adhoc

error
2026-09-24T01:01:21.295789+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
149 s
total steps
154
scenes
1
trials
1
errored
1

scene-0

error

Stand all three bottles upright.

EmbodimentFault: frame read failed for top_cam (/dev/v4l/by-path/pci-0000:80:14.0-usb-0:1.1.4:1.3-video-index0)

Termination reasons

n/a

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stand all three bottles upright.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteAll three bottles are lying on their sides. I’m approaching the neck of the leftmost bottle so I can lift its top and let the base swing downward.
move_to
left_x0.4000left_y-0.1600left_z0.1300left_gripper1.0000right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.0265, 0.7929, 0.6086, -0.3767, -0.0254, -0.0288, 0.9988, -0.0158, 0.7898, 0.6041, -0.3859, -0.0128, -0.0353, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0002 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9988 right_x=0.2937 right_y=0.0012 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.0342, -1.306, 9.6479, 1.7802, 0.0122, 0.1001, -0.1343, -1.0188, -1.306, 10.3863, 1.8291, -0.1343, 0.1783, -0.1734] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0.13,"left_gripper":1,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"All three bottles are lying on their sides. I’m approaching the neck of the leftmost bottle so I can lift its top and let the base swing downward."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left bottle’s cap is left of the jaw centre, with its body angled back toward the middle. I’m aligning the jaws across its neck and lowering for a light neck grasp.
move_to
left_x0.4500left_y-0.1250left_z0.0450left_yaw0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5732, 1.5299, 0.815, 0.0044, -0.4618, -0.345, 0.9988, -0.0193, 0.7986, 0.6498, -0.4763, -0.012, -0.0437, 0.9984] state[eef_state]: left_x=0.3863 left_y=-0.1514 left_z=0.1118 left_yaw=-0.0134 left_pitch=-0.0627 left_roll=0.0276 left_gripper=0.9988 right_x=0.2873 right_y=0.0002 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0538 right_roll=-0.0064 right_gripper=0.9984 state[joint_eff]: [-0.4444, -6.7487, 9.0462, 1.7167, -0.3248, 0.0073, -0.1343, -0.1846, -0.9641, 10.3726, 1.9902, -0.022, 0.0122, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.125,"left_z":0.045,"left_yaw":0.55},"note":"The left bottle’s cap is left of the jaw centre, with its body angled back toward the middle. I’m aligning the jaws across its neck and lowering for a light neck grasp."})
tool
executing move_to over 5 steps (0.5s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe cap is still slightly left and ahead of the fingertips in the wrist view. I’m making a small correction and lowering to cap height before closing.
move_to
left_x0.4670left_y-0.0980left_z0.0180left_yaw0.5500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.572, 1.9984, 1.1053, -0.0132, -0.8047, -0.7147, 0.9984, -0.0212, 0.7643, 0.5964, -0.4458, -0.0128, -0.0433, 0.9984] state[eef_state]: left_x=0.4481 left_y=-0.1328 left_z=0.0476 left_yaw=0.4379 left_pitch=-0.0166 left_roll=0.0352 left_gripper=0.9984 right_x=0.2829 right_y=-0.0001 right_z=0.171 right_yaw=-0.001 right_pitch=-0.0424 right_roll=-0.0059 right_gripper=0.9984 state[joint_eff]: [-0.1299, -9.9761, 5.5453, 0.8962, -0.2466, -0.1441, -0.0562, -0.6085, -1.4017, 6.9402, 2.0244, -0.1099, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.467,"left_y":-0.098,"left_z":0.018,"left_yaw":0.55},"note":"The cap is still slightly left and ahead of the fingertips in the wrist view. I’m making a small correction and lowering to cap height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe neck is now nearly centred, but the arm stopped short of the last target. I’m adjusting outward slightly and narrowing the jaws around the cap rather than squeezing the bottle body.
move_to
left_x0.4850left_y-0.1050left_z0.0250left_gripper0.4500right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5697, 2.0384, 1.1473, -0.086, -0.8539, -0.8425, 0.9983, -0.0212, 0.741, 0.5545, -0.4244, -0.0128, -0.0433, 0.9985] state[eef_state]: left_x=0.4475 left_y=-0.1242 left_z=0.0407 left_yaw=0.5385 left_pitch=-0.0148 left_roll=0.0094 left_gripper=0.9983 right_x=0.2794 right_y=-0.0001 right_z=0.1624 right_yaw=-0.001 right_pitch=-0.0397 right_roll=-0.0059 right_gripper=0.9985 state[joint_eff]: [-0.212, -10.0034, 6.5299, 1.116, -0.5348, -0.1294, -0.022, -0.4718, -1.6342, 7.0085, 1.9951, -0.1294, -0.0317, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.485,"left_y":-0.105,"left_z":0.025,"left_gripper":0.45,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"The neck is now nearly centred, but the arm stopped short of the last target. I’m adjusting outward slightly and narrowing the jaws around the cap rather than squeezing the bottle body."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe arm is at its outward reach limit, and the neck sits between the fingertips. I’m drawing back slightly and closing to test whether the neck is captured.
move_to
left_x0.4370left_y-0.1220left_z0.0250left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5697, 2.038, 1.1503, -0.0792, -0.8883, -0.8459, 0.456, -0.0212, 0.7959, 0.6392, -0.469, -0.0124, -0.0437, 0.9984] state[eef_state]: left_x=0.449 left_y=-0.1206 left_z=0.0463 left_yaw=0.5596 left_pitch=0.0152 left_roll=0.0096 left_gripper=0.456 right_x=0.2868 right_y=-0.0003 right_z=0.1773 right_yaw=-0.0011 right_pitch=-0.0546 right_roll=-0.0062 right_gripper=0.9984 state[joint_eff]: [-0.3897, -10.1538, 6.5846, 1.1013, -0.0952, -0.0708, 0.2515, 0.0479, -0.9094, 10.1402, 1.8926, -0.022, 0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.437,"left_y":-0.122,"left_z":0.025,"left_gripper":0},"note":"The arm is at its outward reach limit, and the neck sits between the fingertips. I’m drawing back slightly and closing to test whether the neck is captured."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe jaws closed empty, so the neck was not captured. I’m opening and approaching the bottle’s upper shoulder at a shorter, more reachable distance.
move_to
left_x0.4180left_y-0.1500left_z0.0100left_yaw0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5766, 2.0346, 1.1244, 0.0158, -0.9363, -0.8722, 0.0115, -0.0212, 0.7628, 0.5842, -0.4442, -0.0124, -0.0433, 0.9984] state[eef_state]: left_x=0.4528 left_y=-0.1205 left_z=0.0553 left_yaw=0.5979 left_pitch=0.0796 left_roll=-0.0639 left_gripper=0.0115 right_x=0.2815 right_y=-0.0002 right_z=0.1662 right_yaw=-0.0013 right_pitch=-0.0515 right_roll=-0.0059 right_gripper=0.9984 state[joint_eff]: [-0.7726, -8.5128, 3.0974, 0.6129, 0.1978, -0.105, 1.033, -0.7453, -1.6205, 7.0769, 2.0781, -0.105, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.418,"left_y":-0.15,"left_z":0.01,"left_yaw":0,"left_gripper":0.7},"note":"The jaws closed empty, so the neck was not captured. I’m opening and approaching the bottle’s upper shoulder at a shorter, more reachable distance."})
tool
executing move_to over 7 steps (0.7s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe bottle’s neck is centred between the jaws now. I’m lowering and closing to a neck-sized gap so the bottle can pivot as it is lifted.
move_to
left_x0.4500left_y-0.1380left_z-0.0150left_yaw0.0000left_gripper0.2800
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.5255, 1.9133, 0.746, 0.6106, -0.5793, -0.4179, 0.6953, -0.0212, 0.73, 0.5365, -0.4183, -0.0132, -0.0437, 0.9984] state[eef_state]: left_x=0.4354 left_y=-0.1366 left_z=0.0439 left_yaw=0.1688 left_pitch=0.1019 left_roll=-0.0686 left_gripper=0.6953 right_x=0.2774 right_y=0.0 right_z=0.1583 right_yaw=-0.0005 right_pitch=-0.0404 right_roll=-0.006 right_gripper=0.9984 state[joint_eff]: [-0.1983, -6.188, 2.7692, 0.5153, 0.4225, 0.188, 0.0073, -0.5128, -1.4564, 6.7487, 2.0781, -0.1099, 0.0073, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.138,"left_z":-0.015,"left_yaw":0,"left_gripper":0.28},"note":"The bottle’s neck is centred between the jaws now. I’m lowering and closing to a neck-sized gap so the bottle can pivot as it is lifted."})
tool
executing move_to over 5 steps (0.5s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe jaws are around the narrow top of the bottle. I’m securing that grip and lifting a short distance to check whether the bottle follows and begins hanging downward.
move_to
left_x0.4300left_y-0.1420left_z0.1200left_gripper0.1000right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4538, 2.0117, 0.8127, 0.799, -0.4496, -0.3134, 0.2853, -0.0212, 0.7048, 0.498, -0.4007, -0.0124, -0.0437, 0.9984] state[eef_state]: left_x=0.4746 left_y=-0.1421 left_z=0.0552 left_yaw=0.09 left_pitch=0.1996 left_roll=-0.1127 left_gripper=0.2853 right_x=0.2738 right_y=-0.0 right_z=0.1508 right_yaw=-0.0011 right_pitch=-0.0363 right_roll=-0.0065 right_gripper=0.9984 state[joint_eff]: [0.4444, -3.4667, 2.7829, -0.0952, 0.4518, 0.2613, 0.2076, -0.3624, -1.2376, 6.9265, 1.9707, -0.1099, -0.0562, -0.0073] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.142,"left_z":0.12,"left_gripper":0.1,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"The jaws are around the narrow top of the bottle. I’m securing that grip and lifting a short distance to check whether the bottle follows and begins hanging downward."})
tool
executing move_to over 5 steps (0.5s)
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 has not followed the lift target, and the bottle is still on the table. I’m moving up and back to leave this strained reach configuration and check the grasp.
move_to
left_x0.3500left_y-0.1400left_z0.2500left_gripper0.1000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.4435, 2.0312, 0.8135, 0.8726, -0.4244, -0.2874, 0.1031, -0.0193, 0.7937, 0.635, -0.4618, -0.012, -0.0437, 0.9984] state[eef_state]: left_x=0.4807 left_y=-0.1439 left_z=0.0614 left_yaw=0.0708 left_pitch=0.2439 left_roll=-0.1241 left_gripper=0.1031 right_x=0.2872 right_y=0.0002 right_z=0.1775 right_yaw=0.0005 right_pitch=-0.0492 right_roll=-0.0065 right_gripper=0.9984 state[joint_eff]: [-0.1299, -4.3966, 2.5368, 0.1441, 0.3639, 0.2173, 0.1587, 0.335, -0.9368, 9.7026, 1.7753, 0.0317, 0.0708, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.35,"left_y":-0.14,"left_z":0.25,"left_gripper":0.1},"note":"The arm has not followed the lift target, and the bottle is still on the table. I’m moving up and back to leave this strained reach configuration and check the grasp."})
tool
executing move_to over 13 steps (1.3s)
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 left bottle was nudged forward but is not held. I’m approaching its body at a shorter reach so I can first bring it into a better position for standing.
move_to
left_x0.3700left_y-0.2050left_z0.0450left_gripper0.8000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6506, 1.3045, 1.0973, -0.3733, -0.5766, -0.4461, 0.0999, -0.0212, 0.7616, 0.5842, -0.4324, -0.0132, -0.0437, 0.9985] state[eef_state]: left_x=0.367 left_y=-0.1538 left_z=0.2555 left_yaw=0.0552 left_pitch=0.0818 left_roll=-0.0797 left_gripper=0.0999 right_x=0.2831 right_y=-0.0001 right_z=0.1689 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0061 right_gripper=0.9985 state[joint_eff]: [-0.294, -5.9009, 10.7966, 1.9463, -0.3248, -0.0171, -0.022, -0.4444, -1.3333, 7.2547, 1.9805, -0.1538, -0.0024, -0.0073] 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":{"left_x":0.37,"left_y":-0.205,"left_z":0.045,"left_gripper":0.8,"left_yaw":0},"note":"The left bottle was nudged forward but is not held. I’m approaching its body at a shorter reach so I can first bring it into a better position for standing."})
tool
executing move_to over 14 steps (1.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe left bottle’s body is centred between the open jaws. I’m closing around it to move the bottle away from the far edge.
move_to
left_gripper0.0000left_z0.0250
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7544, 1.7634, 0.7361, 0.2581, -0.6319, -0.4755, 0.797, -0.0212, 0.7406, 0.5449, -0.4191, -0.0128, -0.0433, 0.9984] state[eef_state]: left_x=0.3664 left_y=-0.1962 left_z=0.0447 left_yaw=0.007 left_pitch=-0.0356 left_roll=0.0472 left_gripper=0.797 right_x=0.2789 right_y=-0.0001 right_z=0.1592 right_yaw=-0.001 right_pitch=-0.0435 right_roll=-0.0059 right_gripper=0.9984 state[joint_eff]: [-0.7726, -7.2547, 5.0393, 1.5409, 0.2125, -0.1441, -0.1441, -0.5949, -1.5248, 7.0769, 2.0244, -0.1099, -0.0122, -0.0171] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.025},"note":"The left bottle’s body is centred between the open jaws. I’m closing around it to move the bottle away from the far edge."})
tool
executing move_to over 8 steps (0.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe closed jaw gap indicates a bottle-sized grasp. I’m lifting and drawing the bottle back into the reachable workspace.
move_to
left_x0.2900left_y-0.1600left_z0.1700right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.757, 1.805, 0.688, 0.4782, -0.6533, -0.4801, 0.3885, -0.0212, 0.7132, 0.5045, -0.3992, -0.0132, -0.0437, 0.9984] state[eef_state]: left_x=0.3754 left_y=-0.202 left_z=0.0496 left_yaw=0.0244 left_pitch=0.0676 left_roll=-0.0378 left_gripper=0.3885 right_x=0.2752 right_y=0.0001 right_z=0.1519 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0061 right_gripper=0.9984 state[joint_eff]: [0.1026, -5.0803, 3.412, 1.1746, 0.0562, -0.0952, 0.4029, -0.759, -1.2923, 6.8444, 2.0195, -0.1343, -0.0464, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":-0.16,"left_z":0.17,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"The closed jaw gap indicates a bottle-sized grasp. I’m lifting and drawing the bottle back into the reachable workspace."})
tool
executing move_to over 8 steps (0.8s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe bottle stayed on the table, so the first body grip slipped off its end. I’m moving the jaws farther along the bottle to capture a broader section.
move_to
left_x0.4120left_y-0.2050left_z0.0350left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8711, 1.211, 0.7258, -0.268, -0.7002, -0.5854, 0.3877, -0.0193, 0.7948, 0.6403, -0.4652, -0.0124, -0.0437, 0.9984] state[eef_state]: left_x=0.2969 left_y=-0.1703 left_z=0.1577 left_yaw=-0.0015 left_pitch=0.0106 left_roll=-0.0245 left_gripper=0.3877 right_x=0.2874 right_y=0.0002 right_z=0.1789 right_yaw=0.0008 right_pitch=-0.0485 right_roll=-0.0063 right_gripper=0.9984 state[joint_eff]: [-0.2256, -4.3829, 9.7026, 1.4579, -0.4615, -0.1978, -0.0952, -0.0479, -0.8137, 10.0581, 1.8828, -0.0464, 0.0659, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.412,"left_y":-0.205,"left_z":0.035,"left_gripper":0.8},"note":"The bottle stayed on the table, so the first body grip slipped off its end. I’m moving the jaws farther along the bottle to capture a broader section."})
tool
executing move_to over 9 steps (0.9s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe jaws now straddle the wider middle of the left bottle. I’m closing firmly before lifting again.
move_to
left_gripper0.0000left_x0.4080left_y-0.2080left_z0.0240
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6849, 1.8809, 0.799, 0.3103, -0.5861, -0.4477, 0.797, -0.0212, 0.7647, 0.5911, -0.4416, -0.0128, -0.0437, 0.9984] state[eef_state]: left_x=0.3928 left_y=-0.19 left_z=0.024 left_yaw=0.0277 left_pitch=-0.0595 left_roll=0.0479 left_gripper=0.797 right_x=0.2829 right_y=-0.0001 right_z=0.1693 right_yaw=-0.0008 right_pitch=-0.0439 right_roll=-0.0062 right_gripper=0.9984 state[joint_eff]: [0.8137, -8.0889, 7.2684, 1.5556, -0.0073, 0.022, -0.1636, -0.6222, -1.5521, 7.0496, 2.0293, -0.0952, -0.0513, -0.0122] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_x":0.408,"left_y":-0.208,"left_z":0.024},"note":"The jaws now straddle the wider middle of the left bottle. I’m closing firmly before lifting again."})
tool
executing move_to over 8 steps (0.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe grip now spans about five centimetres, consistent with the bottle body. I’m lifting and pulling back while maintaining the close command.
move_to
left_x0.3000left_y-0.1700left_z0.1600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.6941, 1.9381, 0.812, 0.4129, -0.6083, -0.4564, 0.5412, -0.0212, 0.7383, 0.5488, -0.4198, -0.0128, -0.0433, 0.9985] state[eef_state]: left_x=0.4028 left_y=-0.1993 left_z=0.0225 left_yaw=0.0387 left_pitch=-0.0057 left_roll=0.0133 left_gripper=0.5412 right_x=0.2792 right_y=-0.0001 right_z=0.1614 right_yaw=-0.001 right_pitch=-0.0382 right_roll=-0.006 right_gripper=0.9985 state[joint_eff]: [-0.6496, -7.3504, 7.2137, 1.536, -0.1197, -0.0611, 1.033, -0.3761, -1.4838, 6.9265, 2.0, -0.1343, -0.0024, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":-0.17,"left_z":0.16,"left_gripper":0},"note":"The grip now spans about five centimetres, consistent with the bottle body. I’m lifting and pulling back while maintaining the close command."})
tool
executing move_to over 9 steps (0.9s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe bottle is following the gripper now. I’m setting it down closer to the left base, where its cap will be reachable for an upright lift.
