oUrX4CTC8OA4VfylXh1tk1ixvF6qEj1Q8V0IdsMYkJdS8ADGKZA3QVXmJuY2mRuJvLFzQyx3rXhlE0DEPUY32I39lBeUBgNm6cse1KMzzXd6t5W6Af5xu6pfP1XOcmW0eRJoOOuBvIraNal9IVXCOFszD80uYuJSDtANjj8mGCTRYy69LWAz5jVAz6IJqZ0RcQdBiK3DjDne_e53EbAeoExOdWFkg7SxPg==",
  "id": "rs_0ed329b206099547016ab4a138d4a087d08edb3325dccb3e74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.12,\"left_z\":0.16,\"left_yaw\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.185},\"note\":\"The left arm is not tracking the sideways approach at the large yaw angle. I’m raising it and reducing the turn to recover a reachable pose before another grasp.\"}",
  "call_id": "call_X2LSHdGNSS5vOCNnkU12z1eo",
  "id": "fc_0ed329b206099547016ab4a13d7fac87d095035155a7aebbb8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X2LSHdGNSS5vOCNnkU12z1eo",
  "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]: [-0.5758, 1.9148, 1.2091, -1.317, -0.9291, -2.0602, 0.9976, -0.2554, 0.8455, 0.6098, -0.4423, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2948 left_y=-0.0184 left_z=0.0894 left_yaw=1.2667 left_pitch=-0.0104 left_roll=0.0587 left_gripper=0.9976 right_x=0.2875 right_y=0.0037 right_z=0.1659 right_yaw=0.2473 right_pitch=-0.0394 right_roll=0.015 right_gripper=0.998\nstate[joint_eff]: [-1.9077, -8.4444, 6.1607, -0.9841, -0.6422, -0.2662, -0.0073, 0.0342, -0.7453, 10.5368, 1.7949, -0.1636, 0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba733c71f3c93db129c515f98fdb1346b59f542e676173f6c4052d6fefc527f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515faa9e5500c69a338d157c0ea3c926f37373a6dd1051f9dd31a9d6d636a17a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1faf5ddcbf85c5915ff16d8b45f1c347a92e601564166bc0d6f6531a47212d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /responses · status 200 · 6.277 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 94 changed as sent

message 102 changed as sent

message 106 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5373, 2.0609, 1.0016, 0.1478, -0.8051, -0.7601, 0.2049, -0.2562, 0.8215, 0.5373, -0.3779, -0.4229, -0.3199, 0.9981]\nstate[eef_state]: left_x=0.4402 left_y=-0.1099 left_z=0.0086 left_yaw=0.4927 left_pitch=-0.0201 left_roll=0.0027 left_gripper=0.2049 right_x=0.2849 right_y=0.004 right_z=0.1522 right_yaw=0.2455 right_pitch=-0.0256 right_roll=0.0072 right_gripper=0.9981\nstate[joint_eff]: [-0.2256, -10.0308, 6.2291, 1.3065, -0.5006, 0.0562, 0.188, -0.4718, -2.1812, 6.7487, 1.8828, -0.1978, -0.022, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3836, 1.898, 1.0756, -1.1885, -0.9241, -2.0598, 0.9975, -0.2565, 0.8028, 0.4908, -0.3576, -0.4232, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2767 left_y=0.0442 left_z=0.0639 left_yaw=1.4607 left_pitch=-0.0179 left_roll=0.0488 left_gripper=0.9975 right_x=0.28 right_y=0.0053 right_z=0.1405 right_yaw=0.2455 right_pitch=-0.0322 right_roll=0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -9.3333, 3.8222, -0.4811, -0.4274, -0.398, 0.0317, -0.5538, -1.8667, 6.9538, 1.8974, -0.2418, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5758, 1.9148, 1.2091, -1.317, -0.9291, -2.0602, 0.9976, -0.2554, 0.8455, 0.6098, -0.4423, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2948 left_y=-0.0184 left_z=0.0894 left_yaw=1.2667 left_pitch=-0.0104 left_roll=0.0587 left_gripper=0.9976 right_x=0.2875 right_y=0.0037 right_z=0.1659 right_yaw=0.2473 right_pitch=-0.0394 right_roll=0.015 right_gripper=0.998\nstate[joint_eff]: [-1.9077, -8.4444, 6.1607, -0.9841, -0.6422, -0.2662, -0.0073, 0.0342, -0.7453, 10.5368, 1.7949, -0.1636, 0.0806, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba733c71f3c93db129c515f98fdb1346b59f542e676173f6c4052d6fefc527f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:515faa9e5500c69a338d157c0ea3c926f37373a6dd1051f9dd31a9d6d636a17a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c1faf5ddcbf85c5915ff16d8b45f1c347a92e601564166bc0d6f6531a47212d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKFDtT2TrqNBTXI19MVVt_tAXfAejUjkXOlgaJGAeYOSl7ThFq_JjzsRekxGUO20-QXfcIzUK29dZq1uNlszkaKlqLDFDPSdp9stlkxxxZ5a35pDQFwDEYhTb8vUgz-9EUKpFJzZhkDwtBnV98N-XzJIdE5RmPTV8N7DGOlokoUhrrO-2JWodCqwCxELYQrFlnECx-oumNeA25IofKK-5ERmLBP8xSfGmQp53AySoXJ9mItP8NXVwTPxKCT_WMrJf17qGwdUvGyxjv3OZ6Y65-olQARXUvhF8Ko7s1mpgMrc54FQYxtq0jRYQct5mWMa00hbuh3hXtfcWTcQAYdxv2A5yVWtvUT0UR2_oOto7wcCpSrThWkaAUBeP31bH1CbjlLNwgJuOhvLIGPZa7J483i0-qNJTHrIBrx6gsGiRWVKhoTIupsE3wU8VxQRmgZtzHjI9RuuNk1tB2Nzk2yWsPI8Y12j-kA7SJJ5AIT-oK6fr8o7htGvbAY5U37wnspZwstP_zCHtcksccKNqIW4BtQt0ixwM_LMY-6-DLLtEOsnQxrB5LX4L-uHSai9dPeZTjhgzhuZONqnHgrDyY4R83wqVZAnL81dRwguCIu-9u2Wdt13i3_MnoXxAoR6zmLVZB0tgv6-EvacdY3pMcLvLvIBI8XAsLQSgPjLJV8HhRZ2pkqd9zg72djWeX30_6Whj61hU_bIyaFfZ2uEsth6_x2KRvCPICWvAZNpT2HLOM_N-2Z-yNbkChVOKCGS3prFg9vEvMzMw69eAIdQ1e8oXTcTS2I8hnQMvTrrLxCMxdedt5vT-fC4vzF4N45wGpC4jWar39G2Nsj1QLWXNBUoG3iqeHVlvFWODKydpQphdpXvzfNw7LyfbWRLs-ofwb13dKLsxF-rbeqXsXh6j-IDwc8pLrOEOgCF3hevpd53SHENar6sQTwAdVDZIzWj9F9gZJTmHF1pzqCyakDVnNdyjszHBBIpCoeixwaWfo4oY8yy56Of1M1SEYgQBoqV0u8uYEcWWLCqMhcyUl02GA_xpz4jEo97G64TmyQQnAUaZREa7QyNPTnVzJg3UTUFKgkkGKfVFjiLfBFaBmLvDDsjKZEijbGu1sXMxPeTsaDx16cswYRoYtkgET8Q0DUJ5UH7vrFXsCZKsPfjibc7ZUxVxVgSEGYIHFr9Bb00YnjWDCJOY83XjCbWNrT_vz7hrwbKuiXrJT0zfR0voMtG6aC8j4EeLRnvdG7s3WMiZNgssJPFLmLJH4bDaZk_2mUTZf98P5A4RxPhaCCfpeJOnxoQDpUSXr6qP2EXK5D1lH-1MUHeWFJ4Pl90R2XGYJIrqrLUXRPbFp7fsaVpQey4vUXpBmxv7j6JooVlxU_ier0QZqNKvzA=",
  "id": "rs_0ed329b206099547016ab4a142048887d0936419d86364fe46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":-0.07,\"left_z\":0.16,\"left_yaw\":0},\"note\":\"The wrist is still not following the requested turn and position. I’m returning it to the starting yaw so the arm can move freely again.\"}",
  "call_id": "call_LEGoIFHMvLdjhRPPpzRCUNyy",
  "id": "fc_0ed329b206099547016ab4a142a02887d0b58267faae089c1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LEGoIFHMvLdjhRPPpzRCUNyy",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5457, 0.8448, 0.548, -0.4202, -0.5964, -0.7963, 0.9975, -0.2565, 0.8227, 0.5701, -0.4198, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0469 left_z=0.1532 left_yaw=0.3524 left_pitch=-0.0369 left_roll=-0.2732 left_gripper=0.9975 right_x=0.2839 right_y=0.0043 right_z=0.1586 right_yaw=0.2461 right_pitch=-0.0344 right_roll=0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -0.4034, 6.147, 1.7705, -0.2613, 0.2369, -0.0122, -0.4171, -1.894, 6.8171, 1.9072, -0.2711, 0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c251a3a384f952102454a0958b4cc887fdde4fa3c30f7d6919d8262cd472439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc5c1db6d720502126be4ef71b748e1242b01fd8eec26fbba221472e27bdcb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbce9fe6984b8b8cee4ade908c70c9af0b827bdd97100a9522b4872f7727b96",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.495 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 98 changed as sent