move_to
left_x0.2400left_y-0.0750left_z0.0350left_gripper0.0000right_x0.2940right_y0.0010right_z0.2000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.8688, 1.3193, 0.7082, -0.2855, -0.6476, -0.5961, 0.5411, -0.0212, 0.717, 0.5129, -0.4011, -0.0128, -0.0433, 0.9984] state[eef_state]: left_x=0.2915 left_y=-0.1741 left_z=0.1116 left_yaw=-0.0251 left_pitch=-0.1125 left_roll=0.0498 left_gripper=0.5411 right_x=0.2762 right_y=-0.0 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0061 right_gripper=0.9984 state[joint_eff]: [-0.2393, -7.5145, 12.5333, 2.1123, -0.989, 0.0513, 1.033, -0.5538, -1.1966, 7.1316, 2.0195, -0.1197, -0.0171, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.24,"left_y":-0.075,"left_z":0.035,"left_gripper":0,"right_x":0.294,"right_y":0.001,"right_z":0.2},"note":"The bottle is following the gripper now. I’m setting it down closer to the left base, where its cap will be reachable for an upright lift."})
tool
executing move_to over 9 steps (0.9s)
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 bottle is resting in a clear area on the left. I’m releasing its body and moving toward the neck for the standing motion.
move_to
left_gripper0.7500left_x0.3650left_y-0.0800left_z0.0700
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.7147, 0.9169, 0.0521, 0.0956, -0.5617, -0.4545, 0.541, -0.02, 0.7979, 0.6411, -0.4725, -0.0124, -0.0437, 0.9984] state[eef_state]: left_x=0.2316 left_y=-0.0716 left_z=0.0214 left_yaw=-0.0168 left_pitch=-0.0687 left_roll=0.0279 left_gripper=0.541 right_x=0.2867 right_y=0.0 right_z=0.177 right_yaw=0.0001 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9984 state[joint_eff]: [0.212, -0.5265, 7.1316, 2.0342, -0.2076, 0.0171, 1.033, 0.0342, -1.0325, 10.0308, 1.9609, -0.0464, 0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_gripper":0.75,"left_x":0.365,"left_y":-0.08,"left_z":0.07},"note":"The bottle is resting in a clear area on the left. I’m releasing its body and moving toward the neck for the standing motion."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe bottle slid forward while the jaws opened, so its cap is still ahead of the fingertips. I’m advancing with the jaws already open to align directly at the neck.
move_to
left_x0.4550left_y-0.0700left_z0.0450left_gripper0.7500
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.3702, 1.4258, 0.4213, 0.387, -0.3199, -0.2344, 0.7485, -0.0212, 0.7609, 0.5831, -0.4412, -0.0128, -0.0437, 0.9985] state[eef_state]: left_x=0.3551 left_y=-0.0744 left_z=0.0612 left_yaw=0.0135 left_pitch=-0.0207 left_roll=-0.0015 left_gripper=0.7485 right_x=0.2817 right_y=-0.0001 right_z=0.1668 right_yaw=-0.0008 right_pitch=-0.0477 right_roll=-0.0061 right_gripper=0.9985 state[joint_eff]: [0.7453, -4.547, 6.6667, 1.7314, 0.0952, 0.2466, -0.105, -0.6632, -1.6342, 7.1863, 2.0928, -0.1099, -0.0171, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.07,"left_z":0.045,"left_gripper":0.75},"note":"The bottle slid forward while the jaws opened, so its cap is still ahead of the fingertips. I’m advancing with the jaws already open to align directly at the neck."})
tool
executing move_to over 8 steps (0.8s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe cap is centred, with the shoulder just below it in the wrist view. I’m advancing to the narrow neck and closing to a loose neck-sized gap.
move_to
left_x0.4900left_y-0.0680left_z0.0200left_gripper0.3400
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2523, 1.8099, 0.7109, 0.5018, -0.2432, -0.1825, 0.75, -0.0212, 0.7311, 0.5377, -0.4194, -0.0128, -0.0437, 0.9984] state[eef_state]: left_x=0.4445 left_y=-0.067 left_z=0.0419 left_yaw=0.0399 left_pitch=-0.0162 left_roll=-0.006 left_gripper=0.75 right_x=0.2774 right_y=-0.0 right_z=0.1583 right_yaw=-0.0008 right_pitch=-0.0416 right_roll=-0.0062 right_gripper=0.9984 state[joint_eff]: [0.6222, -7.3915, 6.3111, 1.7656, 0.0073, 0.232, -0.022, -0.5812, -1.4564, 6.8855, 2.0586, -0.1294, -0.0171, -0.0171] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.068,"left_z":0.02,"left_gripper":0.34},"note":"The cap is centred, with the shoulder just below it in the wrist view. I’m advancing to the narrow neck and closing to a loose neck-sized gap."})
tool
executing move_to over 5 steps (0.5s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe jaws caught the shoulder rather than the neck. I’m bringing the bottle well back, and I’ll release it fully before making another approach.
move_to
left_x0.2700left_y-0.0700left_z0.1100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stand all three bottles upright. state[joint_pos]: [-0.2291, 1.9682, 0.8608, 0.59, -0.2466, -0.1818, 0.5096, -0.0212, 0.7048, 0.4999, -0.4015, -0.0124, -0.0433, 0.9984] state[eef_state]: left_x=0.493 left_y=-0.067 left_z=0.0438 left_yaw=0.0662 left_pitch=0.0607 left_roll=-0.0267 left_gripper=0.5096 right_x=0.2739 right_y=-0.0 right_z=0.1515 right_yaw=-0.0013 right_pitch=-0.0351 right_roll=-0.0062 right_gripper=0.9984 state[joint_eff]: [0.335, -6.6256, 5.0256, 1.326, 0.0806, 0.2418, 0.8132, -0.5265, -1.2376, 6.8171, 1.9853, -0.1001, 0.0024, -0.0073] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.27,"left_y":-0.07,"left_z":0.11,"left_gripper":0},"note":"The jaws caught the shoulder rather than the neck. I’m bringing the bottle well back, and I’ll release it fully before making another approach."})
tool
executing move_to over 18 steps (1.8s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [0, 0], left_roll: [0, 0], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [0, 0], right_roll: [0, 0], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.154 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]: [-0.0265, 0.7929, 0.6086, -0.3767, -0.0254, -0.0288, 0.9988, -0.0158, 0.7898, 0.6041, -0.3859, -0.0128, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0002 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9988 right_x=0.2937 right_y=0.0012 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.306, 9.6479, 1.7802, 0.0122, 0.1001, -0.1343, -1.0188, -1.306, 10.3863, 1.8291, -0.1343, 0.1783, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d08cbedaf0e13ed4ebeaf4138eb300a5cff4278af30ca19827ecbd88a8695de9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116a0c36a459c07d7d7bbc88cc3c77105992323f0a5d4264b70fe4724e5decdd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef9e5d59df2a1810d8f869b9ca35943ec1e1fdd05a6d4c60802097f19c47b7eb",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob d08cbedaf0e1
wire blob 116a0c36a459
wire blob ef9e5d59df2a
call 1 attempt 0 · /responses · status 200 · 7.799 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqtHZ3Vd4CsP-e48vCEBqMweHwLXG_EFLlQMLQigP7WA7zNni-CWwmh5k_c3oks8DC9q0WTE91oElpF5yrF7-pNM4eeU4ZPQdj_TuqwimcLwo8gEAPmbPMbPKQimS8GRx4XrJ602G-s9HFWAMcy-UIvRWYDBzANkumk5pM6tqy3kfdk-BC3CQ-dc2_tZYYuwSuXgzt8Z8ddaIa18avT0RMjHEjPkIlVnA2BZiPQBXp9csOa1rC0M6Pahg73-ZfdxI8RHYsHb_mZjAr25zl8wMv5PNr2Ymeg9VsLW0imKxIZNWcRzWvdHBrcQea-B2fhinRWuXJK_D5MpiJGlsXD6oocTX5Solheb4VNo0G3LwDzb9CJpQ4HnRlwqEYXtayo8QUQWWdG1a8T2VxjIyMO9ijy6QA_u6Wly3ET_7qSogKkQJFIXggVTf1xAMcYxESMcxY3Bf9yO3oaAjjcUPEKMFfGJD-zSdc77fTKhJg_7f8zbk-7V-EQC1QtMikW7A2AVmJAMwH_jKTMoDKF3P3yjZ1XJXcK28bFqCbb-4xObksIHAYDuJRjnG2ZVJLy7o9g3-SNY23w6ERZywG55YKa6TwcTp2spocXBT2Uf6f0FCXDIOt85lEFeMYBiuQgY3T-oOGnfiWya8AnfYVQz-LJmYHWpAvhJyMUsxrZhLJpBkNhmEvYLmAGazI3uAI9s2l40Sc8myY5JgxXhl0EH_fS2RKF7mMSi7ERHmDLl1GsJq06ZbskeiEMFusCk-an7X58G9kmqIN75CVkoekyuh-6KZ8LR0Rh8a9zaB6Mr-hEOfZbdlQ26MgjTVoHchzLn2Hp2LnM5CH4wec1C8QFecat_ztbrMw1ab_neOVbznZm4l3AcFu5s2VhtRbFzrPJjPV-RBTwBSo4PTMEme2ruAPIMJfImyYBe8x7gRfg5Ze4aca8OkEhI2V2DytDoxQcO_FLyLmZZS__WDtAHCOmeYtZ-y7NTppnAh9K3v5881FLnCkbj52Z2NS_frhTMZmxy6mhotLSFaJ3vh1OvsDm3iZhTW7BXfl1iC2zXni-bg3OoquSCGLJ7-b2D2J3QS_0sGatHDfgwuShxYWqrJ7SJrDYFZbn72CwsDtP5jD7vKfAxBu_owvv0NApAuO2BGkWlrnb6eDFKlnjRQ1rHUQ9C8y5luJC5C_j_5K2y5OhVQZPymwI0AHffFaAkfX6GTgKVoegMYJWu07DZpl5ufoQkWKQDc3hvSAvgLA8sq6lURJEqQTb_yx5tsAtrzvc76joaq4S-pS3qTIb4IxKM56aMfYA5MHGwB_y3RruCs9VET9RzZbYPUPuXBIqDO6cRUZXFYp9RTEM34B5Js3v3cS8T3jKQzghf2A_cCdi5X8CNIeAO5_gmLvnoDAzVFBBq9imU1TPO6wCJDP3_iyPk0goqkPX8EIPlzIOlMPJ-9vXAx2VV0GI4eE5ao01I3gfh5129QRkNB4cD4hJ_EHdQUvYkfPZecZt_pDfRu4FvRLf9gNfh8yEwT9lt9aFm2nd7LtCztXqGJqNsof1N1iXxyTaWEaaD9-CPk3lv5NWpRcFeOHiARXkuruy5FH_6Uxh2hMnVEihgL1akDzWNHPDfmGtMseB8t0U5chFrD2oFv7I_7uo_CpJYfAawfM43-2N36b7_CFJEnuFtHzNO8afLNOE14GWTgFm9J47eIg6NsnOnJsBt1hqmOCYyoAjtuLKuYPXMDxz68OppYKeL9fzwTzsLPF-5uhacSY7K-SdTpwF5X8QEjBZU-_bWFPpqqmMJ0RFeIL1KFoOtyfruwphJzNICi5HwHGQzZBdM9484L1TryjMweWbaHg5FSIRRHtG0-h9sQrhGNMOD0RvcGUidCO3CQJlhvejRBh6-zXHfETkDiawBvwYgoSsSYQ5laGUgb7QSZCS5sWBEB5NeK2Y216rnrmIqqyqqDNzhAa0lCJZF0E8JV5M9bzYl6lpR7QUpEwD1Bw_8c6Fz_L1N9XcmFE6ZlP_0Mg181tBmg-_6I0LW87EKfv8JKV1EVwY715DLITUlXgq3JhzTqOiO-B0JYuGEqJ05iB_wJxDIEJax_T2vHJAWC5ZhGiY7BkIQi7KNOO1Iba2jpm5Gnw2Qa6y36jlfnHiAQp-a9uR-8H1i_YqkBEwBIBJMK73cvu8ksYM7ptSRQOApnFg5wbs3HlJUZRHktgk_PwEltgC1R057YlQ_1428MxELxCU8ha9LO67u61MnrUVFCK9IBwv3_5feh1dbzoGPqWioyoduJNGAzc0kTBVGSQhcBrfnEeoEzK-JKdSH6BMSNeJ2mCcfVJbW2jsZ4Ri_9G_V4Af0eOr10wdom7PqOY9rsuMpbWhvhyrxZXoM3w9BpYLz2o9IZP-1aduLqBQgvTRnPYqyzpqoQjiRKAnKUXCesPCJ7DqCiEN208_1Zhsx67UrZbnZjAA-x9PNQ8eM-m2qAP4TuWxVSG3gvNNbAIfz8Wg8ZtZxu-s09HMsXQvY8bsR8yTRum06dvY12Jf0IyHMMccYGiOBF4uwfDSPz0RTJmCosSWonhlwSlqfTO9oevnJheLIDSOvMzADYp0xF00BOr0M0viW3G8V0WrSlzHVRm4FCBfk1zRfEtrNqBLEt-L0o9AMEqSYhuHyYXm28V6CeigiFn0nQaEoJd-C9HL4l5ARhOSrr0QP_w-zSEJSxN9Zerb1UfTsMizyqeE8pr94wE0Xxr_NLK_n5qDAHU2kCBnkDSDNZCPyDP1z1m_LODd6Joz41CEdPsk16OF5yQCLs31sxX6oKU20XRSQh_aF6tOqV8_l9NVRmVhr2EKi0vyCE8wZ4H5dMcQAPnvIUp4FO4HM7Y5fEoktEXfTZlYQLD5PVxYlT1YPx4OTAYverDFP5F6fIvTZXeqFVFhH3l4gczq3NpxCmMcLlOZeVXxlTg9m7SiM7U6NUnbMrn9BsOh4RSCSlaIjfYcGrU4lK6OTjsR6TUj5yBelL1ytJdrAtCbp0I6_8gFr2OtIizlJLSKfksbuPAP4iCI7OqM1MjTyBzXTGI2JD7uP8ZvMSpp1ZeV2_6Vv3xY6-Vwl05K4LtDxCJ_3dlhp4jeiylSHvXmPkQuSiw5LFhD0MZwetTdcLeBKI=",
  "id": "rs_033b40766fed2a73016ab47670fbdc87d081fe637e2ad9f09c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.13,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"All three bottles are lying on their sides. I’m approaching the neck of the leftmost bottle so I can lift its top and let the base swing downward.\"}",
  "call_id": "call_VYDoqKzSk7AXfZMltavMsIg4",
  "id": "fc_033b40766fed2a73016ab47676032c87d09b329d537208ad3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VYDoqKzSk7AXfZMltavMsIg4",
  "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]: [-0.5732, 1.5299, 0.815, 0.0044, -0.4618, -0.345, 0.9988, -0.0193, 0.7986, 0.6498, -0.4763, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3863 left_y=-0.1514 left_z=0.1118 left_yaw=-0.0134 left_pitch=-0.0627 left_roll=0.0276 left_gripper=0.9988 right_x=0.2873 right_y=0.0002 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0538 right_roll=-0.0064 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.7487, 9.0462, 1.7167, -0.3248, 0.0073, -0.1343, -0.1846, -0.9641, 10.3726, 1.9902, -0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188ce103a5dce7fdc8e9036395d6c9a2872fa96727866575a5601e73e34201bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11682ecefa659a3e06f2ac322e82daac3d8bd2824dace0689187c5968c85c66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83188a7883e7ddb5ef41d135475e5b22da020d3bdfe0f98f9e81f5a3e628c6c1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 188ce103a5dc
wire blob c11682ecefa6
wire blob 83188a7883e7
call 2 attempt 0 · /responses · status 200 · 5.853 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]: [-0.0265, 0.7929, 0.6086, -0.3767, -0.0254, -0.0288, 0.9988, -0.0158, 0.7898, 0.6041, -0.3859, -0.0128, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0002 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9988 right_x=0.2937 right_y=0.0012 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.306, 9.6479, 1.7802, 0.0122, 0.1001, -0.1343, -1.0188, -1.306, 10.3863, 1.8291, -0.1343, 0.1783, -0.1734]",
      "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]: [-0.5732, 1.5299, 0.815, 0.0044, -0.4618, -0.345, 0.9988, -0.0193, 0.7986, 0.6498, -0.4763, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3863 left_y=-0.1514 left_z=0.1118 left_yaw=-0.0134 left_pitch=-0.0627 left_roll=0.0276 left_gripper=0.9988 right_x=0.2873 right_y=0.0002 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0538 right_roll=-0.0064 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.7487, 9.0462, 1.7167, -0.3248, 0.0073, -0.1343, -0.1846, -0.9641, 10.3726, 1.9902, -0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188ce103a5dce7fdc8e9036395d6c9a2872fa96727866575a5601e73e34201bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c11682ecefa659a3e06f2ac322e82daac3d8bd2824dace0689187c5968c85c66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83188a7883e7ddb5ef41d135475e5b22da020d3bdfe0f98f9e81f5a3e628c6c1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 188ce103a5dc]
[blob c11682ecefa6]
[blob 83188a7883e7]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaA7xfOrJrFdwTmpslcuSqqC7p_NuXXCds7mW5NrtZvP7Dg7jUbPLMmsaL6I_wEQ4F7Jh1zdkFj81eJsl2y9oLqCQ6rl5FRG6D4DXWNKxnEUVoTfPsIPep5PbbGMLiLCf_nBF1Mb5z4BRtohPlIjSaz9Mo3n4lcPTcZ4nnLIJkCrxN4cvV8Rlya1S_oi2ycz1d7tArRFRwf__LHVEOoCQi6Mfur3iwx8W6IwxshxhlMgENKWaTvzSUdXQliAUcX-jOjnAsIqRiI6tTsUN_HA-20AuPswOE05_M9Pbe6oVW4ao6wXzWrN4W-Vkl0DLT3AJL96IL69hJE1KDdRSDfoV4TH-m88hlVhUBAyCOzVcJttca-fCMQm6uzUNbJb1aWP-ap7vqgVLoU2J7eBjDbvj2dhItEwyIm_VYdzVFqoFaxlh5I4eP5CF0EPqCV_LrgoCL-iWIfPJPYgf9sXzF9os8tEWVKH4Y198T_7tlxHBH1PNGMpOS7-K32FVSL58nSfIE7FghhTuX1RFqs2HH0MBn62Qwv2auYElfAOtMLijyHc4uy-EthDgCcKjZCwzISt9WvgaBnKRcfov8Dub93UD-9T1m7ndaKl3KqLz0uYGL6OXBI9ceVta0n9aZbH5g0s1ljndU8x24_Rar7SRWD17-4_KdSXdgE8XHhLbeNdT4Rz2kDreVjSBUGmvQK6u1tXz3MFDD4RLrJSrXp9o5mprnQ9mdE7UQhrf0fI8NN-3SJpH_wYjanBz1ERb7nGAo9kUIjVfCvIRS3A8FFGPDOvYjvYrM4uy6P467SuZNaxMCAs2pH2JSTmrVSEcKpQGrIkpkXlGZ857wCtja2bey7bc55nYBZ01qLiXVOSM1vtYbMTvlOBsgjT7slTSarwEVehzh4oNyCyPnLUE2CJog6_B74EYPxtq-rBuWHSmmCdkydwH7iesK-rAmgsHFcmoeZLK32-TCrpKASMJ1QMrm9kv3FqqF5D2GxWtS0Ojubco7r6Rqseu9pnYeJpVFTAAUo_HA7I2mYy8J-Tmgr9KodRcFI0Xn0Sfst9THWdp0ClYJxtckOJlK1MaK14eFwyQk6gW7F7NVHQeDdgsKwW-yFqLUquuR4XmZEndnVf6vMV490I56dKz9s6s8LSx7dQGSDcfjIBivlQEaxjnUt-BtVnFP4scfo9UCTYHWiHDdSisibMzXDPY205YNDN4Zu9yMQA_bl3Pu5VTdG4zd5Gd2LKNRzrvdtkHp-awx5eIk9s_CceqzTZpoWHGWBK7RI0IwJVNv4z3n5paPdLOb7l5qWzLhHBtDJBFJV_EW2GZqkxp6pOk8dd48o54KV8wbyCjkDAULrKMDg50ZXrPXhkIvDhH95rqAMg3BimkrAvRQ9HbpuOgRcftUnGGF0B8BxW6pFE2DgjiwaP1SeVhhwPQC7P5XqiZ-si0zWSsHzlEYH5GL5KUwfqWcv3RH1nrSl7YLn9kZ-W13cXHdt5CYtdMtT7u3IZmMOwYZE_XtBQjbeAT3RobIf3GxTBzn3rUVxyf1cyGPLp5k_ksG9DpS3SYO6_NK5xqFh4vLYbgLp01W0xc75wAU1nSeTquzuigA1Q-aDy3aMVvhMKMUx3E1-y7U7nkSKuB3qofFSaovyDJyfb3MkXm7iHxygJtsMUI_ieZQbIx6MKwEJRpgRzkh0PXqSNuTBvxmMYliqb0AdxS2yuGU31dCkrUDe-HGvL-SZmUMum4lgEgUQY_BEzzw24d5CfaxoLdjbZv-TCKNd0ptxk0QfH91-OUlqktciM0K2XDi6rXoSs69prmHmNa74tf0ccswhyYjAS_DtcE7gj2A8cVtY6sn5U4Bebi0ThNV2wGPPkP_TsFv5FFCkFG6Hs1TxStr3xid9fkREBNqxgdNJjBPulA9dUkVqebkJJzydRYVaiJrCckZeWdGgG9WRMVcR_6xF4Dm5BzwHrxLUjlX3OeBkHKPv5_e0h9hhtyBSNNTzJTRZM8fb1NPFnPpNQ75x3xGcebfu-mX_r3szJhns84q9nEw4-JvWYVJbUaEmRmQ97wyvg5EZ9EQwlFreA8Sn4KuZCCk3A22Z5LMAAPG98sbVeP9_ajv7UW5u5GxaeIujY8opqrCteP-e_mGwy39FRJqnTLh9-MpOhkULrLzsTKKKiZ2xmL6i-_3GfHTcSzfSO-mvZLMPqRZ95iqcSZ-5j0rRmLYdN3vv5Bhvmu0cAVDg2bTOhZcrBQnkAnor8nFLUaloVq6rdM3q9H_B_Me28y7kw6ZdHsmboZmILgz6Hjgn9d9z4GJAttt2v1jV6i8vvglkCM4vWQFRFsuz3mfIDdv3mSYcrWwGw4lEp--Q-AQOnQ0kMHUMs82skSkO7QH0RGloGFEhlmESlm3Z2W0Lvs0AfT4Zf6Vi_nUJz5MEJQrHCI04XFT9WeinaUdtYyaEHdeDGr7d4t8jihIdgHyz3WoGSI42Jlm0Vs4-Ve1bx1XqtEaZ0S2JR5ZS7ZwK9WLfTBEI3lKdqC3MOZI39lBhB9YhrwpuLhPGIZP73o8_B_k3XxQShkW0qEPDSe0MGZC3QsXlNyBRHk66Is5tN-iVkRNttagNtmmUb0dlxNNwyiEI-Gj86rid7DE3RlkzIdvt81FB",
  "id": "rs_033b40766fed2a73016ab4767a3c3c87d0bff62ab399c8480d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.125,\"left_z\":0.045,\"left_yaw\":0.55},\"note\":\"The left bottle’s cap is left of the jaw centre, with its body angled back toward the middle. I’m aligning the jaws across its neck and lowering for a light neck grasp.\"}",
  "call_id": "call_fnonnMuxYtWaSmzrl9nCE9UL",
  "id": "fc_033b40766fed2a73016ab4767f61c087d0845f18b8898a3123",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fnonnMuxYtWaSmzrl9nCE9UL",
  "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]: [-0.572, 1.9984, 1.1053, -0.0132, -0.8047, -0.7147, 0.9984, -0.0212, 0.7643, 0.5964, -0.4458, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4481 left_y=-0.1328 left_z=0.0476 left_yaw=0.4379 left_pitch=-0.0166 left_roll=0.0352 left_gripper=0.9984 right_x=0.2829 right_y=-0.0001 right_z=0.171 right_yaw=-0.001 right_pitch=-0.0424 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -9.9761, 5.5453, 0.8962, -0.2466, -0.1441, -0.0562, -0.6085, -1.4017, 6.9402, 2.0244, -0.1099, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:223320f2bb209e42fb38207ca957e3f7f973d465520598e98ad0ed2a8d3daae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9ac266c142732a7e9381deb043f9f74f4f8f6075176120fed8f84514f57b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908bfe99905e1d484b3f3155da3a339dee551f52ffe208ab593d0796f9393319",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 223320f2bb20
wire blob 2f9ac266c142
wire blob 908bfe99905e
call 3 attempt 0 · /responses · status 200 · 7.62 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]: [-0.5732, 1.5299, 0.815, 0.0044, -0.4618, -0.345, 0.9988, -0.0193, 0.7986, 0.6498, -0.4763, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3863 left_y=-0.1514 left_z=0.1118 left_yaw=-0.0134 left_pitch=-0.0627 left_roll=0.0276 left_gripper=0.9988 right_x=0.2873 right_y=0.0002 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0538 right_roll=-0.0064 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.7487, 9.0462, 1.7167, -0.3248, 0.0073, -0.1343, -0.1846, -0.9641, 10.3726, 1.9902, -0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.572, 1.9984, 1.1053, -0.0132, -0.8047, -0.7147, 0.9984, -0.0212, 0.7643, 0.5964, -0.4458, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4481 left_y=-0.1328 left_z=0.0476 left_yaw=0.4379 left_pitch=-0.0166 left_roll=0.0352 left_gripper=0.9984 right_x=0.2829 right_y=-0.0001 right_z=0.171 right_yaw=-0.001 right_pitch=-0.0424 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -9.9761, 5.5453, 0.8962, -0.2466, -0.1441, -0.0562, -0.6085, -1.4017, 6.9402, 2.0244, -0.1099, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:223320f2bb209e42fb38207ca957e3f7f973d465520598e98ad0ed2a8d3daae1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f9ac266c142732a7e9381deb043f9f74f4f8f6075176120fed8f84514f57b8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:908bfe99905e1d484b3f3155da3a339dee551f52ffe208ab593d0796f9393319",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 223320f2bb20]
[blob 2f9ac266c142]
[blob 908bfe99905e]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaGKYPUbA5rcgmx4k_L6WE-uzoJc__zzkEuyRvLj5uF9CHAriVBsEvrE0Xq7b3dtLew8iL2g1Xbar-LgRt9Dq7sjeSZ8snIW0xd7xQFzKBL8DskQUelNZBY6ZHLhRR90gInYd3B-S0vBziJBD_z9smQruv5OToDt563Owef7z7ee1qEqmQQZCl8sCXbkRlDuqh6y6XlTatctD7bIQWgZdS13Ry9P3xXQR0Cu8g-bDPmcqWATrH2Wx5GgKyc7_eUdouD-GZw2vnv7QrA-HDb6wCKUISF8uF3KlKPWQvrDysH4iIykowiuQoYKcPVSUmR6buX7h07YC_rmygwdTe8tSr7vp34tXdi0ZIJf-LnuuESaFXTJPIFeLcWWVeOf0T9I9ATLWnXceTZ4rknvRTfHED4I3kHmECpF6puQjaDO_ZX9MdAvj68f8Ka77qpH64d-YtMqPZKedS_RLc3OAbqsxNealPiD4yTkXwhShs1Yt40IJkTWaGjuTu8zl9fZpwrqThLLIdTIPY9sy5eC4Y-REaFLkM4s0s4wE0-BPkDDVuF996JAUgYMePsK-iJDi_G3_S3Kur4iWH8awsKUWooWiw9BvMC-5qiTj612cuC2N3z9uVjC5f10LK7ZKezLgbqzrPiMHY9SeP0xo2gArGg1YvSSByEHJshbqDDbFSXs0pFN1qlKaEkgJ60I7XCWF6yggbYEhTH2BeJsXowUAiwvLkYMYFF2h9ejfm88LPNj-aIzpXPCpIRDwoQ_9DgjY9-hfXhGSUTMu4xp7Lo4cnHTImNKdNHw2U9dZ-pTJne7gMpCofuQCnyb1xCGKPnAO0yOHJSmzHoPhZBgY9XStR1hPB_lD6oXsZNu26fpbrMgKXZtrFCQ6PbttAEBxMUOlasDVjTsTYdd1iA7mYOm8zECb0kIfgiul7YvCTYkhGvnG6fwqznbTOZrN2ysaXMG24IVmv6fQzLPg6ZqEO8fidF01qYKh9vq2Q-3uoM6EZfVzMkMhe2aLZEkLPTApFP9JPpKtNlpfHbA5xswXASxRzXouEkVNSnH7r77cVB11bvuvRXkIPc3SjCW_2enTPmZC_lxTiUmYc5mjUjFf2EcTU9d6yNDq8OSZoNNbILDTrQ0EIYULp0TnXu7vMIoNUXTOR0zrhraNBBPbVMgAas5Omcscn13v5RhfvEy1i6-y2CHpwys6U1Y_FNJoaF8kxycE_mYxLDOcYWJ_CZlQshb2_OWLDyGDYxhKIB-MJvPFstYIJtYQorYV50VI8_YijebE2IrqLB2MUo3wEpT0bBWDCoXOCspNo-qSI5H1RqxKgrsvxP8N8WToY4edYUeCUmCjUOp5gSJqfP9_DSPGlHorXWcHeOUHm_CDQ4oePVp7GNtwpSGvOoh_mf8dkIuoDxm7VsjLyDaPegmrCx-6nndHXsb_Cy1LALH3_t2gGCxwoMfe7uMBwMH9bH6jo-hS7QeSOqSNLEICuZWUMIx3iIPoVJnV6FVUchsw5Q3-nHA3Wf9ZgQwc8-sN5SwC5dsmk5ZKMimdYF1HRvsYRBjQFM1dIZ1TEduZGPvtLGl4cR2uQcRFkAgLpjDIG1Fiu8WH9wKa_ATcMxPlwkqBBmQ513rU7ybTYw8g20q6gJG5vi5EHgPVuATR6MkQr-c5IHdcPF4IN-iOnIEbySi9r8C4GZqeaS5x_0pjEEj73z5APLFAiGxwAQ6XOrgC37LNucMVp-1-ijXoZFGrShlQvhUUA2KIscqsYxqdVeOhGMzXqdO-Qh_7cuIFEQq6yU79N_mMPCRiYE3DkFPJ1HfzfmsLXAbGkcrPDV_3Gxev8NwiCpAEAPzEkQoDORi-h5-wfj0_phBVfETu2kukphUCEViIaDm1mrpPwc1td_KybqjmSZ0Yg7inQfdWcoeWthEZyhFVOZ7CIb_ha7F64RVoXUP04WLmWEO9uIjNkhFn0g70hwcXnngjp48hWiWkGQmcTMVTUNDVS3F7L76gj6lu9OOvGYrstpjy9Nmh_ka6STKHdix6HzWXpFBqgl2gJmFlRnOyVc7jn8UmzmxZL8gDBRx2Z7afcZQFlO1mSqjyYHrvFlD8lqE560htcqB6jfmsApb351GAd8xzcpxmos2Sp0smvVPi64Tkgyn5q_kGCA95Qx9UXcyUmJ6Bg=",
  "id": "rs_033b40766fed2a73016ab476828f9887d0b24d027e64b89ca0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.467,\"left_y\":-0.098,\"left_z\":0.018,\"left_yaw\":0.55},\"note\":\"The cap is still slightly left and ahead of the fingertips in the wrist view. I’m making a small correction and lowering to cap height before closing.\"}",
  "call_id": "call_PjlIiO2ohH9AKfAKYJwtaP0M",
  "id": "fc_033b40766fed2a73016ab47685dd2087d08b2723274295de32",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PjlIiO2ohH9AKfAKYJwtaP0M",
  "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]: [-0.5697, 2.0384, 1.1473, -0.086, -0.8539, -0.8425, 0.9983, -0.0212, 0.741, 0.5545, -0.4244, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4475 left_y=-0.1242 left_z=0.0407 left_yaw=0.5385 left_pitch=-0.0148 left_roll=0.0094 left_gripper=0.9983 right_x=0.2794 right_y=-0.0001 right_z=0.1624 right_yaw=-0.001 right_pitch=-0.0397 right_roll=-0.0059 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -10.0034, 6.5299, 1.116, -0.5348, -0.1294, -0.022, -0.4718, -1.6342, 7.0085, 1.9951, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9ddb090fbb4fc7a7ac177ae18a2131f812da8b8160bcf6805f5af347c8e1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eefdf5171f5f42b0b2e55d89340ed4fe2038251e808b01639be86d7c853c3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d64c05293ce0746fb839cf02b4e8c18cb3f4792d2bb8961f071388e5f8ac30",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
wire blob 4e9ddb090fbb
wire blob 9eefdf5171f5
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.472 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]: [-0.0265, 0.7929, 0.6086, -0.3767, -0.0254, -0.0288, 0.9988, -0.0158, 0.7898, 0.6041, -0.3859, -0.0128, -0.0353, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0002 left_z=0.1831 left_yaw=0.0003 left_pitch=0.0004 left_roll=0.0002 left_gripper=0.9988 right_x=0.2937 right_y=0.0012 right_z=0.1799 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.306, 9.6479, 1.7802, 0.0122, 0.1001, -0.1343, -1.0188, -1.306, 10.3863, 1.8291, -0.1343, 0.1783, -0.1734]",