message 106 changed as sent

message 110 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3447, 1.8854, 1.2343, -1.3178, -0.9237, -2.0598, 0.9971, -0.2565, 0.8108, 0.5148, -0.3656, -0.4236, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2975 left_y=0.0468 left_z=0.0998 left_yaw=1.4988 left_pitch=-0.0296 left_roll=0.0085 left_gripper=0.9971 right_x=0.2829 right_y=0.0046 right_z=0.1474 right_yaw=0.2457 right_pitch=-0.0251 right_roll=0.0074 right_gripper=0.998\nstate[joint_eff]: [0.0889, -9.5795, 4.3966, -0.4176, -0.4518, -0.3736, -0.0464, -0.4171, -1.9214, 6.653, 1.8877, -0.2711, -0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5758, 1.9148, 1.2091, -1.317, -0.9291, -2.0602, 0.9976, -0.2554, 0.8455, 0.6098, -0.4423, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2948 left_y=-0.0184 left_z=0.0894 left_yaw=1.2667 left_pitch=-0.0104 left_roll=0.0587 left_gripper=0.9976 right_x=0.2875 right_y=0.0037 right_z=0.1659 right_yaw=0.2473 right_pitch=-0.0394 right_roll=0.015 right_gripper=0.998\nstate[joint_eff]: [-1.9077, -8.4444, 6.1607, -0.9841, -0.6422, -0.2662, -0.0073, 0.0342, -0.7453, 10.5368, 1.7949, -0.1636, 0.0806, -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 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5457, 0.8448, 0.548, -0.4202, -0.5964, -0.7963, 0.9975, -0.2565, 0.8227, 0.5701, -0.4198, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0469 left_z=0.1532 left_yaw=0.3524 left_pitch=-0.0369 left_roll=-0.2732 left_gripper=0.9975 right_x=0.2839 right_y=0.0043 right_z=0.1586 right_yaw=0.2461 right_pitch=-0.0344 right_roll=0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -0.4034, 6.147, 1.7705, -0.2613, 0.2369, -0.0122, -0.4171, -1.894, 6.8171, 1.9072, -0.2711, 0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c251a3a384f952102454a0958b4cc887fdde4fa3c30f7d6919d8262cd472439",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bc5c1db6d720502126be4ef71b748e1242b01fd8eec26fbba221472e27bdcb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bbce9fe6984b8b8cee4ade908c70c9af0b827bdd97100a9522b4872f7727b96",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKFKk-wzTsywxbm9pSY3rPdsvU9T9vuzZXf5G7cExc8f11MZwd0lYnLBKK02nWITi6qpn_yb_N-2Jc4B1UVHAeOIZppbse5VpRqHLUrqvy_EkOMVKf_BpISpNNzA05dJ7RQ5UvTYBNaZKaK6GY42nkVlgZrJLuFMS8F0RP7HuWfpEcrIP4CUIVL76V-jBEn1m5oFSAV7K7L1-JNyrMpy04xNKvDw8OI5DE7Rp0q8h-2nYTQSYkRZhqHsBaZag6iJE7MjM84vYrkzhflibDVi1Rbtt7P_Spl36PwxVAL2bDhVIhMS54WmtOIg3bYdmKQD0NFmfA9rDy-aTCkuw8RgFtjZAoH1oTnBAQSPGM7isCSxuMzNNbzjrYDehRP6AKjMyNysxZZ0kFqN558V2jHv9zmPPpEi27F0wjrWOXGle6sSWyxn3dGZZSY9R54IHFqPxw6RsuUolMYibtn6Hvdgr2lOCy_SHVJch4SMHb1ufh7sqOfiMZcDa2P7wUMET0Apvu6H-weaboyQ0t4eKvTvIXWwi_E2r2n9IY-hquoLsZI-U9zsiFVvMY77Le_qlYFWLD0iQKFgyT6gcO1a678vZBU0Xw-mw2b8SZ_8eBxTMfC_76PV_9VNt9HSVL4DjstuLgJ1eimmWH2Qmzk1lQlMk0ZLHLHy1xW7XpfvjiYARzOCdu4CWxDlhFupayQSzDBfaWWUeVuRhLPQhIAv7uuFc9YdWKCLmL0_HmsBjH_5cdt2buM14or99lwbovmckVOZLfS3cMzzfeqTlr6rszIVh5rdgW04qLCLum1cXm0-ILiw0jbGbsV-OxQkOOzZoBaUJUfi0VqVQ6OXLayrf8x-ZTrCvf8_rQnlyLw0VuYQRaam-khP-bM9IZkVVcpmwPPzmaZkpJFkePoE_fTxi5DGuOkAnlYNirCK0SBoPu5nNFwlj1mFgkcW0Fe77LmvodutV1lbacM54x85pyHBUVn8Nr57zq2lILtHOtDutTjr_zb5TvFT8rK7sA-cDIcSQGj_EFNBGC9IsaLvN8yfVH-Y-669cUh5r3Rx6PAINnQ2yc0UyTP3QMLK56gxYVvFy_SsN9CEq69bYEW6Ix7NDojhtSz_Kjoi281QNq4bNMpHBn5AublUXIu8yCcaNH-0fkV8Cj3sUI5GdwYL37a6wy7oInNGWetDfSFfk7CQ22seNvnbX6p-H3y7KqQ2IVOlXiaM5-lQ-tNMg6wTZB6WIgbnsJp915KOdGJq0nxxVsxcrJVoc8yLzYEl88-xO2OAH7869oqCh8_z_nE3BfigHHEBuIN7u-Z8YA9XBpWTJ-162KWLQPf1vTgFEhcgROcW5L3T0YEbdlaAXFgmUM2AKnfQFRoWHIicYS97N7GvaB0WpXhIRaWAhajrCgrNViN6R3qKmfk_D7pd9chXdTmvxG9440xcAacHwCg2kkUdycdaLJOfjV0T3sPzt-0UNbrGFGnGCFlt3De28YcepbQYjIbr2tu1RPfsogbjUGzytH1S6AAMHEhr-cKBnpssZfPGpdtAIHxglwoZ0jnMy2amsJ9wAqdTRiHKz4iN_wFCZcOH0MPYKfyh-9w48CbvomSQ2LkkvKWhBjuvu6MpP6wonfb32s2wG56Oxkw6zP_-ryQ3ZD0shNqjqfXGjOPcldsbVsVRgLKAEGYTaMjpWlcG8fk2d7s5vQeVw1oC3mdzFXS3X3B95XvDHi8BqTJGzzmWd9lzNAYr0QNcDUnR_reYBLA9hPPn7uiihWxv4x3y__MyhDX1c0gD8MBIawydZsB19Spdq1Vyzv5Pi1tF-y8elBwEdNL7A2IkE3NylLSwO3k4HEAHb7lgPu9iQtwiv43p2JujWEcca9VoSRJn2lgFjtH5Dag0WVm3YRF5RuCBBV3GFimrFJw5tmKi3RND5vcw5IBPar8f0ac-pc-jNMGk4pRP4DsrlG-5I00bfjoPocWodMWPG0JKNXiRl7ma9r5YYKvmDJS8OjUk7RvD_hCju7pKJKfxstlWUwt9HaC_qOn1Dwmixh2uDtbLxWcxWobQCcuA5mEQN83qu6XrDZ6CGTrnlrnyjw==",
  "id": "rs_0ed329b206099547016ab4a14660e887d0b780baf886ef1b5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.275,\"left_y\":-0.075,\"left_z\":0.12,\"left_yaw\":-1.2},\"note\":\"The arm has recovered at the starting orientation. I’m turning the opposite way to put the jaws across the nearby neck without running into the previous wrist limit.\"}",
  "call_id": "call_misefdCtifUmMJp2vRFXjZqM",
  "id": "fc_0ed329b206099547016ab4a149880487d0a2c9ec9d6d1b5ee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_misefdCtifUmMJp2vRFXjZqM",
  "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]: [-0.028, 0.7685, 0.421, -0.2844, 0.1379, 0.1699, 0.9975, -0.2565, 0.8036, 0.5373, -0.3996, -0.4236, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0285 left_z=0.1239 left_yaw=-0.2497 left_pitch=-0.0673 left_roll=0.0677 left_gripper=0.9975 right_x=0.2812 right_y=0.005 right_z=0.1528 right_yaw=0.2476 right_pitch=-0.0287 right_roll=0.0066 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 7.3641, 1.956, 0.1636, 0.2466, -0.0073, -0.5128, -1.7436, 6.7077, 1.8926, -0.2271, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dd19925a4eac96436dbf06d91dc89ecdb52e7557ca78d2a1e1385bdc77e82a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6925bd182fe2438d8421f40b472e85addc6a2476fba86d11f2d34c105316e28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf285b63139cb67fc2f59c9a7a0aa868e2bd3ac7bded7389988b87255b3d59e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 4.259 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 102 changed as sent