      "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]: [-0.572, 1.9984, 1.1053, -0.0132, -0.8047, -0.7147, 0.9984, -0.0212, 0.7643, 0.5964, -0.4458, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4481 left_y=-0.1328 left_z=0.0476 left_yaw=0.4379 left_pitch=-0.0166 left_roll=0.0352 left_gripper=0.9984 right_x=0.2829 right_y=-0.0001 right_z=0.171 right_yaw=-0.001 right_pitch=-0.0424 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -9.9761, 5.5453, 0.8962, -0.2466, -0.1441, -0.0562, -0.6085, -1.4017, 6.9402, 2.0244, -0.1099, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 2.0384, 1.1473, -0.086, -0.8539, -0.8425, 0.9983, -0.0212, 0.741, 0.5545, -0.4244, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4475 left_y=-0.1242 left_z=0.0407 left_yaw=0.5385 left_pitch=-0.0148 left_roll=0.0094 left_gripper=0.9983 right_x=0.2794 right_y=-0.0001 right_z=0.1624 right_yaw=-0.001 right_pitch=-0.0397 right_roll=-0.0059 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -10.0034, 6.5299, 1.116, -0.5348, -0.1294, -0.022, -0.4718, -1.6342, 7.0085, 1.9951, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e9ddb090fbb4fc7a7ac177ae18a2131f812da8b8160bcf6805f5af347c8e1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eefdf5171f5f42b0b2e55d89340ed4fe2038251e808b01639be86d7c853c3be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d64c05293ce0746fb839cf02b4e8c18cb3f4792d2bb8961f071388e5f8ac30",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob 4e9ddb090fbb]
[blob 9eefdf5171f5]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaOXpITplK0kUifY14JwMMI86Ak1AOibekHhFIWry2mN7Z9WIrDCUude7jW841yv5QG59kWUhM7Rb3Muc-StScYxUTjo8s91Wc34UaKpXcM6Rp9TMIdqQY9SVltlT7JBGH-xG78rnKq03_q0xiIv9z1j5XPXQ0sh9n1epFDRuFouBmeQ9VvUeNitkteNuEndXbhV9_DBEJm5RITZxsNBKel7OycI_KfHHFkCsv_AtJxyYkxAFQrse_ZQCiQgVBL45D-ZTpspVFRP6ZRAJ6yNfujGwyuzMNHAWU7EaPFicRA9JsnPHRHEcK72NkTo_lFdayQryWyDLrWxt4wrBNck2zzM7s_sJb3JUCrDYFScsKJAx14unY8Hc8oVwntO_95xIxGVeVqXmOZGqAFoArnjEv4b6Ral1o-YG-dTy-xEmD0AWNZsdaNKhW2zjAWqmfnKoANo99DXEwRyBAjV9AVwvbKcHdXhzq0hHxBtDrKA5jgfH877SREGGS9uMC7gMAowF7mxhR22FjPLUNIp9pg5o-4q0mauIkDMnuN4J3s5BrD86b7qQqpk1EXQSlju5cvGsz84iW2NrDyJbUl4loWnmwlhhEbn7B8HlO_KrsHcyxRtphO6ngK9I6f_1myv1gASkzZkhLSuJTlpZottTbHXLxTIDXi-xasxYXu7Hci7oWO5bNtmzCCrFt_iSpCXmV7GQ9v1wXLociMAjncby-R0fK6o-MuGJDckPHSy9yUWsOuVlatTCiCZ_4IKbVP_cosHaR2ibNgg3Mx7Q8oslPJ9X_pN7CDZS_Nf1eJNxG69Mk1ceO6q_YPt1juio6a0aI7svx35LIx1sTBBk596FuakTXO9Wqwk92-4MkSKZgyKkiq9ZSGyDlHFCEpd2WCHV3-xKtCPDiWfHCDHSpYCQmRDA3QvYIVFU_Jc1BwSkPYHB61W7SsLm9KbRrO-yroH5kP7ycJBrlBKUcFzZFAHjr_CjqhCNSW7EcU5ygP25JmlghFc5L55kaA18r84mhJ2xdIeLXZH8ilYWPp7lpsR3G_6kgjBDbkhWEaJf2gwiWtKu9M_erCTKwnw2OUibLhPhsDrZY41qMoInVSZZQsdj4n1s7HTubGvSLXs5Y0JmSwJJ_2NInPAhEM_TD7K1oWTTsnfV3UV7i1d-3js1n9scvwuV8A3YnapVJkUVfZUsTvJ2-orhwfsnhzrP0W2US48qgOOY4m3zLhE2uV87zZOarSnUZAXD8RsHcfcfv7RT-Mamtoce5soPB4Q7OY2n84flbvw6zFRNrOG0gSE64pVp42wkrSKgfMb5v0EZRO0vG0z8ppJZvPtoJ-dXUzkG74GVHeg_ZwXp-HWF-CURlY6Z-R6GqcTv93f0SOKZNDLO-qFxtazi6Zsr3wPNsLJmcEvd8ER9tnVaC9C9LfAQryoug3Jo_LJtP7lhvdgyPGk41jmNE0SshjtLbkXllkBQ9VHBi8Yfv6ewiCgYNV_wr_plSHY9pipUHWRmToCwGv34vppTcYBLCSBwkwQDdtSgvGoaK3udlUoC9Zn28M3X9z4-6NGMwVaLCeExbXFKtI0cZXH_E6RSaOfflgcpfhG6V6Pok6LXHMkLk0KTUxW2QRTj4FMTTSacPJUhZFXkhmpCaR4Zh-n0RnnqTcd5j4wlYvifZnH4nOWjtDJLkOFNEB-jiwqssam7CpMe6US51f0ccbJjfiyllNrJQRKCTTj-iI0hMELrHJ6nS6YG3uuduehID60NYyh4ATCaZRV7vu1NhZcbreZ77c9siLx7CHbsGlDXIL-bL-9QpJ0s6qOxpSdWOJsyloZ-cqUhca_mAFS64Xd_XstFGjlTfUtVQcqFPBd8QtTLmT1xDMy-bkBxuyAc3W35sByNQm6hm_gJEyfC4B3DYWolz-jKdK_MBQ6dHoDzfbQvCKhqSle9A4HLtenrVHNfLQrcc98DFC_gWYR6cTDq3zeRLmLDYKUC4WhuDGwNiXJ3qBr5vDXm3GYrwH7SSOvH_1nqYDJ5hOpEv0WnlygBZHzociuwWOB50brVsc8PlKfdAOz0RqM9RJLevJrre12Dkn97R-e5YzgQdCpXN4veTnjHBKNYF-aGGLADuXAj_sAEaNnEpQ2YbDL8sl-ajAk358_w==",
  "id": "rs_033b40766fed2a73016ab4768a393087d0ba44c4718d9d6dd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.485,\"left_y\":-0.105,\"left_z\":0.025,\"left_gripper\":0.45,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The neck is now nearly centred, but the arm stopped short of the last target. I’m adjusting outward slightly and narrowing the jaws around the cap rather than squeezing the bottle body.\"}",
  "call_id": "call_kXcqkR5RiaikLDterw9HD6U2",
  "id": "fc_033b40766fed2a73016ab4768d9ee487d0b4c31b7c3d8193d5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kXcqkR5RiaikLDterw9HD6U2",
  "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]: [-0.5697, 2.038, 1.1503, -0.0792, -0.8883, -0.8459, 0.456, -0.0212, 0.7959, 0.6392, -0.469, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.449 left_y=-0.1206 left_z=0.0463 left_yaw=0.5596 left_pitch=0.0152 left_roll=0.0096 left_gripper=0.456 right_x=0.2868 right_y=-0.0003 right_z=0.1773 right_yaw=-0.0011 right_pitch=-0.0546 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -10.1538, 6.5846, 1.1013, -0.0952, -0.0708, 0.2515, 0.0479, -0.9094, 10.1402, 1.8926, -0.022, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a67002ad7957b4174da6ecdd4d1aecb5340dee4dbef5764a2da138596a95fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f995aeeb00ce9d830bd314f4579735774f5432a3f5c46c51666fffab665f029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d68479264be5579e90ceb7f6866d8ec8b7d515529c41494d73870ab9376467",
      "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 · 12.17 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]: [-0.5732, 1.5299, 0.815, 0.0044, -0.4618, -0.345, 0.9988, -0.0193, 0.7986, 0.6498, -0.4763, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3863 left_y=-0.1514 left_z=0.1118 left_yaw=-0.0134 left_pitch=-0.0627 left_roll=0.0276 left_gripper=0.9988 right_x=0.2873 right_y=0.0002 right_z=0.1799 right_yaw=0.0005 right_pitch=-0.0538 right_roll=-0.0064 right_gripper=0.9984\nstate[joint_eff]: [-0.4444, -6.7487, 9.0462, 1.7167, -0.3248, 0.0073, -0.1343, -0.1846, -0.9641, 10.3726, 1.9902, -0.022, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 2.0384, 1.1473, -0.086, -0.8539, -0.8425, 0.9983, -0.0212, 0.741, 0.5545, -0.4244, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4475 left_y=-0.1242 left_z=0.0407 left_yaw=0.5385 left_pitch=-0.0148 left_roll=0.0094 left_gripper=0.9983 right_x=0.2794 right_y=-0.0001 right_z=0.1624 right_yaw=-0.001 right_pitch=-0.0397 right_roll=-0.0059 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -10.0034, 6.5299, 1.116, -0.5348, -0.1294, -0.022, -0.4718, -1.6342, 7.0085, 1.9951, -0.1294, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 2.038, 1.1503, -0.0792, -0.8883, -0.8459, 0.456, -0.0212, 0.7959, 0.6392, -0.469, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.449 left_y=-0.1206 left_z=0.0463 left_yaw=0.5596 left_pitch=0.0152 left_roll=0.0096 left_gripper=0.456 right_x=0.2868 right_y=-0.0003 right_z=0.1773 right_yaw=-0.0011 right_pitch=-0.0546 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -10.1538, 6.5846, 1.1013, -0.0952, -0.0708, 0.2515, 0.0479, -0.9094, 10.1402, 1.8926, -0.022, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a67002ad7957b4174da6ecdd4d1aecb5340dee4dbef5764a2da138596a95fb4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f995aeeb00ce9d830bd314f4579735774f5432a3f5c46c51666fffab665f029",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57d68479264be5579e90ceb7f6866d8ec8b7d515529c41494d73870ab9376467",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaXZ7jV9x9Gx9Y29xy0wfVDa3sW19yUog41umSX2mI2tsnOUwvO4pUNBFIVbLeZawA-oPtKYlWJrMj-kVv46raRdDDpXiyn9C0nLtEOStBDvZ88Vtaw7S19_QrMOeRBSl3qj3M8QLf4JZXKzYXNuMm69VidomDJibB3kA_aZr_u4P1aMqw4IJJmkUeRLCP85yiiR76ag0WnELKU6aiVZVS0_o_JuDJm9wI3MZqMqOEiM1oTweMQhnme7g0mwnrRGVwaR2Bn8KEgs8-k5HmiHQa2co4EjHz9MGgPh_TJR2xnEekBenjqaAR9p7WWfMrx1VmT0OG-7zU0OuiKg8F3ME6TvkKdRAuLrhEqg9Hl1AgUCNed3IcM6BCJGwsfgiD3uAdmPimk1ee2ZKx6e36gAmVZMmdWK6TQjan63W3RxY8pRGVUCK_Ir29LKzrYS2S1sO1_diHDttxxNGIXVdnFnc8HoyIwFwqkM5AgSX6RyBAWM4niH_B8lHKjkSI6C8TcBtA5hH-lKcF6ZS1GjOaJedODGM4PK8nNulYETRU2QTg9JFtWV1EmKLcYIUPSXgB30J3bcwBCECydbMPeLDmCo5kN6RAm48MtxB3VkCYfDtZM-AbrI_6_OZnPmxnUhkV6Ze4hgf5kIYr1jKUGnBYgGgsDBhffRSENoz2PAt3gTgt2oOOovy4ZsUBbDhSMt3ew7_Sy0535fT4xGD04Sb7K-rh9rgLliuqbOCwCjlWlGDU2xfHVnjaDPX4182_8Fw2qyFY1KdLyK_ww2MC6xmJLqSGemVbc3I9kERfmbe2hu5nzFb3i06ZHxKWXcRXpQFiAK4BzQhV5l7n2qtReUDsLI3yOVvV1SobUbsm0BpuM2Hr60Fg48lAEkqEcT_az316nDg6WA5d0zah28ZtrxXZWnUWPZBz9jd_XpvxcBYxNFm15Dn7vd9CXuQT8OkmKOuthOM_e_UykKAm6jpEJOgIjpMpg2ZfYv6ZkzsNHWnD-_pAWQqYJeEx0B9fZrmJv6iXOIK1dQLcbA9dmOdrBPge6ae_WquvNDNvhoSoD3terdigaGIxZmoSusw85BXiyXyyHn3sJkGxeEBJV_fC6LfvbMBu6LVfKdoqJpWYG7CLuHmiTweoummuLM4_3ShDvqTdZPWcqSnOJZoQdQ37sG_1Ko0pQB2lhaJrPF8cPbsnUV08LJwzItDHdguvZ1lBzZpaTzICLMxv-4v_G4ulXW_4AVGe5vprjWWK1mIaA114bJByFuqfZUX-j_-LKtAzRgim3kI9GGlDAE5bqI_JrrK-MAtLBzQMC4lPoGl7z-myA2GunGL2wx4aB8T6E3V4DuxQxdGhpL_sTbgRjUDaAYOvphmun5lcctUUYgBSQQHERL_NeIeRuZgSeKknNRbJWPja11puTAlxlllE7AOxxiC5Nu9lkNEx6lv4F8upqAedz5TQwjaEE0vIyiFanNMbNCD6Z2ZI0EcjpsCN8w5W9VLqWjU0N4t5PM5HI76Fc_d7FDiYAK4LD3pjOnt_PAfq6e_QEnNfasLD7i7L7aqs4X7TRtC8ft3Ost_T5kFLgrydvf2MCxyQszl5yvVeDvsGVzrQvukIlQJUMe5-CXPmKQFIsuJzy8HugW6Zgbjb6WV5DTr5jnxBH7SeO6-o1ds5JNbchS-wQTXK7xU28QIEjCxRIefEDJNa5NtI2TRXL6ZmPf5vhPMf4mXGo_sQHowJQ6usc9wnah-dzTbA2iV28Ij-_GCzpqao4CRiu8CGBEdqe6fQGuATAwzs7wYTijU1BudzocUYontkDIoZvQRW32U3UXRe5e1mXnJMwjvGSI9tGKoAKe9iUXJvdZ4zrfMVuzT6l1MC518u0kb5SkZRPo4nFoUkrD4MI8jPK-VxS6LnkRjvt29zvA6oYOO_SOhcLNqdvQ2sgxKE7P6Mto2QieiD6yJO2p1jRuw9UaJxxiVFQnG1BFtAcfEynA0AiDUiBWUDxcb0eOv3TNzxsXNTgnxSVsd9EpDensyDk8HDco9HjQPwDiFD8r86J5Nv0i39SdFD7a2OHdLsP1nPuSIqglGSGpb7w54AcQpW8XCA5I8qBdVVUWjG2Lja2PRrwl-nFEa0ZyXKucmPyzXsML7zeKhn3BRjAp5W_Z9pJBkQiNMFQ_5JlTH7RlLGYgB56wzNt9yecU0C5A4_Mm9sy_U3JgxZTUOKqnGzyrqGtHGcywNEpmG2DxFswl-_KNq6X6ZFdu_WBCowL8nHxP760ZghHBryB1JxOwNKZXQqvUib9H95zddAoAJjfYEKZpIKsoSPE7cWghOejBedcbwL1awvun6vpne7Ohvvr2D_8cDkpEXd786UDtWOSFguLStsEvLJOoq7tikI8FCK_ar2-ZsGpQQLlNJ3c6aF6thGzT4sGcCVuJ5vDrWTxknSwD-NNfJ5S-4CO2acvRPj_aYp6Riflqe_JWMuT5lkuClBO0n-dMbQEgejEiN8=",
  "id": "rs_033b40766fed2a73016ab4769146e487d0b5da9aa4bcbc3998",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.437,\"left_y\":-0.122,\"left_z\":0.025,\"left_gripper\":0},\"note\":\"The arm is at its outward reach limit, and the neck sits between the fingertips. I’m drawing back slightly and closing to test whether the neck is captured.\"}",
  "call_id": "call_5qKv1fwFO1smVisiremGukuj",
  "id": "fc_033b40766fed2a73016ab476969e1c87d0ab0d5a59e5204323",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5qKv1fwFO1smVisiremGukuj",
  "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]: [-0.5766, 2.0346, 1.1244, 0.0158, -0.9363, -0.8722, 0.0115, -0.0212, 0.7628, 0.5842, -0.4442, -0.0124, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4528 left_y=-0.1205 left_z=0.0553 left_yaw=0.5979 left_pitch=0.0796 left_roll=-0.0639 left_gripper=0.0115 right_x=0.2815 right_y=-0.0002 right_z=0.1662 right_yaw=-0.0013 right_pitch=-0.0515 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -8.5128, 3.0974, 0.6129, 0.1978, -0.105, 1.033, -0.7453, -1.6205, 7.0769, 2.0781, -0.105, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596a66c1ce0a425f5392fc504657eb50828e16ae3425635526bf36e93bc2905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a632f6625bc09056ee610c2dc29d87bd82f3710cc54c2158773cd3a4334b6831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ac5d8523dc4f02ed80ee0dcf5f5e54026eaa4f55a895fe19d8795d9e20fc3",
      "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 6 attempt 0 · /responses · status 200 · 5.422 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]: [-0.572, 1.9984, 1.1053, -0.0132, -0.8047, -0.7147, 0.9984, -0.0212, 0.7643, 0.5964, -0.4458, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4481 left_y=-0.1328 left_z=0.0476 left_yaw=0.4379 left_pitch=-0.0166 left_roll=0.0352 left_gripper=0.9984 right_x=0.2829 right_y=-0.0001 right_z=0.171 right_yaw=-0.001 right_pitch=-0.0424 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -9.9761, 5.5453, 0.8962, -0.2466, -0.1441, -0.0562, -0.6085, -1.4017, 6.9402, 2.0244, -0.1099, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5697, 2.038, 1.1503, -0.0792, -0.8883, -0.8459, 0.456, -0.0212, 0.7959, 0.6392, -0.469, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.449 left_y=-0.1206 left_z=0.0463 left_yaw=0.5596 left_pitch=0.0152 left_roll=0.0096 left_gripper=0.456 right_x=0.2868 right_y=-0.0003 right_z=0.1773 right_yaw=-0.0011 right_pitch=-0.0546 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -10.1538, 6.5846, 1.1013, -0.0952, -0.0708, 0.2515, 0.0479, -0.9094, 10.1402, 1.8926, -0.022, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5766, 2.0346, 1.1244, 0.0158, -0.9363, -0.8722, 0.0115, -0.0212, 0.7628, 0.5842, -0.4442, -0.0124, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4528 left_y=-0.1205 left_z=0.0553 left_yaw=0.5979 left_pitch=0.0796 left_roll=-0.0639 left_gripper=0.0115 right_x=0.2815 right_y=-0.0002 right_z=0.1662 right_yaw=-0.0013 right_pitch=-0.0515 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -8.5128, 3.0974, 0.6129, 0.1978, -0.105, 1.033, -0.7453, -1.6205, 7.0769, 2.0781, -0.105, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f596a66c1ce0a425f5392fc504657eb50828e16ae3425635526bf36e93bc2905",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a632f6625bc09056ee610c2dc29d87bd82f3710cc54c2158773cd3a4334b6831",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78ac5d8523dc4f02ed80ee0dcf5f5e54026eaa4f55a895fe19d8795d9e20fc3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHakcpS4pGjqnibL7l5oiVg21N_roTZtm5NpDNiqNOqAWGAbc6vkxEd7_74Z40mbKf2VegjrxjS-wpjMEfBOF84F4ccJF7n1s4hOPKWuewhTrXIK8rRMkSzUitwbjAI7OkFRPjAKTkO3Kb9oCsWuwNtmkbk8Q9O3sDYuNdb0SttMjfi0kqtJV58x8cYGPkKt1Ib6FxTeONEkKxA-ss0CQflHRmakhM5kTxHq1dlxueutcKfndN-7zLN3yVsennny8-Xb--u7eNdMHpEYgOpDO_jXwbFHXdoLF7PsPXGkSmltSnTnZ7Tg-rN6RSTi8cIaX7omi1icB37GXbDUkh0hrvpJDM6ZbrkVM5j8B4iOjlvQRi7hxdaL3MV6hea-vQWfIoAJfeyjPbcDLqMzywPk11R3uahbZ-ixSC4fsB2xXNo1R2b7nPpYtHaCma4Nzf83hJYOxcKBYuG-EATezRDfM1dP09a6mvgq261TbNwR9bZd25GVD9Wfejs-8pm9UjB7Oy2Z4ij-g-88eEG5dpqW5H_0u9ZMGJWeSfDpo8dky_eLDpjQgCIQE9Dnwnp1fZD17opqKP24dKdh6wSpPLpuIZ_2HaiLzMTCRE-eqBjdCfCJKpaeWxqJWCBu76xuu1Yi5hnZsrb_CDO301t-LnM6zNEdb8DySjiq931EsCAb6ooUnqRGjRY-OxjYAomj1G50cinkgC5UOcRuczbPMMkBxLPrg01SM5PpyBb3T5TVZm-phkbjUThVjA6HLI4GlC0P_UJr4QBPu-iXpxXx-OBipvtCypXOgkjwUT4YSIozL8Ur79_vp9mSt4ODt8nzskNtjRrDtZ0uB8pyrafM2dhlo-WH4teeJFgsWm8dbhFExH9KniZW2neiBDLGlTgbKJbwA773HjQMiW_2i_Ls8-Az3kJk5JJUQlsdRM_Q6sBx9VFAXJoogLQRwx_n5RAvRCgklU8ztvhSv254xP3IP1hv23L-Wt7GZ9CAiL6LJsvwHCfeP6bqygnNlSYEiT9Dh5zxLAsrZnuR6GbRw0vv3fMrk-2nxD3mdAgz9wBpRz3L44NSeoSJGZz3cM1HVCBFm3VkTAnVdUTpRRmAfy8v0OmNwU1zPP39UbJ4cJ5JjDqULnz85rjvP7kvyoMSZn7f29CYVViJb7B0P4NRE-B4HVO26vX715xtplnD1KGmcguQlZvdXyCfy8LEmeuQD3Mhd_ds8hRavf_aVXFtyC4v2PWFqwKP-sOWqmBtni8qYH7cJqKW04RD_XYSVc6h_NoCK7tNgRDXuDfKHo71_4oukkLA5BHQHaj_bDTVdwyJCOzU6YzRL1z3qsAP147kn5Q4J5E7tRq9M2YH2TH6DAhN3V11goD-nAmsJYxYZfscYkFddy99QZKVgMPngaTSOuwe6iJc1kHWLTJ8d7c_bdvSG2A-A_6s5BC_IEgwGMVAdmtkY_ofkpEpez7xAfJBh5MDe_oEiVlPJ2abJgQlA9HgzfBcWwtxu6qrrqXyjNGr9Zf10SXue97lSb866gHaw-M5XaMk5IU3RCUG0VWUrN_hA6xujDSXhb5JKphuTX5owZ-CCOKUBL1X17umvJJmcH-3d-IHomwYn7tcll5VHMSUL6Qis1Z6TQ5QFDLsPjf0LcTfDV73kGx6nHkjDs6zvGZ8511BEB5Cn8ZigHqjYImhbUXz3BCH1WOKgJbOklp-9NqLEln0uux8Be31xMiKXT3wrRawT3yLIDK44EDbv-cL9GaThMJvHdvHkzvGRKQUAgaClIs_ejr1tgy4o1agMtrv-tVNADwPrwZY4Xw75xRW3263hSYesMIHact1-bNI0D3mQ6TZ2diFKySdT2ug3YObncawLz2tdYKVaqCOS511zKc3PWbIbQaVL8VnivjSD8Li9c32a8nlPvI3loi0z4ODrzg_1chcYjM8cNscXA8bfAUg18BRbExL_2cB1X_FOAcX2a1bOmPEJt7PLnsGTR5mv9RYn09Z33ZqugIM1aUX2_ZsSMaZe00e37ToxYVKE0P4bxAa870GLz9OV1qz-nIvFZzznJKKOZ8ZF5aHPG8Qu8RbHaYtXUB5nOMdBPUNm19hD7E4mFpKYRXxc5M9ygQxEnh_ZL7ePJ9KxrImzUCnFE7eE12C-9oCPxFWIH2HfsKvAelPUBQaGoxES8d6Jau0rXFJN853ThXhmLgcXyIBv0iNZYXNNlMP2b3hCpTeDF1rpCLf7vLs5Ajz485ppubwZfUofqg-K2OvDcaVvcukjE2X01TxPYjq0bhIvI5YLf3a-xMTKd4R7xcmwCpIlfNx1HonW3uXNGEjsyvlfNiIcQylHIoDJXgtOwvzg-btybziA-3SzuDUzboD1pJUC8B94-yixULPVs5fFHxBTF6ihmO-Faqe1sFQ5cUtocDVO8uQWIeUVSB-kaJJqI4r-jMgRkR3uAXJya4YJn_vkRNBhb4B9CLIz_t250xrtw_cCciOC5Vu3K6WM00Ko7pl1QlahjTBx0YH5I-mFfKx9NAleqWCDMaLqfWprl6hOhCqNmtlepQLwL9If0Ft8Ymlg16JHbqEGN4_MC3134yKb1N9huaNG7NmKoab_LHsQ6xzLo0wXSVxVwK6vPIO5HiDgTuC6wNtd_NP_Uxo8QhR_8Na4-3OqQBz4mOj__Mxq-pRM4Shyoi2mn6VRnFt4dtoa8HR18JLMA65DPdVfmtJgRSKrY86__fgrEGhUHkB8LtdhtlOcigCBawyMNw39TanwRfKfnRiHTw3fmBIUEvXl7HCvYCbKvSO77x-P4o0fbBlEgxYpA7K6RqEEG6W2ZsFUGWETYAP-sGGI_NpO8ia3FNnOKMY23sqerLDagASFSmm_E3wo_AXms5lYSh1PeBMvSPCIIVR6MqKtKTeery682XGdqxaj_Z40d3rk88jHlhGWo6Fb4ikFqiXiRC9uHCDbsPWoXgcwcuxF96PB9D8GOjSVVXTf-od0qryGqCa1BUxgIrpFrtBrdnYxursrCCjH4ViQv1Yz4M4VrGWT3FXpyiBRTppkFZIjFQBdawczQC2uXZWL3ITaCdTosqdsSkIWrRJ3IJTPoDo81vxsiaSBbP2Ox8_MgtePiFljrjcqpoZipx489NupsJ23zEkSo5ZRUaCDdN-xSyvZACUj1xq2Gcj53N8UEr88_MYZJ3pzD80u4YJgSOk8A4RPXGd8XXMJhnyTxi84zv8HN8SXZnVJLP8BGGUscvqMqLbOu4NG5-66V1MzNJbvAXROwSRwjQF-oP2G9dYtH7UKJ-Qlm_L7AenDgDRjRzmM7sgxuTzxSag5nD8-s9nYGL0EdAjIeNLieneSj1mBjYMf1BlISRGfzyVbujiLD1oJV1z7a0-a6OcUSQAX6n1UPMa8E3SskE8oOi1xUcX3E3FcXifSXOvyKR8U8VUHEIn9Vjhv4DKLvlvrv5GRM5u8uc-pIPIXgvqDLtl9oyAVNWrCg0zlozg6Y2kRgPSU7-7oFs6DFdPZiwizaAC5qNuzlD9uHQjOfvMkdXAgb9YguZ-ztBxMT4gFMKA37Q_TxvrMzmKf-NwtaTSUX18jOFaVEHboc8fWFXjmM0DBi1aAGDZGTudA253kxljsBLMI0qms1NsNS0dN58YupyAAasRJ6nM6KeajOsQ4ea29XtUf5JW-kgVCjtWW-9Kpo8eLw3UXfoda4WHmbXSuJo0Yhcaz-UPg3hjJL6-H9LORNk9dln2H4NEhbPcJhG9KEw5V1ZuIPemWJSfYY8-2Ha4Vy2U_yy-0AajB57RbAl--IgaU_3txNwwTsku8xKyQfofqUEv6L--x0lEmoe0fds1zWeTnPU5GHkOreK7lO2Z7u921BElDFITHf6M1d9J7yHZUd9OiJmw49TvDQkuMpyunTQ77ns=",
  "id": "rs_033b40766fed2a73016ab47699c73887d0ab2f7f6d6252b78a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.418,\"left_y\":-0.15,\"left_z\":0.01,\"left_yaw\":0,\"left_gripper\":0.7},\"note\":\"The jaws closed empty, so the neck was not captured. I’m opening and approaching the bottle’s upper shoulder at a shorter, more reachable distance.\"}",
  "call_id": "call_dDqRxCENPWDpMUuMHDxHfXiU",
  "id": "fc_033b40766fed2a73016ab476a33bd887d082524942f903617e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dDqRxCENPWDpMUuMHDxHfXiU",
  "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]: [-0.5255, 1.9133, 0.746, 0.6106, -0.5793, -0.4179, 0.6953, -0.0212, 0.73, 0.5365, -0.4183, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4354 left_y=-0.1366 left_z=0.0439 left_yaw=0.1688 left_pitch=0.1019 left_roll=-0.0686 left_gripper=0.6953 right_x=0.2774 right_y=0.0 right_z=0.1583 right_yaw=-0.0005 right_pitch=-0.0404 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -6.188, 2.7692, 0.5153, 0.4225, 0.188, 0.0073, -0.5128, -1.4564, 6.7487, 2.0781, -0.1099, 0.0073, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5551c1028ba881d78f5c2914215a32d0bc1c22af2082d475b09fc98b3e22d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb927bfaef70a224b8da1a2098b8f74cbe4594ee39473d015b1a3b60706b8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c05f80101a927c22dabd5e74253211cf9658caa16b608c093ad7bf9dc630d9",
      "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 7 attempt 0 · /responses · status 200 · 4.276 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]: [-0.5697, 2.0384, 1.1473, -0.086, -0.8539, -0.8425, 0.9983, -0.0212, 0.741, 0.5545, -0.4244, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4475 left_y=-0.1242 left_z=0.0407 left_yaw=0.5385 left_pitch=-0.0148 left_roll=0.0094 left_gripper=0.9983 right_x=0.2794 right_y=-0.0001 right_z=0.1624 right_yaw=-0.001 right_pitch=-0.0397 right_roll=-0.0059 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -10.0034, 6.5299, 1.116, -0.5348, -0.1294, -0.022, -0.4718, -1.6342, 7.0085, 1.9951, -0.1294, -0.0317, -0.0122]",
      "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]: [-0.5766, 2.0346, 1.1244, 0.0158, -0.9363, -0.8722, 0.0115, -0.0212, 0.7628, 0.5842, -0.4442, -0.0124, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4528 left_y=-0.1205 left_z=0.0553 left_yaw=0.5979 left_pitch=0.0796 left_roll=-0.0639 left_gripper=0.0115 right_x=0.2815 right_y=-0.0002 right_z=0.1662 right_yaw=-0.0013 right_pitch=-0.0515 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -8.5128, 3.0974, 0.6129, 0.1978, -0.105, 1.033, -0.7453, -1.6205, 7.0769, 2.0781, -0.105, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5255, 1.9133, 0.746, 0.6106, -0.5793, -0.4179, 0.6953, -0.0212, 0.73, 0.5365, -0.4183, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4354 left_y=-0.1366 left_z=0.0439 left_yaw=0.1688 left_pitch=0.1019 left_roll=-0.0686 left_gripper=0.6953 right_x=0.2774 right_y=0.0 right_z=0.1583 right_yaw=-0.0005 right_pitch=-0.0404 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -6.188, 2.7692, 0.5153, 0.4225, 0.188, 0.0073, -0.5128, -1.4564, 6.7487, 2.0781, -0.1099, 0.0073, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c5551c1028ba881d78f5c2914215a32d0bc1c22af2082d475b09fc98b3e22d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cb927bfaef70a224b8da1a2098b8f74cbe4594ee39473d015b1a3b60706b8da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c05f80101a927c22dabd5e74253211cf9658caa16b608c093ad7bf9dc630d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaqm4p4j5BD2AqCjJiJYT9p-OUaxLmvd-m8mkx-mW2g1Zup3Xrx4taT1E-FNb8ZGPv5iMmaNsiIR_vmtrRLO6FJX3rCzEizMt0jqtjGYHJ7fC5ZhTIqaezfcQ-Ro4cmdSDsuRKTOo8kBa9qKdXIoPpFVpmV3NORrx6bPie61PYdExnc8a7l3c5iMM64IfRdhYvZH3SkwsEsTimh1V7SnXwMPDyPxGgxSoenfzoj0G1J77CiWeSU4k254QM5Tz8aL_QJPnYEsvXz99Y9bWJfmV9xAgMZjmk4fRGFlI9UDzstYX0LseibpxjduEYPeRkJCoKFPBC70vuBa-HN5UmE-t_z0F_8LWoS22HdQoub9sUijl1grNxpussL8XBf_uET8324__QbGdZV725dt5XaOTgCA74kKxp3q4VgbnrPOgl_9Tj0tIiAhhep8fjjI7hq_v2U1Je5lfBH5MIy3iRZErNyLV3ZwXZmXh6Qn9lefBZMKRKmGxKftOX0M-qFUl3_SNwP6OTF7izjD7ymqx_VAnplZdoWIQWQc3VmYzjXqOHvHj3YNua9cTEQiPNFgVdThVrhKHA677CO3hbCWogLqBhWiBiXcSdAgluGlUSDLudTawv9on5Z6xlj_czy46te1z_hUBTdOS7snSKQ6IbxZ09bE71FuzHOVThRYthIXB4anFijTrZ3B-jyX99cuAm4VIVPSyFIElPVAo2cIIMKVjiJxT1mCEg0S5HNrlLetIMq5cr8sIRZ39S3RIt37AxRpTFyTu6jwaipEi4Jo6wu_Av0-vH2KQ_B2y41So1SOerdAe1difxgWML3eTqFkS-DmbbdbHxJdNCrVj-38Tq-LRH--av63O09viw-3W33D-KYfo2uO68SFtCTSdXJi7npTgRWUPgHq9LCZWyt7WgXzooiMy2o9PuOEXMBSvL5YnZx6pd9dCzpdkbrkxGEBm9_0rK-dOi2SRc2mbIUznzpgC61u0vAr4XuUXJQkl7SqfrpGFQnKs6XxBKzyF58WEdFoAsCn32EjJL7d6x8sFuQ5GSqkfmKgWf4lG4Ikf-KUawJbEkj4Y6qpi1Kp6_NUPQNezhF9xaAPANik8CNKOC_45ZO42-Nybu2vvQf8Qg72WTkdd8Rb6_VPox5rxsNFVUzVv8TCejLtLkiZMFz6UaZSTmEfX-iKXGydLdyM8FCUOSUCXLwRj7KPhS79dTVVXXFTu3fTDMjuUKgAmcUAz4hYLpezKMMDkH-cxciyyfUDWqCk4y8MdnrMnZ6U4y-f4SfooRCXGOOiThE6cvtr3otpOlsni8h2tC__pIkuJSsnrpNtnh3KEbFr0Wx0ZPinX8oaUHIBwLSmGymYMnWmuASNzcZhwEFIvYKT4dSCB-dpzJUw5REp_mnvf4gppDJ1FtRQgmYOMgQYm7uluW3OoIaZRteRu3XGfkKTm-Y94JJmqs6s2lIbnY0WYoTxedrS3VFWhg_OFN2WOV41f9893uyM26cYnnEFGtxix_xNwwVU9G08bzPr62SEGDRQjrWbJjAKB1WuIfzfaorPZCwilromI8BWhOmDflV_jDrGYQSYz5kKZOwEugGUmEJuV7y3EoaMhFCZcpLj9b_wwSgnMhuvx5H73M7k9yxeBvVrhNVVTqBBnr1_rECXxyyPjnmZwN7lm0guer_t7sD2BN6bb1XUGdVFdw64j-ipBQzPxylSB-UFBHk5kCSVSAMhe6665Pe4G04t487A5fkgQ1CrvFPKSsC9vke8mwjGQZk1tKSzkiiBmE=",
  "id": "rs_033b40766fed2a73016ab476a7a6d887d09c7ab63f4082ca66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.138,\"left_z\":-0.015,\"left_yaw\":0,\"left_gripper\":0.28},\"note\":\"The bottle’s neck is centred between the jaws now. I’m lowering and closing to a neck-sized gap so the bottle can pivot as it is lifted.\"}",
  "call_id": "call_sHuVSpjsLsZWsxoalrwFwrZB",
  "id": "fc_033b40766fed2a73016ab476a962f087d0bc2f75f8b930720f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sHuVSpjsLsZWsxoalrwFwrZB",
  "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]: [-0.4538, 2.0117, 0.8127, 0.799, -0.4496, -0.3134, 0.2853, -0.0212, 0.7048, 0.498, -0.4007, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4746 left_y=-0.1421 left_z=0.0552 left_yaw=0.09 left_pitch=0.1996 left_roll=-0.1127 left_gripper=0.2853 right_x=0.2738 right_y=-0.0 right_z=0.1508 right_yaw=-0.0011 right_pitch=-0.0363 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -3.4667, 2.7829, -0.0952, 0.4518, 0.2613, 0.2076, -0.3624, -1.2376, 6.9265, 1.9707, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4aa4288141094627b6946d4892061db06e6163b925e58cc12d77b9104ef165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8baf77196bfaf0dd86ff2305be08625c07e8d4fba36ac72873f8d9d3e44d24d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9310a3038165da2d385b74219ccdcff07a74e371d829a35384960cbfaf0b9a3",