message 110 changed as sent

message 114 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3836, 1.898, 1.0756, -1.1885, -0.9241, -2.0598, 0.9975, -0.2565, 0.8028, 0.4908, -0.3576, -0.4232, -0.3199, 0.998]\nstate[eef_state]: left_x=0.2767 left_y=0.0442 left_z=0.0639 left_yaw=1.4607 left_pitch=-0.0179 left_roll=0.0488 left_gripper=0.9975 right_x=0.28 right_y=0.0053 right_z=0.1405 right_yaw=0.2455 right_pitch=-0.0322 right_roll=0.0111 right_gripper=0.998\nstate[joint_eff]: [-0.6496, -9.3333, 3.8222, -0.4811, -0.4274, -0.398, 0.0317, -0.5538, -1.8667, 6.9538, 1.8974, -0.2418, -0.0171, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5457, 0.8448, 0.548, -0.4202, -0.5964, -0.7963, 0.9975, -0.2565, 0.8227, 0.5701, -0.4198, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0469 left_z=0.1532 left_yaw=0.3524 left_pitch=-0.0369 left_roll=-0.2732 left_gripper=0.9975 right_x=0.2839 right_y=0.0043 right_z=0.1586 right_yaw=0.2461 right_pitch=-0.0344 right_roll=0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -0.4034, 6.147, 1.7705, -0.2613, 0.2369, -0.0122, -0.4171, -1.894, 6.8171, 1.9072, -0.2711, 0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.2844, 0.1379, 0.1699, 0.9975, -0.2565, 0.8036, 0.5373, -0.3996, -0.4236, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0285 left_z=0.1239 left_yaw=-0.2497 left_pitch=-0.0673 left_roll=0.0677 left_gripper=0.9975 right_x=0.2812 right_y=0.005 right_z=0.1528 right_yaw=0.2476 right_pitch=-0.0287 right_roll=0.0066 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 7.3641, 1.956, 0.1636, 0.2466, -0.0073, -0.5128, -1.7436, 6.7077, 1.8926, -0.2271, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9dd19925a4eac96436dbf06d91dc89ecdb52e7557ca78d2a1e1385bdc77e82a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6925bd182fe2438d8421f40b472e85addc6a2476fba86d11f2d34c105316e28c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcf285b63139cb67fc2f59c9a7a0aa868e2bd3ac7bded7389988b87255b3d59e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKFPhDBIbQSA_sxJBJwzMJQEpHbvtFpP4hUqrzHduyJSln0AKJLIASKSNNWXWupyom8SuIWN1gi1BR_zoQHwNN4NB3hIOXmr5KNu_e6svo0aTLCvPgt_bZWz3YqEvnIJYJFoygJ0xb_bVvBH6rRGElLzcUld4jpRJ7PC8waJrGCHJsG6LooE8Ynh3RpAII8av1P5nhsZRypton7VDRxVHHChw6LuCf1CYlQvNFjovvW_ZJdWkDgfSs-6IDQ1oCuMca8nQa1UWFbVCLWRSnxr7KiKBtAxab1U2NYDyk2iu6OrSnmnYYVNGuvtQNvUtwOZTVUebPzzechAZJtQ6rFBlf4TyYy9S33QCJ8t2wyGrE6TA0pbMfdQK5kJp3ef25f9zdFd_ZvXzhbQrqk49qKjkAUt6jjhJcnRJO3pfec1Jyzr6MhgWd4kss1o60HmoDpQTVhhEbiZ_kLjjaXgYUy5iI_0cQAzoohNziYmPWM887X1iwgKcGlM2vjqSJQoxXQTOfuauDY0rm_oF4RB-i6daO1WAV3MvtLZGkqRiZSIyUM1dHhwPnRqu3ZdmcuRBw4xeos_nFA1wdwtfnYr2vv0_Aw0T8--FJQaVspQQVgifK3uhlze69phQXZuySZQFQu_Ah0suw9pp1GVeQHP8n2YAbGxFli1yBQvmfYcmSv8xok5-SaY7ANA0DfE9fBROhHEKJzb0QXR4ETqqAPDRnIbEJ5DZTU5hqNVw2WH6FVl4B27SQDhtlSe3b-L9814z94xuu_bOVXfU884YU0OcBLzlrtUVbrkNc_p5s6TcjBNaJoFHgxJ-RI_Oov17rUIlbjCAUCoQWjl7r7X5Eryi-mB2S2dFN5D_SZnQOLY5-4UNmsttVThb-EeNRHO5EoV62G3S4U_o9EUDEzXTH6FET64qP2SAT58Jd0Ik0P6uyWvtdq9zwujDAjMm26v_eK6-X_h68Z46CyS2p0-TW8dq2v4pVyB2gs8nsKl9zpsUk7zCrMeFXmekxyMUQriK6M_2XcwNOD6wfgveHriV4hMnynnE7orxfJ5wfx9YSAIhhmk9W_kU76sShZgMGd59ce8Ng-RjTJEF4BludIqGSaA0IsMy89VI27DjoeElalBUqYG1zgiBR4EQhcCvMnsKjZ99xlsEFHNlP62uLMConwH1oMB8nYXlg0AdtSm6aARdNUp0JJNI0Yft38Pwy7ryUObc-o18KhrSl-6NNqgckjywFkj5X6UknirkiMPtYu5Iwa8sjae3FZyGWSkKv1VL3DFC0WN23ROywkUxJsxzNys5gYTN0OwognDJyDTHce9T5rLlj6rx2GUl7weqhZMi0BJDD-Z2hqnHxMtjgoMhZFr5tqLC8mud77UGVpDMEv7eNEQAI4GX_ENiHPDSxOPeFBFUFgsDZU2UmFLa2BVon-q8RAljQF8ZUBOcKWLjmEmBE_GF12m6BsVTcuuZyLf193Qsa1cdL13T3Z4igNjEmUoHihCetltGA==",
  "id": "rs_0ed329b206099547016ab4a14d4e9087d0b9f5a30ca9b1c736",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.26,\"left_y\":-0.08,\"left_z\":0.035,\"left_yaw\":-0.85},\"note\":\"The wrist has started turning in the opposite direction but has not reached the target angle. I’m using a smaller turn while lowering toward the cap.\"}",
  "call_id": "call_6jIjyQLYO2pWEMjIiZn2TKSW",
  "id": "fc_0ed329b206099547016ab4a14e52b087d0b0268c175ec9b3ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6jIjyQLYO2pWEMjIiZn2TKSW",
  "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]: [-0.028, 0.7685, 0.421, -0.284, 0.1425, 0.1833, 0.9975, -0.2565, 0.7937, 0.511, -0.3874, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0293 left_z=0.124 left_yaw=-0.2606 left_pitch=-0.0669 left_roll=0.076 left_gripper=0.9975 right_x=0.2787 right_y=0.0057 right_z=0.1461 right_yaw=0.248 right_pitch=-0.0323 right_roll=0.0088 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -1.5248, 7.2, 1.9609, 0.1538, 0.1099, -0.0073, -0.4581, -1.9487, 6.7624, 1.8779, -0.3199, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc7646c4227d6824beba3355e6c6b34cd70d826f0249b723cab250379731f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3686d79ab9f3d460cead37e041040100cffaca96b86690c1fc07ec1606ea346e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3714c5d5bc949e11e99a88d306729ad248bc33e7263abbf1574e76bf9c15be",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.18 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 106 changed as sent