      "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 8 attempt 0 · /responses · status 200 · 5.831 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]: [-0.5697, 2.038, 1.1503, -0.0792, -0.8883, -0.8459, 0.456, -0.0212, 0.7959, 0.6392, -0.469, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.449 left_y=-0.1206 left_z=0.0463 left_yaw=0.5596 left_pitch=0.0152 left_roll=0.0096 left_gripper=0.456 right_x=0.2868 right_y=-0.0003 right_z=0.1773 right_yaw=-0.0011 right_pitch=-0.0546 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.3897, -10.1538, 6.5846, 1.1013, -0.0952, -0.0708, 0.2515, 0.0479, -0.9094, 10.1402, 1.8926, -0.022, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.5255, 1.9133, 0.746, 0.6106, -0.5793, -0.4179, 0.6953, -0.0212, 0.73, 0.5365, -0.4183, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4354 left_y=-0.1366 left_z=0.0439 left_yaw=0.1688 left_pitch=0.1019 left_roll=-0.0686 left_gripper=0.6953 right_x=0.2774 right_y=0.0 right_z=0.1583 right_yaw=-0.0005 right_pitch=-0.0404 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -6.188, 2.7692, 0.5153, 0.4225, 0.188, 0.0073, -0.5128, -1.4564, 6.7487, 2.0781, -0.1099, 0.0073, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4538, 2.0117, 0.8127, 0.799, -0.4496, -0.3134, 0.2853, -0.0212, 0.7048, 0.498, -0.4007, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4746 left_y=-0.1421 left_z=0.0552 left_yaw=0.09 left_pitch=0.1996 left_roll=-0.1127 left_gripper=0.2853 right_x=0.2738 right_y=-0.0 right_z=0.1508 right_yaw=-0.0011 right_pitch=-0.0363 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -3.4667, 2.7829, -0.0952, 0.4518, 0.2613, 0.2076, -0.3624, -1.2376, 6.9265, 1.9707, -0.1099, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd4aa4288141094627b6946d4892061db06e6163b925e58cc12d77b9104ef165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8baf77196bfaf0dd86ff2305be08625c07e8d4fba36ac72873f8d9d3e44d24d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9310a3038165da2d385b74219ccdcff07a74e371d829a35384960cbfaf0b9a3",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHaviukalccktD63Nxo2F1SZh4H0cywGn2RdBXPjUoHwZzL_825Rd2-gaI2CFwFYBEnbhv18e1Aq0fi70WIdl4aG2DK2BtgIFiUqSfvD1ZmhjU7GL7QQwM2MlrXCLI0qrkF61X17ar9ZzHcfJ58xKgXJ8oTnZnByhcU4XEGIw-q4QgQBcfh3L_81vb3wPSXyyDJxwQqYvqMyt0C0nagG6AI4ZfZ5HkJYaHUU7YlVhsyfyJAwUaVCkCUx2Pjx_zPrIbghfw2W6cdA8WsRkHCIOU9mm6pRZarvBzkMY12p4wMmnzB1nja24a2rNQveaR82VwfuI_h4FkNT6Bxkxtc9cMxY3QwGw04lPRKcHW_CR8yoov-lvYbIIHgyQ8rFe_wE_-E9HH5chEsH4D3y84NQj5dHoK1t5tZ1vF5d3PzI41ZTbEVd7FHO8kAoO7dUy6ayZWo9CMM0pFw1w4UnExyB7eywfsDThWzFIprZImWssula8ZbY8ssrYwhj6NdvUbDbo2rRWAhNALwfjbBqwBQcO2oYCzOelEhf1tKIvlFaelMlbEGUacKz_Lm8Znf9Uzgi96cFD52R-bDEuFYcnCzZYcVAMhye8tL1U3bLJYIOMDOp77sVXsecdpglMSaH_HPkapB5YQovQ3uvqnVWb6jO-uTszCchXh1DtjL4iFKur7xm6AnUiVy2cPAugv0895II8QzhLr8EGiKD-qtLh9lSiAx0iLj-SYGRHC3TeaKUJa5YGaH_uMthYGbd6uv4tviGNxmMYHkpl6s6l0K8l4HF6_8gmz0sLw6HqlcVKGcOVmBmHy_iWorSysRR-i9tpWYXUEo29--_c-Qv_hizymgq3yvtHaoPqXssL_n8T3OrKzA_JRNhfXvVsC-PLbhdesNEHxaahRh6yw1_ZLrV_fnjcSO1o23gYNgzwEQ84-N_ZTOoqJ9deC1zN51H3R-17Q96O4Lvioj2EWtaa0HIU9MCHILtCkONwgSMSbLkZ3lfnF-tJ_TOg1-IIgdogv_jsh902Fv2_P9WgPWiZr6qR94Go1uAnoCGCIxK6y8V-UuGS9O5NaR64eTt8VG9LFy5SWg5wlnx6jweLH0jPSeRo2k2Ksu_btCdAdqjnrMbnjOLEu5WCqpyPWiPQ90PHboxtLAWwcSz7TLAhJk2bGPVkmhApW9-mWcEPbgIIjCNgX9l4K4pqRJnmyJOaor5QN3UeScmBpudvdt2Q2jHyNB1lDG85_AZo9N24uOtsITE_lMMnz1-U4GvwBFEb5lEe9uiuHo8SV3pArs4Tb2uhIpHA5hWFy5cuG-KdqRFE0Q0rXYpF04xkonGIo7mWcHE94ToVspUK2Fl2Mcc7DmM8aCoYHJrC_7bBFxnoY4eyFeCE2EU5OhTMC02_NPJ2ZlLXdRsPRT-cXWGM660dj0QeyhjGAn9CX_BFj1nPKFybgvRVwqUV7I9Uv-nqZAfDGnBAo0bhDTXHhoGhoUKdpb3sJYyeST4V8ndXFC9Rh5kzQBJ5GMWWpRprqX7HhM2t1OVUh7wXdmnYVUuIxvB8jfItIEz-CoqLB_TVQ==",
  "id": "rs_033b40766fed2a73016ab476ac7e9487d0b2806ae981a42f60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.142,\"left_z\":0.12,\"left_gripper\":0.1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The jaws are around the narrow top of the bottle. I’m securing that grip and lifting a short distance to check whether the bottle follows and begins hanging downward.\"}",
  "call_id": "call_4VoXpxyl3pSbVZDcNMezn1BD",
  "id": "fc_033b40766fed2a73016ab476adf3a487d0804fda9aae71f63e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4VoXpxyl3pSbVZDcNMezn1BD",
  "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]: [-0.4435, 2.0312, 0.8135, 0.8726, -0.4244, -0.2874, 0.1031, -0.0193, 0.7937, 0.635, -0.4618, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4807 left_y=-0.1439 left_z=0.0614 left_yaw=0.0708 left_pitch=0.2439 left_roll=-0.1241 left_gripper=0.1031 right_x=0.2872 right_y=0.0002 right_z=0.1775 right_yaw=0.0005 right_pitch=-0.0492 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3966, 2.5368, 0.1441, 0.3639, 0.2173, 0.1587, 0.335, -0.9368, 9.7026, 1.7753, 0.0317, 0.0708, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683dd5cefdb1f05c7f3fcd59c21ce4118e6ee460a8c9a5342e67ba0b4ca6eccb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c7b37ba2bf8f339ac86bb73b5717b0ab2b1bbc498abf21b5047ec42a79611d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda7fbccfb3dae471e34153bccd047d50e78abda24d15ba68b6f27db6ed80b26",
      "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 9 attempt 0 · /responses · status 200 · 10.25 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]: [-0.5766, 2.0346, 1.1244, 0.0158, -0.9363, -0.8722, 0.0115, -0.0212, 0.7628, 0.5842, -0.4442, -0.0124, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.4528 left_y=-0.1205 left_z=0.0553 left_yaw=0.5979 left_pitch=0.0796 left_roll=-0.0639 left_gripper=0.0115 right_x=0.2815 right_y=-0.0002 right_z=0.1662 right_yaw=-0.0013 right_pitch=-0.0515 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -8.5128, 3.0974, 0.6129, 0.1978, -0.105, 1.033, -0.7453, -1.6205, 7.0769, 2.0781, -0.105, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.4538, 2.0117, 0.8127, 0.799, -0.4496, -0.3134, 0.2853, -0.0212, 0.7048, 0.498, -0.4007, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4746 left_y=-0.1421 left_z=0.0552 left_yaw=0.09 left_pitch=0.1996 left_roll=-0.1127 left_gripper=0.2853 right_x=0.2738 right_y=-0.0 right_z=0.1508 right_yaw=-0.0011 right_pitch=-0.0363 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -3.4667, 2.7829, -0.0952, 0.4518, 0.2613, 0.2076, -0.3624, -1.2376, 6.9265, 1.9707, -0.1099, -0.0562, -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]: [-0.4435, 2.0312, 0.8135, 0.8726, -0.4244, -0.2874, 0.1031, -0.0193, 0.7937, 0.635, -0.4618, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4807 left_y=-0.1439 left_z=0.0614 left_yaw=0.0708 left_pitch=0.2439 left_roll=-0.1241 left_gripper=0.1031 right_x=0.2872 right_y=0.0002 right_z=0.1775 right_yaw=0.0005 right_pitch=-0.0492 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3966, 2.5368, 0.1441, 0.3639, 0.2173, 0.1587, 0.335, -0.9368, 9.7026, 1.7753, 0.0317, 0.0708, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:683dd5cefdb1f05c7f3fcd59c21ce4118e6ee460a8c9a5342e67ba0b4ca6eccb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64c7b37ba2bf8f339ac86bb73b5717b0ab2b1bbc498abf21b5047ec42a79611d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda7fbccfb3dae471e34153bccd047d50e78abda24d15ba68b6f27db6ed80b26",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHa1RW09JcrGuGYZAVx1OWQNfGgZGe2HFscEjIJrkStssDk-ZNF9QCsUG4CwMR1UYEherUVLOjsRk0ByxyLFpANbT80g4J4syEqVEza6s1tKaC4TvnfKS2hbYi3MncMIwB0wcQLoRZI1GGxwReGQKgj42FZz3CWtZNtP0IsRHUakOgekRb80KeDvPj3hX6ORYX7O3nTJ0FTf9mUnFy1U7zpEOolHhJWY0tBiY8l4Pi-ntdqZ62Ss_MqvlXSG3yfa3Z7infuK7wMXyyHEgkb_B2yT1qAtHAalUNpUtcxMjO_rmsvZ8MBFA4i8lvN57IKEDeU-w1XJ8N3QFzbNdkmFeuMYBcN2bXDe-VYmdK5L8UVYmIApPJMm60YnIjyBGvsqf03K0_7aNsLx44zO5N-8wWGS4TwxsD4jrqJ2TYEO_OpaDLiDFqOgwF6mYT08JcYm7sibytX-SB62ruTbCCpbsaPrEsICATEJHDWKlifrMMNzNWZ0qObqF25mQd999gze0ODCAKswbl_8yZI2xzRZgqb10yfBp8ngRaIoYKhg3zLXgMUwqw9omVeVP8kuE9Gw_aSlsEGMkF5H5pIwrhaPV1tIPBGe3CJffizVtycwqseJTHQAm8iLmUFKtiaTqG2K-Z267jtDswHOUsaY_KRfP9vIv8Mtgh4EdXbXCeHSxNA2Q3sCLv7l9KaT3dZfCPQTCDupi4t5GHKbvd4u1Ytsrk43eP0QhPzPUiCoUDZ9Vt4jGHVbJ-KZtMzJ9mUngZsJ9wRNqnJIivC8rsd-NUYpTeEy_RdYjwlRI48GJxFVcwkUtO6DuksydnscReqFNO5esvh659bxtYh9BUaoL3xbISCrEGSyiepFZ555tVtJAK_avXs2FIOJAjUmZjXtaACZTMupHjRgYPbrPyNvAPbc1eRKlc0EA5q4jZxHwvMo1T0ngaXZCZBNpnscVOgtSk2sohwY9ACG5DawZybRAzgP_U7SQgOQRs5S4hekz-WzkKYNjnOjgwOdExNTCHOAXkAQ0sYCcNgQAFfABBOZOZt9ULd-i7hZfp4pEPR8WUSxG56cOPds6l90-SSdLXL3JshzHvmV0O_oWnnEmOyiCdp-_FxCrCMIOR4fSQGeVDyZzLl-1DNZXxyRUbWALz4K99quIuKQ2c8DKZMgbo4UdEOOekBk3NpyusysENJVcRmEKb4w2cL6esf_cixBl5yekaLHS3rzVkQh8jut9uJQGQVd4kYJKKsDilffRfaQObMEKwqZO-TrkpJWTNaNHWyxeAjU6WXI-rrv9y3My1vKsAwsAwCw_5Dawy_9oJk8ZDpxfPZkSje1xxzPRtRDPusGUKC3EKMKm4vaFctlMeBHxJL8_QKjjRZTj04c5QThB2Fol84nCBsu5cB4nyE6xh84ahcYJHezOSmRvUppV5Ziw4w4rJ-Y3onHS0hsqLioYYU2sv1u42YCGpe7wm_asg_Ht39d9sG1UTovDLWqDfXWg-A6cy0HwRptc2ZHdQWxzxuppkmPgTVTkcvpqTPYyPuqc2zm0d9PsRXa0oyYsxISX9Z27sWzHIpnr-vjZkd6Y5jTaDAN0SyC8uHOYRT_0H1OIHmpMLXKVqvb64iNgkKo2cHaP6Y8AVL3zJqjVncKRTK0kjvyRRYNHD62Y2nhNd044VyF8oeKOfx37_eGDaUXZquqWQMqX01h5_Di5cHFf4shXyvjNAgg-oLs02ULQk1wroD7s9cN5FXDhusglFzXJify0Le6BzR8ukmspozAfruodPf048jlIyQ38p-1vKo0N_EtARuA8R5f1iumCOAJQZkw-Na_VdBa_1YzNj42R5i4_IbYMbJzLut01cOlMy4fSfxdRUCzUMRIitd41J-BJ49N02bH93TlvjaGvLO-qA-iY4e9MfEukzzT0froRtApoLnoYTG0HtRm6lKV8UkPDK1-_dgB6nYZsvQa5Agu5s6PBchahmjeZl8UIQico1q_6Dr5Ng47",
  "id": "rs_033b40766fed2a73016ab476b1343087d0aacaf60013835c5e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.25,\"left_gripper\":0.1},\"note\":\"The arm has not followed the lift target, and the bottle is still on the table. I’m moving up and back to leave this strained reach configuration and check the grasp.\"}",
  "call_id": "call_aFrvmEKnq5ilJlHTb0mASckl",
  "id": "fc_033b40766fed2a73016ab476b4214887d0979c50fc9e5c713e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aFrvmEKnq5ilJlHTb0mASckl",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 1.3045, 1.0973, -0.3733, -0.5766, -0.4461, 0.0999, -0.0212, 0.7616, 0.5842, -0.4324, -0.0132, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.367 left_y=-0.1538 left_z=0.2555 left_yaw=0.0552 left_pitch=0.0818 left_roll=-0.0797 left_gripper=0.0999 right_x=0.2831 right_y=-0.0001 right_z=0.1689 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [-0.294, -5.9009, 10.7966, 1.9463, -0.3248, -0.0171, -0.022, -0.4444, -1.3333, 7.2547, 1.9805, -0.1538, -0.0024, -0.0073]\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:0d92092f477dfa03c6624d950a473d55b49e17c29bda0a5752d3081975436bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bfd29ab39090970173df124c5b143ed18e2a3f2b2eda65eabb91295cf289b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0a3726ca4453f4e571f24e66154f4350cdaa1d4368804a26158aebe46799d2",
      "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 10 attempt 0 · /responses · status 200 · 4.379 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]: [-0.5255, 1.9133, 0.746, 0.6106, -0.5793, -0.4179, 0.6953, -0.0212, 0.73, 0.5365, -0.4183, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4354 left_y=-0.1366 left_z=0.0439 left_yaw=0.1688 left_pitch=0.1019 left_roll=-0.0686 left_gripper=0.6953 right_x=0.2774 right_y=0.0 right_z=0.1583 right_yaw=-0.0005 right_pitch=-0.0404 right_roll=-0.006 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -6.188, 2.7692, 0.5153, 0.4225, 0.188, 0.0073, -0.5128, -1.4564, 6.7487, 2.0781, -0.1099, 0.0073, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.4435, 2.0312, 0.8135, 0.8726, -0.4244, -0.2874, 0.1031, -0.0193, 0.7937, 0.635, -0.4618, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4807 left_y=-0.1439 left_z=0.0614 left_yaw=0.0708 left_pitch=0.2439 left_roll=-0.1241 left_gripper=0.1031 right_x=0.2872 right_y=0.0002 right_z=0.1775 right_yaw=0.0005 right_pitch=-0.0492 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3966, 2.5368, 0.1441, 0.3639, 0.2173, 0.1587, 0.335, -0.9368, 9.7026, 1.7753, 0.0317, 0.0708, -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 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 1.3045, 1.0973, -0.3733, -0.5766, -0.4461, 0.0999, -0.0212, 0.7616, 0.5842, -0.4324, -0.0132, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.367 left_y=-0.1538 left_z=0.2555 left_yaw=0.0552 left_pitch=0.0818 left_roll=-0.0797 left_gripper=0.0999 right_x=0.2831 right_y=-0.0001 right_z=0.1689 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [-0.294, -5.9009, 10.7966, 1.9463, -0.3248, -0.0171, -0.022, -0.4444, -1.3333, 7.2547, 1.9805, -0.1538, -0.0024, -0.0073]\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,$blob:0d92092f477dfa03c6624d950a473d55b49e17c29bda0a5752d3081975436bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8bfd29ab39090970173df124c5b143ed18e2a3f2b2eda65eabb91295cf289b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb0a3726ca4453f4e571f24e66154f4350cdaa1d4368804a26158aebe46799d2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbAW-X3d7a44W6L52etoC-LSRCyaQHG0AX5uuZT8t0YZw5atpsnlvlhvNJP1LbpNB4R-vp_lOuLjT3qVDmPc6rk1S5qmelOGCzrU98mEPH54YdpHvD2FAeTxFGGx66Nus_tSHYlfJBDMawEp8tMflMkXiRbAnEBTJeAAAF-cE_LbHmX3bMs_vR40dcBdDKhxew8_nSI2uqsTxT9AWSJrGThxjtF2M3keRrS_ObPUib1PByhTQZ8oHrikQyhUJULUo0HDzkzusVdQJCBHN5WDChDv7jMASvXY-GI4a3Qg2-RdVgfgkvF4uFthT680y1jnzZQ_YNX9L-cD2JgCsM8gV5TTzuP_Yg6xi18aODvS5aAYEJUXlKYKMu2sgOzkGlYLY0WYfMgpLJZS7uGTMl6wUe4mVjpDyVLI3K62MY3-QJ7LkcMoeJLhlgeeTv4h5rmVmrkTPbA4O6_BM7LkgbRvHlLsT7PTxdawMoIh7CLqvNNKZyJOHj8lfHeLX1rFnnDVqGBA-W9sdB28ANdLNvxG9_sgC9JQ1hVVNiXhQ528FhWc3yYKqA7-prjugjQaxe9UwgX6FLbCdgr3GzUzu0nW_NfPLO7WwUL0euOr9_BH1XlmTJMGHbEQ1MsyYF2HqStS_ykOxtlVETHf9DGHPhaWo_2nvltyUFyOwIY7u3SjGLJ6WOi8dOOZ-4TpcKjMmprmxkS-SyX1LjXc2_dhlY4vyWekcu2D8ORSSoM5laTgmq2ojrWk4tAHKY_dEyr15dsMX3ETSDkXW2wLh06gQraE0lxgnZPiAQtprliZRVPhEiF3eglpQIUqpqsM2zE7kQJ3c_x5rUObgUEhBlKmS0PdSg4FPGuNdob4BRuf9Be_SWxcaKH5lYS88jwOEBZP07Yj1RRFJ5AauKbzpSFFHzTQ-Kdv_A_St_y9jX9DF3zX3Xmt03dDcQBciw8TM4Ds64tyiOjMzRzEkJjCxNh4uZb-57Rl9wbmZZCHzMoLrLZG6eIm-uClzvvnL3DPh6B2qgrigJnGVF6BRpwKx-CL6PHXKxhzhyGOF3XdVGbkClLJLvTSm-HHwxsD6w8GMYfsBmv8iSJDJ02gsngwTG-W5kmv9tfZdCaOyj3auOM2gj30mfBB-Ell5vfTJWKR6EeZuTF7FXwnLcKu2HZWADXOrO2ArdZVEgJ2ddUCe83SS7H0RmNDEmXEchMzaKJfTBcSC_C2Mz1xyb4PdGFBFiJWQYJ0A7mLjvuaOuEha4-RNWdykcxAKpDbni3D4jmXsEmj0yU203BmhsWo59yTd-k41l_YZfzUVsbjrLdVE288QpNrtLHmapL5sXjAmEhUbePZfsVTZIXA8lMssa-6NUaYD7CjRDCwYDga2FwLNAniYT6o0GNEyE7zhV49oI5tP4A3WUqytGpYyEusiGJ0AjJYvLq8T5_D0TBjuAiaEHxUaPvJXv-hMXmbmlTvxd5v5cORFh0n-OsGUt0RgFQOoR8UiDPojeu3ngXLhrC8eAL1Sp-6g533DAdTEZtwfEUaD3_ul5w3OLFO4-lB7PG5e0WO7xT_pXnJq8qxnvphRIojeWmAQZOOg2aAeMnE_1jPUJGfgAKN4vgTA5JnzaoawTsSYb1BZEqMln3PIzFbR6MRGuQfbK70KaeTiNVqMdUl-qONjDXk2p_PLSO-MClPBjOUHVc6AUvNKA8H23SxV_PLooRHaBOeKfSTL7nBfjsbPkP-GznHUjLA-4fDAis62lhP5ou9Zrx8e3bqHyrHtg1IMRMRs4uERXJspSu2U-n39jz_Pi2JTxkLgEcicMeU4wdvxByiPco3DseIcZB7dN6q-akR4lP7X1ID5xQT_1Jf2OJY7oHofBjC2rjWmP1hJ2Yd-Z86PRut8Gig21ANVj5nN-3oXZ2kqsBuXKTcI3g_4U-xax9PrziEz-H5o6HVLfOVEJnHkmfDrQG2sOn-pKVhWRyMlJo94xHNMgoRs-NoXwqDEeJe_X3KSYBBQ-ybkNP4pYAzoMuhdZ7-IEwzaCE5xzltHaSzpORwR4_3rD7lXxFPbGcAVNFBGANR5WafgB9Mrzpan2VgUCixNDHt6bJNm_V2z_SQQ9mex3-lQJP23rCZTNY3EnXUB19zG9NzJTXdXUgYa3uWxPAj-P58EbkGzVvttLj1qFuw3zRKYwa77yLa7bbyrt7DSwzuJdxNROHizd9MnVBTprFRrkm9TX-GH3FSbRe4jiICUahNRNjnx1fqz0tRcRRiNb0r0rKSO6NYHNlwyvL-x4pbkClPxqqqlwcsZ0dlJ1zeW0OfFlfvjjrSjSDybJBqX_0g_ajwZv2rYYQxT5_mmy6-gahZouWirRirhSXrqpOqMDtxsOEepmI7d6IpSfbH5U99FxBN_yqzJMx5mY5T7tLQEX3enbI4lcf32p1l8eOeiBnqOraewJp_cvr6bpZa4IPYOmOlWzZvvZ7dXpjfQxerfg5aYZsfgRfmBBj2usfoARXs2avRc4jZB3clNTX3ff52785pjQ2x-rgSMdioXbn4C7S9LoCy2_RjK9bMWvme4TKxfrY7MwU2HFc841zX8RSSwsu4FC8Rw95toFupc6BCuAA-jVGevi3b3ElZKjSzjBoOk-4gEpso6nmIGpwhaVpXcS4F5YpnHhKOEcSDxni3z1aXlOeBfsx8pfPQhbuDoBqKgPloOwi3qnUSViwtTocPCEGmnEvyL0fkzgpjZKfAzLadxHxNMdXMs_RNEBxrdQzeWgwFPzjhqk1JgTGNmmOA_VTNi9E5oVZ9dU_aZx57yjrrV9lF9eVrzyypa7xzubQRVZjhvMe9nroaBsVhJpWJ2JYYmsLuHEyWIJoquiQ9GLrip81TAExdlNXmX1H-jbvX61mWZOxgeCvY_djT6h4jdY2s_VRWUBq5OoRQWV6gVFfssxpwZPugnOR44wf12ZE0sJ2NCz8zO0_7EX0No4S1mz-IJ1Keq2djIR2_ZtUv6vAaWe8JzAicD81Ez-AQAfSyIO3CHnwkWA1b5atJcnxfDnkkfITOeQ_wUl7Jg==",
  "id": "rs_033b40766fed2a73016ab476b8c73887d0b86777e8d01a1e36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.205,\"left_z\":0.045,\"left_gripper\":0.8,\"left_yaw\":0},\"note\":\"The left bottle was nudged forward but is not held. I’m approaching its body at a shorter reach so I can first bring it into a better position for standing.\"}",
  "call_id": "call_ENgJitSys7xC8pw1FGILXxdD",
  "id": "fc_033b40766fed2a73016ab476bfb77487d0918718013b6338df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ENgJitSys7xC8pw1FGILXxdD",
  "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]: [-0.7544, 1.7634, 0.7361, 0.2581, -0.6319, -0.4755, 0.797, -0.0212, 0.7406, 0.5449, -0.4191, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.3664 left_y=-0.1962 left_z=0.0447 left_yaw=0.007 left_pitch=-0.0356 left_roll=0.0472 left_gripper=0.797 right_x=0.2789 right_y=-0.0001 right_z=0.1592 right_yaw=-0.001 right_pitch=-0.0435 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -7.2547, 5.0393, 1.5409, 0.2125, -0.1441, -0.1441, -0.5949, -1.5248, 7.0769, 2.0244, -0.1099, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db1ec2d8386dacd7fe7557c96b188375fe2ac2b6a3c997f0cf7f6c6a39f39bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ab885f81731d6d2382a3237aa0d4608d0e110bc2248d7a7812738ad035c960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e79302868fa8ca5e575506f3730532680d2ee52483c074243508d731626b0d",
      "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 11 attempt 0 · /responses · status 200 · 4.295 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]: [-0.4538, 2.0117, 0.8127, 0.799, -0.4496, -0.3134, 0.2853, -0.0212, 0.7048, 0.498, -0.4007, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4746 left_y=-0.1421 left_z=0.0552 left_yaw=0.09 left_pitch=0.1996 left_roll=-0.1127 left_gripper=0.2853 right_x=0.2738 right_y=-0.0 right_z=0.1508 right_yaw=-0.0011 right_pitch=-0.0363 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -3.4667, 2.7829, -0.0952, 0.4518, 0.2613, 0.2076, -0.3624, -1.2376, 6.9265, 1.9707, -0.1099, -0.0562, -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]: [-0.6506, 1.3045, 1.0973, -0.3733, -0.5766, -0.4461, 0.0999, -0.0212, 0.7616, 0.5842, -0.4324, -0.0132, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.367 left_y=-0.1538 left_z=0.2555 left_yaw=0.0552 left_pitch=0.0818 left_roll=-0.0797 left_gripper=0.0999 right_x=0.2831 right_y=-0.0001 right_z=0.1689 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [-0.294, -5.9009, 10.7966, 1.9463, -0.3248, -0.0171, -0.022, -0.4444, -1.3333, 7.2547, 1.9805, -0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 1.7634, 0.7361, 0.2581, -0.6319, -0.4755, 0.797, -0.0212, 0.7406, 0.5449, -0.4191, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.3664 left_y=-0.1962 left_z=0.0447 left_yaw=0.007 left_pitch=-0.0356 left_roll=0.0472 left_gripper=0.797 right_x=0.2789 right_y=-0.0001 right_z=0.1592 right_yaw=-0.001 right_pitch=-0.0435 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -7.2547, 5.0393, 1.5409, 0.2125, -0.1441, -0.1441, -0.5949, -1.5248, 7.0769, 2.0244, -0.1099, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db1ec2d8386dacd7fe7557c96b188375fe2ac2b6a3c997f0cf7f6c6a39f39bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94ab885f81731d6d2382a3237aa0d4608d0e110bc2248d7a7812738ad035c960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0e79302868fa8ca5e575506f3730532680d2ee52483c074243508d731626b0d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbG3HdOH0CEYPDNspAMPeFWXV618RpckW6NXbqbW7FSyG8nI7TmBh1T9hs39Fr4C8wYgTQNUV5DJCELUr27PlhmvFWGXBO7b1k5dWE-m9678JfJ8U8ylkG2B6WVDkYBH6b1fNhDa0UqRCDvsAj4GIFygAzEhQXpUEzP9iFY_4ZCh_9_pla4dIZz8pvSbwdr1krHOW0_CbfKg3NTwyElP5c-dSA7zMOihoHL5LuRu_PViZ_kYfSdrSRYvTh3TAQy7aXgLSEWLPQsXfZfa_CAfbH4nqsZGP8Z9Bt_jtghJaMyJan-eU-H35x4I0Ca1iLfJbycyFSaZ9_jkRVZL5OJHZyn73fKBNYf2m8nH0lu_xdUpohbqkxgpEqn11o3Dw2iPghdZ6RCe8WbfJkFY_EVFHyLI62HptNWFcRkA9u5qOXefGatAUMtzsULYjr9ltNrHpX6FSwwOO13tFyyA7QLmW2qygAgK2ySZpLQ_ErA0VmYHSC-2DsEJLolQLqHuFCANyOdyRzoTcEWZpH7rxYV8MC72_e1-bl7Fpu_nALi1H6k-zgsHSBE2fqIeylgcrDxofiTNgXYCqnqLm0eW0A6rgMmtCCKpyzafsiBJlXwLHuzk1wzHJo-SOKnu5CTY0stXAK2xVUsifN4FORYaJBF4MbjALvspcE5oY0MftAHAJFwZljSPvMNc687GO-YPd8VAfNGQaaMDAdjdWdvuKm4BypaHp1L4WFS6KwPBlVcOE7Lr-57YU03Lg1kYxAP3TJgmEjaTWVwY3yfLkqrZXEQQNFrxKznChZ_EgP8AxIEwpOhra5PHItaEAKqhwxOtlmIzj7KOgZKQVBo0yTI51JOdbq4bsJNnySEyGScS2MEr1PHkLZfGOSeo3dS6u2ET8_EM5j_fHWu1u5DqGiq6yG6hULBzOvHp_kQu-RwZ51KajhZpm3Yoag0L1dZzSDmCJDYLMFzkxR6NfGM0zp2Bsmt4-hsV_qCf6e9yyNyydWHbRFWtNCUcWPFfrczNiOwTsYA587bjUx2gmAmnD78ooWmFXpyMzSAvt8xeMJSnQGK524qZcRq2EIkXejCPGT7ThBpe5GIccu4eRjsbzR4T0gqmNkzxspLDTwbhf4R0P3yVDF_vIVOYKMBPDSFtzudSeNGcoqVo83vThFcuhi6k3B98fIwpAggU3dFWWtG9b_mbgEidv5NySKLRjSn2pgYcrAZjYYIXoVVjV1V3wzYPoAMdPCzp4-imY940B2L-wk3izuASI3OxS5BV31PVPVauL9OuavNa-peU6wTHP8ikb9PqhqwpscTK95cvAFDlxzdH6JPK9qO6EwFX4OR17ZKdG1rTssjR4BOnl1PgvoVYXO2Bk5laM3RmdFbodGy1ceVTLOW_yIDU-CGQ0tR6lvDrC5b4DRNr0eXbzEhx-npPOho8OapsyPuqWJhnNq_YbPFbFgh8uoA6ysTNKciq2BklXExYgvxXB8VeFAPdmRk1nowdcR7SoT_8XQvhi2_A04RlYTIlLI=",
  "id": "rs_033b40766fed2a73016ab476c429f087d0bdf42d83df87185f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.025},\"note\":\"The left bottle’s body is centred between the open jaws. I’m closing around it to move the bottle away from the far edge.\"}",
  "call_id": "call_qdqZ64W233caRoTbU2Ps1pBB",
  "id": "fc_033b40766fed2a73016ab476c5932087d0b6e62bc779ac4981",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qdqZ64W233caRoTbU2Ps1pBB",
  "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]: [-0.757, 1.805, 0.688, 0.4782, -0.6533, -0.4801, 0.3885, -0.0212, 0.7132, 0.5045, -0.3992, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3754 left_y=-0.202 left_z=0.0496 left_yaw=0.0244 left_pitch=0.0676 left_roll=-0.0378 left_gripper=0.3885 right_x=0.2752 right_y=0.0001 right_z=0.1519 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -5.0803, 3.412, 1.1746, 0.0562, -0.0952, 0.4029, -0.759, -1.2923, 6.8444, 2.0195, -0.1343, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd287b879ea1957b0a5e2f137161becfdf51617df0c2645e7e2b1cecb711cfbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2769af35384aae0c7e8d8703c43118f9e635bbaa33abe664e9badafb491b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5cc3690b9394d72d35895ba62de52259ba48a2a41d6f60637e0d2536d7dc38c",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.551 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]: [-0.4435, 2.0312, 0.8135, 0.8726, -0.4244, -0.2874, 0.1031, -0.0193, 0.7937, 0.635, -0.4618, -0.012, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4807 left_y=-0.1439 left_z=0.0614 left_yaw=0.0708 left_pitch=0.2439 left_roll=-0.1241 left_gripper=0.1031 right_x=0.2872 right_y=0.0002 right_z=0.1775 right_yaw=0.0005 right_pitch=-0.0492 right_roll=-0.0065 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -4.3966, 2.5368, 0.1441, 0.3639, 0.2173, 0.1587, 0.335, -0.9368, 9.7026, 1.7753, 0.0317, 0.0708, -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 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 1.7634, 0.7361, 0.2581, -0.6319, -0.4755, 0.797, -0.0212, 0.7406, 0.5449, -0.4191, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.3664 left_y=-0.1962 left_z=0.0447 left_yaw=0.007 left_pitch=-0.0356 left_roll=0.0472 left_gripper=0.797 right_x=0.2789 right_y=-0.0001 right_z=0.1592 right_yaw=-0.001 right_pitch=-0.0435 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -7.2547, 5.0393, 1.5409, 0.2125, -0.1441, -0.1441, -0.5949, -1.5248, 7.0769, 2.0244, -0.1099, -0.0122, -0.0171]",
      "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]: [-0.757, 1.805, 0.688, 0.4782, -0.6533, -0.4801, 0.3885, -0.0212, 0.7132, 0.5045, -0.3992, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3754 left_y=-0.202 left_z=0.0496 left_yaw=0.0244 left_pitch=0.0676 left_roll=-0.0378 left_gripper=0.3885 right_x=0.2752 right_y=0.0001 right_z=0.1519 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -5.0803, 3.412, 1.1746, 0.0562, -0.0952, 0.4029, -0.759, -1.2923, 6.8444, 2.0195, -0.1343, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd287b879ea1957b0a5e2f137161becfdf51617df0c2645e7e2b1cecb711cfbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f2769af35384aae0c7e8d8703c43118f9e635bbaa33abe664e9badafb491b70",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5cc3690b9394d72d35895ba62de52259ba48a2a41d6f60637e0d2536d7dc38c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.16,\"left_z\":0.17,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The closed jaw gap indicates a bottle-sized grasp. I’m lifting and drawing the bottle back into the reachable workspace.\"}",