message 114 changed as sent

message 118 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5758, 1.9148, 1.2091, -1.317, -0.9291, -2.0602, 0.9976, -0.2554, 0.8455, 0.6098, -0.4423, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2948 left_y=-0.0184 left_z=0.0894 left_yaw=1.2667 left_pitch=-0.0104 left_roll=0.0587 left_gripper=0.9976 right_x=0.2875 right_y=0.0037 right_z=0.1659 right_yaw=0.2473 right_pitch=-0.0394 right_roll=0.015 right_gripper=0.998\nstate[joint_eff]: [-1.9077, -8.4444, 6.1607, -0.9841, -0.6422, -0.2662, -0.0073, 0.0342, -0.7453, 10.5368, 1.7949, -0.1636, 0.0806, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.2844, 0.1379, 0.1699, 0.9975, -0.2565, 0.8036, 0.5373, -0.3996, -0.4236, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0285 left_z=0.1239 left_yaw=-0.2497 left_pitch=-0.0673 left_roll=0.0677 left_gripper=0.9975 right_x=0.2812 right_y=0.005 right_z=0.1528 right_yaw=0.2476 right_pitch=-0.0287 right_roll=0.0066 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 7.3641, 1.956, 0.1636, 0.2466, -0.0073, -0.5128, -1.7436, 6.7077, 1.8926, -0.2271, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.284, 0.1425, 0.1833, 0.9975, -0.2565, 0.7937, 0.511, -0.3874, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0293 left_z=0.124 left_yaw=-0.2606 left_pitch=-0.0669 left_roll=0.076 left_gripper=0.9975 right_x=0.2787 right_y=0.0057 right_z=0.1461 right_yaw=0.248 right_pitch=-0.0323 right_roll=0.0088 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -1.5248, 7.2, 1.9609, 0.1538, 0.1099, -0.0073, -0.4581, -1.9487, 6.7624, 1.8779, -0.3199, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc7646c4227d6824beba3355e6c6b34cd70d826f0249b723cab250379731f48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3686d79ab9f3d460cead37e041040100cffaca96b86690c1fc07ec1606ea346e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab3714c5d5bc949e11e99a88d306729ad248bc33e7263abbf1574e76bf9c15be",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKFUBxXD9abNPXZQ6RQsAbaSxzCJZAL2xoITkIxE9SB1CHuy-pu1X5m7uy3KLt6OnP1LGkR9LVuTS8aaY9Yzkl_60uX1acsN7zqatx0kczVCYsofewXhYbk8e8ohJW48boMXvcfaKO2dM99mgHJ0oWoWSm4kMK7f-TRwcdq1OFLvIXsKNXGqMOOBBCakis0qqkYjKU1f5ELOWUfyiabjcQK1SL0-gIQR1COfbeiEM7AP2lrFsWYGPYyWbGA5M4z6A0b0FJtW4r3ocBiQvr2E0ot01DgJU1OPdfvzf0NNhgP9npRlc1RsDTAI48nb1ibxzj2DKz9dujczL8wCZKSBSQwKSD7jiGhKwkT-Zl6xgJAIezj9BrlGhcQ079z0Oja01C9aP0WFX1eaS-mvYHChEH7Tjc5GakbAEkYM-HI9f2FaAVwm9fVP-GIibjKsfudHrkR7nQ72-N2EoouovPMJXglZ0m8AQvzATbuA4lf5ETU93j7b5qM1IU6E0H06bUjdmgkv0W19PZ2vAUshHQ31PMSKXmUtjmkXacjOuGO_CpVBDKTUdjQy0qKGShDRMepvynavJP3a0cfH67BIcDkbfLhg43I5Yq5tpEnevObngE8qY8UBHI3DZbwAUzaGz5arPMxNjP-_u23jgI55GCZGtEE6SJJI2rsKPLujcRT_oXlMYlCvHDCBQiV1EN7ulXXwKZ2oJXqA8QXezPmzrBXwkPUh30QRPHSFiL6t85mdYkVllItcmw_4_UNtyB2UOG63vFAAWQRxlSt_qErvhkiSFHjSkkTV2U6HJ1Oiie3yIn5jF7LgkEykWawOqrNhX6VzLYQ8G0P1h3b73VvguVYUewY5t_DbDW1aNT31ZHv3Jj95Z2jEVG9Nssg8QVvv-Mv_MwxgimkpzeS6hzWr-Vsk_raE814Qt6w0tKQ6-IdvON74X3N0tt3CQAHeE1g9QkuUGlCKTPtJ_4pVztzFpTxGFbmBmL2y3tAea3Ji8FvS3FnHsxo_HBat-z2T1MPSFbEuG-IBtsW_u08m-70u9a_y5CntoThuvJvKT4M9mo0mKjAsZhtXkehpEyh0Vzqa1QuoSl9lWq8sVWrfG4NydMQTRJeasjbktMmWuEouwhzmkzVX7Z-wRCmXyvR-vAA70j0cz0p7AlLiLX7DEGhQHb_0QC-KIN33DJ45v364P1PeOLtd3chQjpRFecqEiuyiixKpW3DIsFYC4DI4A20uerJS05Ke0KRwCrhSsDf61GtjTM6ZZX0HjUfPqD4OgLsS_jG5Ydu81BNNlt1OEabDRZuzHG5QSXVCogVcIcey2CQPAvlAqEw=",
  "id": "rs_0ed329b206099547016ab4a1525ab887d09494baa1a91120d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.27,\"left_y\":-0.09,\"left_z\":0.045,\"left_yaw\":0},\"note\":\"That turned pose did not move the arm at all. I’m abandoning the large yaw change and using the reachable starting orientation for the closer bottle.\"}",
  "call_id": "call_1QHX87Y1m7SGfkgY75JKfdkr",
  "id": "fc_0ed329b206099547016ab4a152b74487d0ae9b599b12f70f91",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1QHX87Y1m7SGfkgY75JKfdkr",
  "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]: [-0.6361, 1.0882, 0.173, 0.1883, -0.3775, -0.2913, 0.9975, -0.2615, 0.7765, 0.4774, -0.3721, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2577 left_y=-0.1049 left_z=0.0327 left_yaw=-0.1763 left_pitch=-0.1068 left_roll=0.0307 left_gripper=0.9975 right_x=0.2753 right_y=0.0053 right_z=0.1386 right_yaw=0.243 right_pitch=-0.0333 right_roll=0.0094 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -3.4256, 5.559, 1.0672, -0.3932, 0.0366, -0.0122, -0.3761, -1.5248, 7.2821, 1.8388, -0.2711, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315d7ad234cde24125b451e4419384f58f176fa80c85d5b74fb1303eb6b6cb08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d44c51837ba758df33c85debef68a81807869736ded2934de89780c3b23db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c30c71d205b7168a18fad53a0cbe049c56b26b7854c8345d9be8d93e0886760",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.593 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 110 changed as sent

message 118 changed as sent

message 122 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5457, 0.8448, 0.548, -0.4202, -0.5964, -0.7963, 0.9975, -0.2565, 0.8227, 0.5701, -0.4198, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2753 left_y=-0.0469 left_z=0.1532 left_yaw=0.3524 left_pitch=-0.0369 left_roll=-0.2732 left_gripper=0.9975 right_x=0.2839 right_y=0.0043 right_z=0.1586 right_yaw=0.2461 right_pitch=-0.0344 right_roll=0.0123 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -0.4034, 6.147, 1.7705, -0.2613, 0.2369, -0.0122, -0.4171, -1.894, 6.8171, 1.9072, -0.2711, 0.022, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.284, 0.1425, 0.1833, 0.9975, -0.2565, 0.7937, 0.511, -0.3874, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0293 left_z=0.124 left_yaw=-0.2606 left_pitch=-0.0669 left_roll=0.076 left_gripper=0.9975 right_x=0.2787 right_y=0.0057 right_z=0.1461 right_yaw=0.248 right_pitch=-0.0323 right_roll=0.0088 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -1.5248, 7.2, 1.9609, 0.1538, 0.1099, -0.0073, -0.4581, -1.9487, 6.7624, 1.8779, -0.3199, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6361, 1.0882, 0.173, 0.1883, -0.3775, -0.2913, 0.9975, -0.2615, 0.7765, 0.4774, -0.3721, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2577 left_y=-0.1049 left_z=0.0327 left_yaw=-0.1763 left_pitch=-0.1068 left_roll=0.0307 left_gripper=0.9975 right_x=0.2753 right_y=0.0053 right_z=0.1386 right_yaw=0.243 right_pitch=-0.0333 right_roll=0.0094 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -3.4256, 5.559, 1.0672, -0.3932, 0.0366, -0.0122, -0.3761, -1.5248, 7.2821, 1.8388, -0.2711, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:315d7ad234cde24125b451e4419384f58f176fa80c85d5b74fb1303eb6b6cb08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8d44c51837ba758df33c85debef68a81807869736ded2934de89780c3b23db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c30c71d205b7168a18fad53a0cbe049c56b26b7854c8345d9be8d93e0886760",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_0ed329b206099547016ab4a156283c87d0bfad5b19d0373ef6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.045,\"left_z\":0.025,\"left_yaw\":0.6},\"note\":\"The overhead view shows the jaws over the bottle’s body, with its cap several centimeters to the left. I’m shifting to that capped end and using only a modest turn.\"}",
  "call_id": "call_Y6wZsQ6OdsyZIekt7sT31XOx",
  "id": "fc_0ed329b206099547016ab4a1599ff487d0b429d433f146a6e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y6wZsQ6OdsyZIekt7sT31XOx",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.804, 1.4704, 0.3717, -0.0551, -0.9031, -1.0592, 0.9975, -0.2642, 0.7582, 0.4458, -0.3504, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2628 left_y=-0.0676 left_z=0.0198 left_yaw=0.4445 left_pitch=-0.0422 left_roll=0.0098 left_gripper=0.9975 right_x=0.273 right_y=0.0052 right_z=0.1333 right_yaw=0.2402 right_pitch=-0.0259 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.1214, 4.8205, 0.6471, -0.8474, -0.1392, -0.0073, -0.6222, -1.4564, 7.0906, 1.7802, -0.3053, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708cb93ffd6d991b4cba24bffbe7b9d1ca41ca20a7da8a2a3b5d1b019ad592a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906de2dd9f9d96b7975521ed1eb02a3e4cf23f9ba2cc54b1c1603a0bbc92b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308d9f4aeda00cb1492d8e8abc046dc2eebda8b264db510a41b9e51a519cd3c0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 3.59 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 114 changed as sent

message 122 changed as sent

message 126 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.2844, 0.1379, 0.1699, 0.9975, -0.2565, 0.8036, 0.5373, -0.3996, -0.4236, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0285 left_z=0.1239 left_yaw=-0.2497 left_pitch=-0.0673 left_roll=0.0677 left_gripper=0.9975 right_x=0.2812 right_y=0.005 right_z=0.1528 right_yaw=0.2476 right_pitch=-0.0287 right_roll=0.0066 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.4154, 7.3641, 1.956, 0.1636, 0.2466, -0.0073, -0.5128, -1.7436, 6.7077, 1.8926, -0.2271, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6361, 1.0882, 0.173, 0.1883, -0.3775, -0.2913, 0.9975, -0.2615, 0.7765, 0.4774, -0.3721, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2577 left_y=-0.1049 left_z=0.0327 left_yaw=-0.1763 left_pitch=-0.1068 left_roll=0.0307 left_gripper=0.9975 right_x=0.2753 right_y=0.0053 right_z=0.1386 right_yaw=0.243 right_pitch=-0.0333 right_roll=0.0094 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -3.4256, 5.559, 1.0672, -0.3932, 0.0366, -0.0122, -0.3761, -1.5248, 7.2821, 1.8388, -0.2711, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.804, 1.4704, 0.3717, -0.0551, -0.9031, -1.0592, 0.9975, -0.2642, 0.7582, 0.4458, -0.3504, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2628 left_y=-0.0676 left_z=0.0198 left_yaw=0.4445 left_pitch=-0.0422 left_roll=0.0098 left_gripper=0.9975 right_x=0.273 right_y=0.0052 right_z=0.1333 right_yaw=0.2402 right_pitch=-0.0259 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.1214, 4.8205, 0.6471, -0.8474, -0.1392, -0.0073, -0.6222, -1.4564, 7.0906, 1.7802, -0.3053, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708cb93ffd6d991b4cba24bffbe7b9d1ca41ca20a7da8a2a3b5d1b019ad592a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:906de2dd9f9d96b7975521ed1eb02a3e4cf23f9ba2cc54b1c1603a0bbc92b51b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:308d9f4aeda00cb1492d8e8abc046dc2eebda8b264db510a41b9e51a519cd3c0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
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  "id": "rs_0ed329b206099547016ab4a15e33bc87d0b84fe9508c6ba944",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The capped end is now underneath the left fingertips. I’m closing gently on it for a short lifting test.\"}",
  "call_id": "call_XziHnXRJ01erzuUprKTbVzYK",
  "id": "fc_0ed329b206099547016ab4a15ed25487d0bdd7ae72aa146ba9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XziHnXRJ01erzuUprKTbVzYK",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8196, 1.496, 0.3519, 0.004, -0.9417, -1.0729, 0.1548, -0.2642, 0.7498, 0.4232, -0.342, -0.424, -0.3237, 0.998]\nstate[eef_state]: left_x=0.2632 left_y=-0.0674 left_z=0.0191 left_yaw=0.4519 left_pitch=-0.0045 left_roll=-0.004 left_gripper=0.1548 right_x=0.2705 right_y=0.0058 right_z=0.1271 right_yaw=0.2405 right_pitch=-0.0309 right_roll=0.0078 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -4.7111, 4.0137, 0.9744, -0.5006, 0.0659, 0.149, -0.7316, -1.4974, 6.7077, 1.8535, -0.3101, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f95d32715b6f975b827cae1921d1df15b0a323e47777bf3e9fd9b314e50287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7687b84784612dc2ecab4ca9eed7734a65d367b21bbad721d2038aba731780b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6544effeca55d4cd461436b399ec72aa51f7bff4b235ccd2f07412ad5db78d7a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 11.69 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 118 changed as sent

message 126 changed as sent

message 130 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.028, 0.7685, 0.421, -0.284, 0.1425, 0.1833, 0.9975, -0.2565, 0.7937, 0.511, -0.3874, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2781 left_y=-0.0293 left_z=0.124 left_yaw=-0.2606 left_pitch=-0.0669 left_roll=0.076 left_gripper=0.9975 right_x=0.2787 right_y=0.0057 right_z=0.1461 right_yaw=0.248 right_pitch=-0.0323 right_roll=0.0088 right_gripper=0.998\nstate[joint_eff]: [-0.0342, -1.5248, 7.2, 1.9609, 0.1538, 0.1099, -0.0073, -0.4581, -1.9487, 6.7624, 1.8779, -0.3199, -0.0073, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.804, 1.4704, 0.3717, -0.0551, -0.9031, -1.0592, 0.9975, -0.2642, 0.7582, 0.4458, -0.3504, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2628 left_y=-0.0676 left_z=0.0198 left_yaw=0.4445 left_pitch=-0.0422 left_roll=0.0098 left_gripper=0.9975 right_x=0.273 right_y=0.0052 right_z=0.1333 right_yaw=0.2402 right_pitch=-0.0259 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.1214, 4.8205, 0.6471, -0.8474, -0.1392, -0.0073, -0.6222, -1.4564, 7.0906, 1.7802, -0.3053, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8196, 1.496, 0.3519, 0.004, -0.9417, -1.0729, 0.1548, -0.2642, 0.7498, 0.4232, -0.342, -0.424, -0.3237, 0.998]\nstate[eef_state]: left_x=0.2632 left_y=-0.0674 left_z=0.0191 left_yaw=0.4519 left_pitch=-0.0045 left_roll=-0.004 left_gripper=0.1548 right_x=0.2705 right_y=0.0058 right_z=0.1271 right_yaw=0.2405 right_pitch=-0.0309 right_roll=0.0078 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -4.7111, 4.0137, 0.9744, -0.5006, 0.0659, 0.149, -0.7316, -1.4974, 6.7077, 1.8535, -0.3101, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0f95d32715b6f975b827cae1921d1df15b0a323e47777bf3e9fd9b314e50287",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7687b84784612dc2ecab4ca9eed7734a65d367b21bbad721d2038aba731780b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6544effeca55d4cd461436b399ec72aa51f7bff4b235ccd2f07412ad5db78d7a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKFkY-rNZf9IiM2LFvWFrz0IfL6eOm3mRYWwM99USwqdAy8i6P0kZvLz5Rs7OO3vLwnicxj9cms1swlqya9ppUSlQgpcOLn128ZycvSjUsHmcQQjcNVoPa3vPkIF4PKVsteRw0Z2kdbUTxQWhkQTUJtJ1aK6yVY5XvcIckseTrNLDKCCy426IWxX_Z0nIBw8yAE0S0ELwBpdMTEUFPMUMGsQ3SdyFGgcWSnhaAnsdo9Ppxl0M8xD1pLsnXtk1uhxc-qbz1twQsN0lnn3CCk3UjsmIgeNUtv5K4K48KGicRAyDKvhrLAbdl1hXrkSnMy1lx0sAXgowtNRlHz-q8rG4NU_8Owa1CyPsNNGOfnrJVBuRd7q7PAsWEMbfQyaZAaWuCuTX5drq9BwYjzpQuPVMo0TTSYPrsOkK4haIWy_odTpZfULL26R4PbW1x0vXKmleorg9rddspAFsh4Xejv0dV8Ti2t1qPIFGoGeZS6MvAzRVqs8WC6iC9GOAgJJACGqlCn349MPVYGoBpmy06UiaAS_iCxYcQvbnUAEmyY-CxT0b-QPOoa9eTSqoP2Nq8zgbw_chQX-2eIcOR9VzE6HgOFVtdy6J_k-hNGmdJp7Ga6NcYZLneNWSlS9l6z9Aa7WcxaYehfhRPqq3Y2X7X_gB9qJD8QHRc75WJUA4ySGe76AQynNx3MT978OvdIYyGlXSZHhx7W3nCxVis6sD74-Fsx6AS3gS0qyeESLtAlHUmRLVNb13WNJRGy-Ndg70ClOxKqg3isYhlLaoMOKEYJEiKruX79-Q8Mwz5GQ7St8DGXrgE4BnGkePtebc5GdDCRt6t6emYwvA0aX865wDAj8GhGe-6Mef0Ge-wXvkZaQoOxqoyXi8OhBOpT3TsXCYSF1thcuQMTq_2MvSG_E-j5JgODInBHHVntk8jBOjAJDKhMndup8p5EvHHi0M5lvR-Qb3f0BHXd-5YgZsvqt2gv-paL5V3vfEGIyZD3_WT6aPo-TtbAaa12rNDOEo5p2nzHvuWAWQs1Ze0FkmFhPHfuLscJ8T3W7Gru2sEkRqkoNdIRZnloaGfxHAHwARKXBkRQxKZfdvL0_woTCRGYTnnptUPmKEKizW6xn9u4e7GtMFkty5NQkMykSKorjN6R0oYXbFGXbX6F6JkZpDeH1jAklSI13oK6_BBdhhVJZHGUkSDvmVr1RPhxKIZw4Pn07T1sQXldPF6skNvcH015w-xRFbAz-9YMxvBPfDLrmD6VO3SZu1jkVB8s7fdH_sPq9iS-9XRzWEIjJnB1TWdL2Vzl_uYqNYfAGIBi-QPcaMap_WGLZ2isugSx-d0XQNgbfEGXJKilQ6_eKaJ6cfBndtjIUM_4HnQ==",
  "id": "rs_0ed329b206099547016ab4a16222dc87d0a3cb04beebfbdd50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.055,\"left_z\":0.12,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.185},\"note\":\"The jaws have closed narrowly at the cap. I’m lifting a few centimeters to see whether the bottle rises and pivots, while restoring the idle arm’s clearance.\"}",
  "call_id": "call_GZYkJXfLH1LsWhSPGAeGGbSB",
  "id": "fc_0ed329b206099547016ab4a162db7487d0ab7ba6625f33538f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GZYkJXfLH1LsWhSPGAeGGbSB",
  "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]: [-0.8146, 1.1145, 0.5327, -0.506, -0.9321, -1.0725, 0.1547, -0.2489, 0.8391, 0.6048, -0.4297, -0.4229, -0.3229, 0.998]\nstate[eef_state]: left_x=0.2586 left_y=-0.0623 left_z=0.1093 left_yaw=0.4524 left_pitch=0.0029 left_roll=-0.0561 left_gripper=0.1547 right_x=0.2882 right_y=0.0052 right_z=0.1676 right_yaw=0.2544 right_pitch=-0.0273 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [0.335, -2.9607, 8.1436, 0.9158, -0.5153, 0.1685, -0.022, -0.0479, -0.8274, 10.0718, 1.5458, -0.0611, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e043a565b11c9b4d24120c263adf4756e978fd8e68d3b72ddef07c9b6419c05e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5e1b0588a94190998478731de26cf5b261f186141d32e1c011d4be570ba512b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e92c812977b6d932d3f83b532f60f7561b3f8a663590a6b208cda8d11acfbae",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.809 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 122 changed as sent

message 130 changed as sent

message 134 changed as sent

message 122 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6361, 1.0882, 0.173, 0.1883, -0.3775, -0.2913, 0.9975, -0.2615, 0.7765, 0.4774, -0.3721, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2577 left_y=-0.1049 left_z=0.0327 left_yaw=-0.1763 left_pitch=-0.1068 left_roll=0.0307 left_gripper=0.9975 right_x=0.2753 right_y=0.0053 right_z=0.1386 right_yaw=0.243 right_pitch=-0.0333 right_roll=0.0094 right_gripper=0.998\nstate[joint_eff]: [-0.1436, -3.4256, 5.559, 1.0672, -0.3932, 0.0366, -0.0122, -0.3761, -1.5248, 7.2821, 1.8388, -0.2711, -0.022, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8196, 1.496, 0.3519, 0.004, -0.9417, -1.0729, 0.1548, -0.2642, 0.7498, 0.4232, -0.342, -0.424, -0.3237, 0.998]\nstate[eef_state]: left_x=0.2632 left_y=-0.0674 left_z=0.0191 left_yaw=0.4519 left_pitch=-0.0045 left_roll=-0.004 left_gripper=0.1548 right_x=0.2705 right_y=0.0058 right_z=0.1271 right_yaw=0.2405 right_pitch=-0.0309 right_roll=0.0078 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -4.7111, 4.0137, 0.9744, -0.5006, 0.0659, 0.149, -0.7316, -1.4974, 6.7077, 1.8535, -0.3101, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8146, 1.1145, 0.5327, -0.506, -0.9321, -1.0725, 0.1547, -0.2489, 0.8391, 0.6048, -0.4297, -0.4229, -0.3229, 0.998]\nstate[eef_state]: left_x=0.2586 left_y=-0.0623 left_z=0.1093 left_yaw=0.4524 left_pitch=0.0029 left_roll=-0.0561 left_gripper=0.1547 right_x=0.2882 right_y=0.0052 right_z=0.1676 right_yaw=0.2544 right_pitch=-0.0273 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [0.335, -2.9607, 8.1436, 0.9158, -0.5153, 0.1685, -0.022, -0.0479, -0.8274, 10.0718, 1.5458, -0.0611, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e043a565b11c9b4d24120c263adf4756e978fd8e68d3b72ddef07c9b6419c05e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5e1b0588a94190998478731de26cf5b261f186141d32e1c011d4be570ba512b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e92c812977b6d932d3f83b532f60f7561b3f8a663590a6b208cda8d11acfbae",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKFwgNCMwU8zsGA-KLb1iczUamiF_qwN4vI6c__IJ6qXSNGAnG6HWGDaOaPl1-zPfBMuFeiNvQq_NrILoChnAFJgagid3jRJ8QTIGz8prZwsI3nQBUN2xeFTj7dqdRlf6CvK06yJaA1vi3_F2tseYKFJ6pUkarucZdc74jf6qbkeCEW3EK8xsVTAwUDfdohV80hLuGmJi7OpeMsIpYe802jg3qzbSxX8jBzUwacWdqblWbAHnauTYqxMgJe1Joe1xsusl_7T74wqJlEkD-bdSQoYTlmpHqdzzz43LFHgVUZIgiOl6yi2IqPicNeq_rKmDFjABUFv3_z70T_74K2KqQ9rIQXQcGOYeqtZ_HFwdGFHlOYaKy7e_BakvhIV-Xg1EQjdKTLnkUlkqcuZbXhb642m7W2qjEv7F5mumejUL9csrwUdRADk3U5Crvh6KntwYMMf1KabH555qL2u984GfQz13H_cGripKFh_-JYuX_Pw18lgSr9PJgiZ4iLVsewQZSsbbWuOw6kT0QAG9WVK0LGkjoYwVyzHuiSxtrs11DWa-WpssicSugvZEk45TCsOckEDxF77ZTmeW-FpmQQdKh8q_Qm_FejxC5oJZtuMWIIImQPNw2iLSTcSr50xQuMhtmxA8cfByZAdFzG364oHrWfBX1R7k7XHFj5TjVUnMw1gZgw7dqcJhvi2RWGdQLxRTqR4D_NHu1WsIhkCGsmgLDCR_VhpPgJ0Tzpv2eBV_TcMBKRpFAj2ZbCgOBIQgcbMZBtt2OUWrAtjfkdn9cLAq1zHN_2j5hTD8Y_obxTyf_HKkOgraimEcjIOXcLBXBg3V1J9aViJBWyF8Vs58Z6pIEMvcpTUPExTKW-PEczfk-8_0ypZ_dSMF8j72dr3QD8zc56q4XfKfV8hYDkqlTljBb15YShw7S-aNTkOyRFi03ri2KR8uE0Ro6qbDZ9mC0cZPBjnh2lmFxrjyafIIzKvV9MU1eYgrJIObu-ciytb5ZfR0g2YVYbCDW4H8yQ01jr0Cyszn3R4Jc9W_K2x1Qgj8kFtP8uPfw7qq_nxDvs-WE4b7Zd7ufOUy5iN9zN9YmoQEyZEVrDwxAfpYbS_jcDIpGce3VKHhxdqYAZEM_OUG8FVvx32IGJ8DJJ0zZlDbEGOUfrMNdVAPpIAO2AlSsS2Y5TULi1y6KFnznqTI7OLb-ZCmvqDDXTJITqen36uKm3leP3DVl8WgmLWZGGZjzZhPba8ukPmYWmcBKOM3Ntsba1RczZATh_tT9dWA2Qkzst65Bh5LaVw_p10fIGQUoA-JJNW9u5rr3qEwTA75N__UXjV3jo-ppZRnMmO6sf-ogJ2Z4cBZEszj7pJdrEH7qpaJQWAdzcoyI3uy5zaLEQejVi0oNUmCzXD6BbX5dcJnm3K484f2vGSmzIzCME14cbqCwwNz_B7bs21HGJSOkLm3GbqNhO1e2vYlAvJyaYbhQiKv8Z0EQMa_F3szkhuMMEv8ecn6THw-QY-VRi6yj503HjhQ-BYBk3qS2HH5isZn1FeAR6VgbU4-LZ_B1tMsEf0XbiA2fzL7SAmI3M_E7s7h7zU9AvUxJoylQwvurI-vG99b59ZaVB_gEryjtYIuxsuoH5U3bbam9jsfT5TUA5tC91nJ0xLKAg8mgpqQfDUNXvdNwfjXzL88LFJENex914lCyvTV35ajfNsBkpiDTdHlFPDi8MY-Qxxqn36bOTeBs9uShK0b_-ZksjhmG9PetMZEoZalERqHUelFRzznSMvKsFW8v4aT7leVpMdkVucOwTvE_MQmvJ3o96zE_L0yb6j8NKkyy2athL_lM4kqkoT_Iohegco51_AzngIzrpUn7oi8crxu8-5Zj7XZWpv4ZeHzC-9iBG5vVQQXluoQeMyR0s7xN8-DjqJT8mZaByhkd9Ji4q0j8C9FCx6g-wAUs0Pl6p0G-D_HwwVbDha0eXnssDRJkQcnQS2OMGfYD_c5dM-CtXwb3xp0-WcIW7_Rq8Jrg7MK8wF9xgnUKDNSwfIsjh-ehNT7DP_4FDqVtnKzLce-T2Qr9-FHGgq8ucIL0_rqn6ed7niCTZlj4B7TzAXLG4wuqgfsKhrtz66uXbUI4nDOE9cNsyhd9VXuGwfk4mjYQDzXEJGN04Gb0-GfqtbSwAVRpSiz29DLQpewnzJ7_5CKSO1tFv6jM965v8o8BnMAVknO5duXMRptbtmeTQ94TO-p3GTEvle8A5QdBAHA832sI9Jr3DPQv9onRF8XGeMAwagNI13RmGNnXpiPHpqubFooFgI05s0Ocdb4AgOTKc9lneW2zbi9TlS22cgO4FO70v3_JARLQf0al1PRQXM7HUvijU-khXzX5k3FUoK9IraUegd_k62RDmnaVySdFEZWbkvhIX3A6bFPHTaV-5ygLRdYU9JwxCyDOSynQKh5iQNwD4VDWs_ciEC28usDp0QToXYn96d5bqRhil0FjFRNBsxW0zfVC3QkZUes1Z7fIb-ZIIRat9pbV87hW2UsPQmomnjE_d8A8OzxS5jJSgrCM23eBW5iTtmvI68ueF4ZJFtX1apGCJdVDHzX0FZfRMSSLBTANpUa3Lywk1BskffG0jyP456DuqsbfCkYdHVMHFEjW42PiQfVXq3ymyZMCtuhw6dECE-Ua-UDRA7I-Jo57RPRkB3TXS3qHSrCraty6DPqLQC2w0u7ZFR-KB-SNRnUIeeLu55eVgQOMZ5VkC8hudhnlCHfuXr_cgb12BiuauOAsOHF2nPwDIkgUkPaRyKMKVDpo86GF1u5BxJfSpJe2-mhOJvGxDq4RB9MIPCLHt6eHKoAwWR8pINR-5mfv0-crqjJo2NFzj1dwsGltzjVgOG7DPQxuE4ihihr6tdIZ-K1_8TP6sklsIzIhFtYvXRGO24zcrDWnwW4kdIPZ_jPc4d6G4LPLRvNlaUkG2yTJhWlwzFgkfsM-krCHUyvn0OG4gjeD6bVEOVYTsYk15lBYufFvvJiKePO8yqGVrpAVn_4YrJ_f5RyteUqFNt6jSHPGxirFP3qXFBIishzSLRFfnj0PZGBeQZS3QWGz6mwQBfPytiBguQKRQicZcNmp2HMIR292lJNNYBDFGbeQ00Rj-lzJuQcTV1afK5Xu_nxx6Zj2DdgJzj_aXGnDxGqIGdWcVPz33Y-dT-EgGyoMuQ1xleMVVw2ZZNDiIrpHyf9RsFQwnouJmfq1XcHpJ_wdqO-_YsopV55sBs0blSkLIVJIfzJvro5W_wvlhGlr6wJOpzFEJt3fkzvdXVQ5lPzwgQB7W9VVYVO4Y11fEDWf_GdMG1cQ_ddCHALcOY0PI19_Ar8n2AOSRqrcHklbnAMFps5vVzKDIhuZ-kvbsd2LJE83-nDloNSMqOZdf1SAVD0jl8KQISHogwMSRq8dNEhi6THxr2vQ==",
  "id": "rs_0ed329b206099547016ab4a166c06887d0954f55aae89fdea3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.225,\"left_y\":-0.055,\"left_z\":0.015,\"left_gripper\":0.8,\"left_yaw\":0.6},\"note\":\"The bottle stayed on the table during the lift, so the last grasp missed. With the arm clear, I can see the neck is closer to the base; I’m moving back to surround it.\"}",
  "call_id": "call_0oYZMdqLcDVNrJET6XOauLyg",
  "id": "fc_0ed329b206099547016ab4a16f317887d09f43eedc9cb46aaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0oYZMdqLcDVNrJET6XOauLyg",
  "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]: [-0.9535, 1.5291, 0.4355, -0.4511, -0.9997, -1.4872, 0.7955, -0.2489, 0.8284, 0.5777, -0.4194, -0.424, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2277 left_y=-0.0578 left_z=0.0204 left_yaw=0.5583 left_pitch=-0.0126 left_roll=0.0562 left_gripper=0.7955 right_x=0.2853 right_y=0.0062 right_z=0.1605 right_yaw=0.254 right_pitch=-0.0323 right_roll=0.0114 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.3282, 2.8103, 0.4567, -0.359, -0.1978, -0.1245, -0.4581, -2.0855, 7.159, 1.8974, -0.2808, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c95c4b0cbdcfa1ceb3bf016fafdc6e68d8a1e595da581f97aaff10ab65981b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b22b9172ddc173ecf529a97c5708fd1ec8fe8737b1293c50897a628a436c1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704acc6c5fc3953a53fa324b2607efcecb66e1d582d195831f416645e51ca05a",
      "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 35 attempt 0 · /responses · status 200 · 5.596 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 126 changed as sent

message 134 changed as sent

message 138 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.804, 1.4704, 0.3717, -0.0551, -0.9031, -1.0592, 0.9975, -0.2642, 0.7582, 0.4458, -0.3504, -0.424, -0.3233, 0.998]\nstate[eef_state]: left_x=0.2628 left_y=-0.0676 left_z=0.0198 left_yaw=0.4445 left_pitch=-0.0422 left_roll=0.0098 left_gripper=0.9975 right_x=0.273 right_y=0.0052 right_z=0.1333 right_yaw=0.2402 right_pitch=-0.0259 right_roll=0.0053 right_gripper=0.998\nstate[joint_eff]: [0.4171, -5.1214, 4.8205, 0.6471, -0.8474, -0.1392, -0.0073, -0.6222, -1.4564, 7.0906, 1.7802, -0.3053, 0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 134 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8146, 1.1145, 0.5327, -0.506, -0.9321, -1.0725, 0.1547, -0.2489, 0.8391, 0.6048, -0.4297, -0.4229, -0.3229, 0.998]\nstate[eef_state]: left_x=0.2586 left_y=-0.0623 left_z=0.1093 left_yaw=0.4524 left_pitch=0.0029 left_roll=-0.0561 left_gripper=0.1547 right_x=0.2882 right_y=0.0052 right_z=0.1676 right_yaw=0.2544 right_pitch=-0.0273 right_roll=0.0056 right_gripper=0.998\nstate[joint_eff]: [0.335, -2.9607, 8.1436, 0.9158, -0.5153, 0.1685, -0.022, -0.0479, -0.8274, 10.0718, 1.5458, -0.0611, 0.1197, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9535, 1.5291, 0.4355, -0.4511, -0.9997, -1.4872, 0.7955, -0.2489, 0.8284, 0.5777, -0.4194, -0.424, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2277 left_y=-0.0578 left_z=0.0204 left_yaw=0.5583 left_pitch=-0.0126 left_roll=0.0562 left_gripper=0.7955 right_x=0.2853 right_y=0.0062 right_z=0.1605 right_yaw=0.254 right_pitch=-0.0323 right_roll=0.0114 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.3282, 2.8103, 0.4567, -0.359, -0.1978, -0.1245, -0.4581, -2.0855, 7.159, 1.8974, -0.2808, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c95c4b0cbdcfa1ceb3bf016fafdc6e68d8a1e595da581f97aaff10ab65981b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b22b9172ddc173ecf529a97c5708fd1ec8fe8737b1293c50897a628a436c1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:704acc6c5fc3953a53fa324b2607efcecb66e1d582d195831f416645e51ca05a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtKF3UQQzQ3nkKtkyHPx1xci95SEGtstdaLlb7CmtShocXc_4FWPLicHCSV4t6Y9mpFD-dt64_W10KV1kmI2s8SaKcCKdPcj3KSx2KXr-knnO6dNuZo0smXM3B-HHZSKVXZqg-6zPstYQ0QFcadJfEHAGUhseMWIDHIkPjMouXhhVHHgaGFUWlEtgA12qZ75Q1TPc3r6TERozbYW2KYeHEcFjZGV0gQtZq3LAvR5H-_klcVEgeCBkNif_co3sHjbmr3fN-nrEs2AikaAlz8txJRQ3CD4rMT3qlgyiBj1epMe4ubFGnZoGLjgvaN0sHPM-3a5HjidMPX20qLxH9Uj0vlxKm4Yni_uYRf1O2mxqg75m8h826HPLnN1oMN7Dc4LtYB-Vfdc2qzKNFetabsn5eGAs7DLpy1HI4DnQjfiSeK7ZT4D6s4bj47SgMy1EZ4tSWEyFs_mjDqGPtIlhgYPdJaetaVCmqVsQliNR6Sn8YUyth-rwiUYZnuxXt9WgLxGq1RzaDoB3TWv6SUolIpEr1PBfiNOSfw5N-PvNgH-bGByixyh70IPJqRYJWo0zzccN5w0wgG15y-XFBUZLcWc_4ip1fStJPqJEFgtANoWnzACLiXVDv-oIglEYuLL4MzV3g8GUKjLSA1-bOlO9-1CMntGVU2t3HXuNrAHZLPxgH2ViHcUVssxvstjD8b810nQMu1x1_PBoDRc2xldJbe5nf9uQ5KgKIhFQaUKanp3bispe6HczOvlYIMK8C38NezFPGPL2_HYPDRhNdoDew8l2yrSOZG5LUWAy3oMEjrGsdVV6ZJV5Z8b_RbxUkw3cw5zVpX52_x4ihU1R5XnbAXGA4m-Wx_FkruySJy0nSu3uaDYpkJfizMLirO0ZvXfcgi1W8csujfeHruleR-OHZ0G5Im5zTMIbjGP8vJ2bzp4Clnbw5iKg0aTqArnjXMH2DhKpIqs3Oe-jiNQDerLppYl6rH0pKuDy4U_56clp230hIe8JMVI_EUf3utcu3jLrZ9lTfvbG_VUYfasdRdT1yWVnbhRJd_2PgRRaEPxE6-AaNuPelxzEgGVWgvrLzwjfNi--5H_rswrjbZhTN-zvBsEA_9lcWhwXDvFPKF8oG-Io_ePJ6wxV8D5QL1cTNpDWa_GV0t5wILN4F8XDU7c-mFLWNeDWfe6dv7D35dGfLS_gsE238aryYZ3r88LfJIbzOxGQEh9Ei2Uc1Oiy_eTfQ4mSKWH8lw==",
  "id": "rs_0ed329b206099547016ab4a173873887d086bc6241b0f9609b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips now bracket the nearer neck position. I’m closing fully so the settled opening can distinguish a real grasp from another miss.\"}",
  "call_id": "call_1ehSBvlyI9bMCvlU86Bk34Ra",
  "id": "fc_0ed329b206099547016ab4a17403cc87d0b2fb441f5ade80a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1ehSBvlyI9bMCvlU86Bk34Ra",
  "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]: [-0.9562, 1.5021, 0.4046, -0.3954, -1.0035, -1.496, 0.0109, -0.2489, 0.8139, 0.5449, -0.4007, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2282 left_y=-0.0588 left_z=0.0203 left_yaw=0.56 left_pitch=-0.0057 left_roll=-0.0028 left_gripper=0.0109 right_x=0.2825 right_y=0.0068 right_z=0.1534 right_yaw=0.2537 right_pitch=-0.0321 right_roll=0.011 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -4.0821, 3.6444, 0.4127, -0.6081, -0.0415, 0.8718, -0.5538, -2.0855, 6.8991, 1.8779, -0.2906, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f955010fab31062e967cd41f307c49c3f022438ef63046fbc73f69c0cd6491ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ebe7f1cb63eeb9a34d71231dfb37246649f15d076bf31cc933c9022ceaed2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2bbca7c586bcaa9bc2edc94b521a7ef3bae65d483f6cf56a35863b0e0505e5",
      "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 36 attempt 0 · /responses · status 200 · 4.52 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 130 changed as sent

message 138 changed as sent

message 142 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8196, 1.496, 0.3519, 0.004, -0.9417, -1.0729, 0.1548, -0.2642, 0.7498, 0.4232, -0.342, -0.424, -0.3237, 0.998]\nstate[eef_state]: left_x=0.2632 left_y=-0.0674 left_z=0.0191 left_yaw=0.4519 left_pitch=-0.0045 left_roll=-0.004 left_gripper=0.1548 right_x=0.2705 right_y=0.0058 right_z=0.1271 right_yaw=0.2405 right_pitch=-0.0309 right_roll=0.0078 right_gripper=0.998\nstate[joint_eff]: [-0.4444, -4.7111, 4.0137, 0.9744, -0.5006, 0.0659, 0.149, -0.7316, -1.4974, 6.7077, 1.8535, -0.3101, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9535, 1.5291, 0.4355, -0.4511, -0.9997, -1.4872, 0.7955, -0.2489, 0.8284, 0.5777, -0.4194, -0.424, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2277 left_y=-0.0578 left_z=0.0204 left_yaw=0.5583 left_pitch=-0.0126 left_roll=0.0562 left_gripper=0.7955 right_x=0.2853 right_y=0.0062 right_z=0.1605 right_yaw=0.254 right_pitch=-0.0323 right_roll=0.0114 right_gripper=0.998\nstate[joint_eff]: [-0.2803, -4.3282, 2.8103, 0.4567, -0.359, -0.1978, -0.1245, -0.4581, -2.0855, 7.159, 1.8974, -0.2808, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.9562, 1.5021, 0.4046, -0.3954, -1.0035, -1.496, 0.0109, -0.2489, 0.8139, 0.5449, -0.4007, -0.4236, -0.3202, 0.998]\nstate[eef_state]: left_x=0.2282 left_y=-0.0588 left_z=0.0203 left_yaw=0.56 left_pitch=-0.0057 left_roll=-0.0028 left_gripper=0.0109 right_x=0.2825 right_y=0.0068 right_z=0.1534 right_yaw=0.2537 right_pitch=-0.0321 right_roll=0.011 right_gripper=0.998\nstate[joint_eff]: [-0.4171, -4.0821, 3.6444, 0.4127, -0.6081, -0.0415, 0.8718, -0.5538, -2.0855, 6.8991, 1.8779, -0.2906, -0.0317, -0.0122]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f955010fab31062e967cd41f307c49c3f022438ef63046fbc73f69c0cd6491ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ebe7f1cb63eeb9a34d71231dfb37246649f15d076bf31cc933c9022ceaed2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2bbca7c586bcaa9bc2edc94b521a7ef3bae65d483f6cf56a35863b0e0505e5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtKF9hnyfZnPSA64rAUwEB5WoA8XyQyD5Uk9mui4PqnJaN74hqQMe6vOVtyYFRo7SYa4arQhzI8Q28iqPosMwxQbS1yvTC3FhP346kt6Nrhtu6rAtIP4DJGIxIYj8fxLvgiMw1JggNJUSRlqVrJxHzfZB_hljStICNsvMFXhiT00szx52SCnRxsH78HwZn-eTXgk-4G9WC2dPcv1KiuMOfCydV48qdo8bMZsP_GpjNtuqN1eGuqWjZcmkkaIM73dLpWYlx2QB2HEKlCAdJaYfp8WRArjOJ4DSoyGpzQEkNsmDQp6bW2tjn4AXGkPxOt_KZ48oIou7NjonzZTi8VwQ6yzWpSECtFozNXcCnUh19z9c82qlYSF-CnLRifaG48cb9R-E9DuVgzYTqJyH4sjL08do_gxR2IpKPaLGcrLtsk2SUG3PdiLu6V3NrhZGoHakDRnQJB3fvEEwPL7gxYKxQ9VuMGAJfGAZ-JPlESrWQbhUWB5F1qe9NZ2pYHgBmHrF1QBJkHXk3XjoBZrWkRx2dnckCizDjaD6kKst_hMz7tJ5LnBE98RqtUrOfU8dRQGEoU__vFFMQ0qBy7dPG85NXJntsm9AXxm7HPGRMxEXc-qRCeTN8LZYtRQE-NKpqcZtMzbQxK9B8KfPbyx_lLVtxj7_z9jFku25qc50F6fXuVUmSI9N4VkZupol_aA4vVCHMc4tLSbmQZ2fQBJnuHisQksarU_4MOH3FEOJX8bM7-QFgDvYlHozAZl8VkOWR3jfpd357Uqsd6TjI8p5zpTjjNA5c8Vlm5eXJg-JQMTr7w03iOL2p1zne8Bb6sGg16kkflTp1RiAR0nWLch42-ChoRjnFXius_wn-1CGvuPo8r5fHtWU2oISqduXY6oK6c-P2mZuhkGvk2TC_fPyfRIFVZ4ZzMG9Igru5WgL6A1OIXVZxlxFTTvBP10Unck3Nd232j82ZMULe7znO5jpStP-J-U72cI31QYTN-GoN4-CFjhQnk5HJAsDj79PX7EFr6okztMPUar1r_aYl6YUVdffA4U4VdgHyMzAL-dpnGn3Mo0K_UKulgJb1UKv3QJACTUZYZzRR7HCF2ndEmkLPLdDfrkMQA2KaqIQQ646kLlBAuEZybYN5INZzxf4QrhCZxk4RKhFCByL4TRPxdgrH3qVBzFATL6F-7ggHkxlIQ4AT_TwQkaICtrX7aHNts3Teh0gOtEnox6ONfzkET3DYl3-CYMeNEXu0EcFiEsx100hYaQJ_EzRtUHqOBLAY92l3D0qVrJ5zjTxu3Qc-sMiuH1DQFU7k_xR_fqaJOtyN5UTDqFO2IUCbyrOyy57OaN3q1XX1Z4FIVOLAnpKMHJ-uO2d0AvS_L60FR7yeDXK_mKyFwsgO2tBMq7ULxETi8lPmmmi0pXyubbCS69BWsfa-JJt9z9sGRHHBWMDpfIxOSD8mi1767NHM7pLtk8cx3f9n9iltGFPOxbPqcovHgzSTmf-Yu8WwBmW1ruuyPF_nP7COdlxGgzAZH9IpZa4q5O2E8qXgaWeKO2cf83XtcKkoG3Y726iaPPEhHB2_MFtkkzqFBD2exwuVRjfOI-S3JuADfzQ2YF8BvV37Gs6ErLGPaDI6IpZ6HeUJLEataI2ePJitEsTwhqP90hcR-KC5Zck4lo_F-upr701RTgrBYsKiaIWrd42MXGtw5RyNgMEx3tCivA4GrduQmESqt8mz4polQX1TV-nbHfWTM3mFazndr6vtuVULRtPl07YhxW-4fBPlIqK4XooRAnJAztDUoOb9QzlyUgf1_P9Rru18hBtKotvaSjfeuWIH_ALTyLQwD1-mfl4YItuPlml0bpWpbepb_q1ePJatWTWjQY9xXUIgRcxOrSS2YiZBv_oBzf1flVCTPkZ1tvHS1bxEHTMfRY_2YOVvESZ1rF7mSb2Oa5RJyF_I8L0TRwSKtfl_xXFjS6K8BhXz-oq_tVEyDtx9dJvuli6fP8zkQbZNRulcCNXzzQZAjAbhQ==",
  "id": "rs_0ed329b206099547016ab4a1799e9487d09c8e29faa6b9e5e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0.002,\"left_z\":0.2,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.003,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The fully closed reading confirms another empty grasp, and none of the bottles is upright. I’m lifting both arms clear and stopping rather than continuing to slide the bottles around.\"}",
  "call_id": "call_Ej7zQ1Ud1zJjGTM9qllS927H",
  "id": "fc_0ed329b206099547016ab4a17c0fe487d08822d6de38fbd5e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ej7zQ1Ud1zJjGTM9qllS927H",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.0486, 0.7948, 0.6285, -0.4118, -0.1577, -0.141, 0.996, -0.2508, 0.8528, 0.6769, -0.4984, -0.4271, -0.3275, 0.9981]\nstate[eef_state]: left_x=0.2928 left_y=0.0171 left_z=0.1856 left_yaw=0.1454 left_pitch=-0.0104 left_roll=-0.0208 left_gripper=0.996 right_x=0.2888 right_y=0.0052 right_z=0.1831 right_yaw=0.2585 right_pitch=-0.035 right_roll=0.0091 right_gripper=0.9981\nstate[joint_eff]: [0.1026, -1.4701, 8.7726, 1.5849, -0.0464, 0.2418, -0.0122, -0.8547, -0.841, 10.1265, 1.7167, -0.2125, 0.0122, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3f8c44309efc7ca633b5d120f75d2bbbab762a245d51c471ee8fdf6b328930f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af6b51a6b08f5a4afa67ba2fe1c45f31ff886b4df232ddc005635f7c658989a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feeac0828c98c59e816c8028d5c27208a7616c19601ade897d9dda46816a7451",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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