  "call_id": "call_Xb5aAmyGlYKJ3WpFl9q2Pnpi",
  "id": "fc_033b40766fed2a73016ab476c9087887d08ca5a7448ab63394",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Xb5aAmyGlYKJ3WpFl9q2Pnpi",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.211, 0.7258, -0.268, -0.7002, -0.5854, 0.3877, -0.0193, 0.7948, 0.6403, -0.4652, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2969 left_y=-0.1703 left_z=0.1577 left_yaw=-0.0015 left_pitch=0.0106 left_roll=-0.0245 left_gripper=0.3877 right_x=0.2874 right_y=0.0002 right_z=0.1789 right_yaw=0.0008 right_pitch=-0.0485 right_roll=-0.0063 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -4.3829, 9.7026, 1.4579, -0.4615, -0.1978, -0.0952, -0.0479, -0.8137, 10.0581, 1.8828, -0.0464, 0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11c57ad8225119cff17adbbd50503b4150c54b22599ffe0363ec97996b77ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e32b2c3b89d7688265fd6d51016df8312668352fd33f1a9ce137baea7a930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6dedd97e96f784abcadc26d02552bd2b4323edb6dea66a0078ea6cfe2306b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.401 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 38 changed as sent

message 46 changed as sent

message 49 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6506, 1.3045, 1.0973, -0.3733, -0.5766, -0.4461, 0.0999, -0.0212, 0.7616, 0.5842, -0.4324, -0.0132, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.367 left_y=-0.1538 left_z=0.2555 left_yaw=0.0552 left_pitch=0.0818 left_roll=-0.0797 left_gripper=0.0999 right_x=0.2831 right_y=-0.0001 right_z=0.1689 right_yaw=-0.0005 right_pitch=-0.0385 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [-0.294, -5.9009, 10.7966, 1.9463, -0.3248, -0.0171, -0.022, -0.4444, -1.3333, 7.2547, 1.9805, -0.1538, -0.0024, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.757, 1.805, 0.688, 0.4782, -0.6533, -0.4801, 0.3885, -0.0212, 0.7132, 0.5045, -0.3992, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3754 left_y=-0.202 left_z=0.0496 left_yaw=0.0244 left_pitch=0.0676 left_roll=-0.0378 left_gripper=0.3885 right_x=0.2752 right_y=0.0001 right_z=0.1519 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -5.0803, 3.412, 1.1746, 0.0562, -0.0952, 0.4029, -0.759, -1.2923, 6.8444, 2.0195, -0.1343, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.211, 0.7258, -0.268, -0.7002, -0.5854, 0.3877, -0.0193, 0.7948, 0.6403, -0.4652, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2969 left_y=-0.1703 left_z=0.1577 left_yaw=-0.0015 left_pitch=0.0106 left_roll=-0.0245 left_gripper=0.3877 right_x=0.2874 right_y=0.0002 right_z=0.1789 right_yaw=0.0008 right_pitch=-0.0485 right_roll=-0.0063 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -4.3829, 9.7026, 1.4579, -0.4615, -0.1978, -0.0952, -0.0479, -0.8137, 10.0581, 1.8828, -0.0464, 0.0659, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a11c57ad8225119cff17adbbd50503b4150c54b22599ffe0363ec97996b77ae4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f9e32b2c3b89d7688265fd6d51016df8312668352fd33f1a9ce137baea7a930",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f6dedd97e96f784abcadc26d02552bd2b4323edb6dea66a0078ea6cfe2306b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbSUZqZsuFswJYGk025khhgGyjerJxjhJWCLA-i4aV3faponaLcUVNmh2ibKWbo2Wuy8B8VWeiC4a-svl_NyPJHm8mkSfOOLxrwlawnZ3zhGZqJkepQHrcnGkQkvrbcJ92JDD4XDNfcOs6zd_9T2pwKg6NkzjK9h9eGBGVsAavEhTwQrH1gsMMq9dUpFqg5kCU67RrX11AwT60Py_Fb-KP-ZnU-LHzK_eWUy22cto04aLesafEBRW0GALWi8VJL_JBp0Do-Ie4blK7dsd2IVG7WIpNooA-KTqELJ_0h9dppcKaSsTNR04QKhg2c_HvUFMuITAJN4VG6RfwnwPx1xjfhMjQnzLCJlUAnyth6ZbvRotTpaPUhnQ4aqGic47yK0Zxyorm8UU3yeNxHq8gZClpOQNJ03T8VQTNMQREYdEtzCqtDMYFjBtn2uoKyi30HSHN2dhT9ASIZxqlOWBKX6YPrzPpRYIOMnInNl1h7n3SYCW1_DlGtgXEbISBK-tYSp2RGqc9dnUDWYLOpin0rAjvSYoBzjOgeAoalj_70U4yznKXu3aBX2Cqi27_dYdYemgBb3ryueOtShPceqMNYu1WffFbLYa0rtnMmn-AkEgcLsx9Bcpn6plxVqoE6rQHW0ElwG1-mqA0dlr7mDae9h2YwR4kffvKxbA4fyoLpR8fjoj8IsIReCxNATC7BvPAsYqQlYdPXckzYXoIIE4ujhi3IMa4_He5SmRg-4ETmFa3qlYa-JsZVmA-OGs_gk1gtmybdTgRvuKRX4iwEJmqRHtZbqp3jaCfS200ggLH-g7W3ddy_zfukNIBP3vDmNCHIZvQ_grxaxLWouOw9Jk2hvFik9I-CXanCIXxLW74XVEYpqyE8kEsZO0bWZ2LTIkjOPBq1Qr3hVyn_XkNVygB_uKtOR1CWfaEgLvxII-28rtpb5X_WArgcrKAsYsVfnETOKNaPJxKOE4NyBhfHcSO5PM01HLJOdvniXdDrb31NG6RsWlV1fVPwCICuRtFGcgBoqFOqYiJTAwdK5jR2-z2a25GvHhDWrdiMZxD4ex4n_QsK-jXn-J9CUFVq3_ZMiBOa2cyouAhF31EfCnig_ydveyo6zgk1_GJBTinQoJxShLSjvJIsW_UMQHMUNk4sk2_60DA3fJ2Unv1M3yGneMhXI2SmslVUEfvPuBwSOJE77uSEYfa6r8Hd80l0kUrX8AA3aO7a8ua1tfeJxTOKoCLLJnnoo3kN4bYXmQL0VMdFkRQcjcyZBVdcXTQ6Tp-vHvkSeUA4zcGPIBSWJXiIwUhxQGYwiSb9OU8lxNAOSX4hpxYf6T86F2c_cBh520x8gtANnlTtQLrsdKcPg2AYwtmDgCVYzPrGZ3FLQoviawp9eFNtKZ_ImEA4ErYnuzUvtUGwJZJfhmJ1hbr_GRs-FBGCcZkirQvjtmKuBc7Y0lnjaPX14NFZFJ-E8Y6CXsrBMh0l7iDcaoUI5zc7FivuHQ1prcOdnq1HHEa7ZWfbjVLgLaXyJuUPmkzeVK2rdQxJb0fShRo7W0vQ8fag5QBYCRwBpd2oSSrCg7H6BwKuttg3QQsLG2i5fQPo5-hTAN3aD7B4m9VzrfqL5hiABPGDZ_a7lJbLUrlUG2BauL0pUZ6TkqBgTLD3KAh78xA-jx_LDrQgzQsHdDWXAtl8U34z4AunPJu2RSlASbNbyFEsgxUQKdTa6u20e7PONrNE3-T4QQe-Xqt69Hd5K06sGbEshQinpJyTL-RcgLA48Iw8sY740n-XqmyjjwVwbCN8dPeMysiApLnS8mEP3_GOwKtYe9J6atxUmdsGJLB2Fj_91ex10p5EZjapYd8TWYNsfOIffh5oEB9qFs7DwYTL0zg9lWKjYeT0ZyNZa4G8867Kc5L3sfGPb0PpEeT8U6euDf0aRkSspwbtdgmVYSGRhhqFFGncP0ngoIQEXtvJmiwzrH2LnlX4rD_Xk74TgR5zlfM63k4TqGdWMlDMv4zzxSARRNbaJIYUNGgzD9MkA9n4TaRrLmcsBkxDy6fLrVIaL_T-5dqJyFS30MN50qaFvF0tCBEfEtcnvxA4EOJAJWmOVIpGX0l8gb3QNPpzeB7sq5F5Ti-kAmJbavC3N59HZbngVBHYcGV4upJAPPVU83oPOYgRYfmJtJI5cTIFWCZMsn_yh0pE4bRkuuZV1rvYMpXMKlx7_lwxudCUdcSBcSxsqg4NmWMQN6CEOfpeionG0cvDLpe0SAEa1CdXGAYYSCN-XMpNCT6MfmvJn68Ngi0h9WyzGLmEjH7j5WciWQDYhPYUv98knWKP4l3o4f2PBAcmqNAUji6vwcQEOSWT1ckLoGtfGXh86PDgHJnMlQGDY61DW1ygZBGMrV73tJ1c92fDbzIOaMNZbkISJY2flDsx8AXkLqtr0bU=",
  "id": "rs_033b40766fed2a73016ab476cdf44887d0a791ad03f3bf928b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.412,\"left_y\":-0.205,\"left_z\":0.035,\"left_gripper\":0.8},\"note\":\"The bottle stayed on the table, so the first body grip slipped off its end. I’m moving the jaws farther along the bottle to capture a broader section.\"}",
  "call_id": "call_zydrKMtFzwYZcVm40ttwWFgC",
  "id": "fc_033b40766fed2a73016ab476d1d97c87d08f96a2a69fa8597d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zydrKMtFzwYZcVm40ttwWFgC",
  "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]: [-0.6849, 1.8809, 0.799, 0.3103, -0.5861, -0.4477, 0.797, -0.0212, 0.7647, 0.5911, -0.4416, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3928 left_y=-0.19 left_z=0.024 left_yaw=0.0277 left_pitch=-0.0595 left_roll=0.0479 left_gripper=0.797 right_x=0.2829 right_y=-0.0001 right_z=0.1693 right_yaw=-0.0008 right_pitch=-0.0439 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.8137, -8.0889, 7.2684, 1.5556, -0.0073, 0.022, -0.1636, -0.6222, -1.5521, 7.0496, 2.0293, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72068814c92455c7461ac678cea345c6c08e812e5fca78bea792db6dd91dcf9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef4efe56b94004bdc53fa2e48fe96f1b1054c53272a0824eff93c014390d2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fc1da812327a902ea190649e89f9fe59e41d98a1d4f7382b6fbae59b76f0f5",
      "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 14 attempt 0 · /responses · status 200 · 2.763 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 42 changed as sent

message 49 changed as sent

message 53 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7544, 1.7634, 0.7361, 0.2581, -0.6319, -0.4755, 0.797, -0.0212, 0.7406, 0.5449, -0.4191, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.3664 left_y=-0.1962 left_z=0.0447 left_yaw=0.007 left_pitch=-0.0356 left_roll=0.0472 left_gripper=0.797 right_x=0.2789 right_y=-0.0001 right_z=0.1592 right_yaw=-0.001 right_pitch=-0.0435 right_roll=-0.0059 right_gripper=0.9984\nstate[joint_eff]: [-0.7726, -7.2547, 5.0393, 1.5409, 0.2125, -0.1441, -0.1441, -0.5949, -1.5248, 7.0769, 2.0244, -0.1099, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.211, 0.7258, -0.268, -0.7002, -0.5854, 0.3877, -0.0193, 0.7948, 0.6403, -0.4652, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2969 left_y=-0.1703 left_z=0.1577 left_yaw=-0.0015 left_pitch=0.0106 left_roll=-0.0245 left_gripper=0.3877 right_x=0.2874 right_y=0.0002 right_z=0.1789 right_yaw=0.0008 right_pitch=-0.0485 right_roll=-0.0063 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -4.3829, 9.7026, 1.4579, -0.4615, -0.1978, -0.0952, -0.0479, -0.8137, 10.0581, 1.8828, -0.0464, 0.0659, -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 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6849, 1.8809, 0.799, 0.3103, -0.5861, -0.4477, 0.797, -0.0212, 0.7647, 0.5911, -0.4416, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3928 left_y=-0.19 left_z=0.024 left_yaw=0.0277 left_pitch=-0.0595 left_roll=0.0479 left_gripper=0.797 right_x=0.2829 right_y=-0.0001 right_z=0.1693 right_yaw=-0.0008 right_pitch=-0.0439 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.8137, -8.0889, 7.2684, 1.5556, -0.0073, 0.022, -0.1636, -0.6222, -1.5521, 7.0496, 2.0293, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72068814c92455c7461ac678cea345c6c08e812e5fca78bea792db6dd91dcf9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ef4efe56b94004bdc53fa2e48fe96f1b1054c53272a0824eff93c014390d2ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05fc1da812327a902ea190649e89f9fe59e41d98a1d4f7382b6fbae59b76f0f5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbXbNO70pAVvvJrcIXRPYnlJSptw7Ffr1M3badvKtmUASIZiHL7Y7f_n5gGeL-syAq4xMAEPDd22U3UHPw0f2V7ry8mx-UHvVQnMB8GYYtkcrPgBFmWLGq0-2siUkVfgnomOnM4vsHSlXNgley78_xCMZXR8qaW8fdS5XiTd8HVmUxdtELxvQLFGS5CZE5QT0paYHl8aR04XqDAkORn_jptp0HNsND8qzVjv4jGiBXok-51L4J-WZqd3ZrNX_nPuQOo7HqcpGWEbDm8TZhmhv61maC4IwrSu6yH-Ik004n7xzKuqQDc1suR4MsB35Usxcl_N2n7zHnPp2NVJ2u0agopxph2GOABicufD0PnHXGPZ43RRZBISYtWLO-7ChWWhlq19CKIpGN1IssTvXGp0mU0UhMZCZTg-TOucHewjnoR34M8iISWs0XjTNCH764qh5tEd7cFjN7BRlJuFGVncv5l6MuYM9JROYk-TrDjm9NDxc1cFbqzErrH0Cb3_nCbcyvEQinMmwStSQjSfJwiNeXuS8dSa4wysCmk08IA65SEhBzh5V1jkzkCryxXuC36_SNJ5pt_kCYidbuN_jYKxjmwBfKLtadwWroG1JH-SDsrJ3qDxqYptUIz5108NETYad24cNIVljqpiXxwi0YXKVIv6faa1SwrL6Na0ziaXjtTspTQhbsxmPHNA_5e8lM4Z-twMGDwhJuO5YTvHdV5kdLTuYOmyQAMh7hwFS7DjRjkAW92XJ_rGomZsi1zeIos7IYljpeVqFYp-kUaHMakTrojWoVcIdCcbeQGDlcIXOlqNlW3h1jozJ5aQRl5ne-Ll3Uj-V1s4v98BRev6joEm-2GXAOz4YBtSaAmd8l9iLOlA21x9pt_XweCp7AzjvwAX3ALIt1D8NW2QCWjaLx8jOwiyqCZFTpJw2DYLlL2GLbwY8vP9-7g_PK4fhJL6HuhLYPDuV_ii2eLuJQBGfNc0DwuIBuTVcaEfOE5OhHVkX3zXWNQSF3odw2kKYKueqaj9cbJyVePIs8wLCacgLW6AltvQNcEF2pNtM-pHyPQ6hps_SZJYPNjBZBl6ilNaVBJD55Wq3f6PrfP2kHY6cO_wolfILTqwAZ5qPhiEN7FIUaoNNyW6cAJV-pNt-nOjdjF5v5IMIt_2O2JNzgFE_W_4KlG7xj4vYGwC91TiIlzzq2bCHvT76XLKeM5p7M96tRFgVZW35C4pTbkXXHp288Jm0He7w==",
  "id": "rs_033b40766fed2a73016ab476d5d92c87d0a33fededc736ce3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_x\":0.408,\"left_y\":-0.208,\"left_z\":0.024},\"note\":\"The jaws now straddle the wider middle of the left bottle. I’m closing firmly before lifting again.\"}",
  "call_id": "call_mFM9zb2V7OL3OnaagLtk8bi6",
  "id": "fc_033b40766fed2a73016ab476d61c6887d0887e0f839c70ca71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mFM9zb2V7OL3OnaagLtk8bi6",
  "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]: [-0.6941, 1.9381, 0.812, 0.4129, -0.6083, -0.4564, 0.5412, -0.0212, 0.7383, 0.5488, -0.4198, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4028 left_y=-0.1993 left_z=0.0225 left_yaw=0.0387 left_pitch=-0.0057 left_roll=0.0133 left_gripper=0.5412 right_x=0.2792 right_y=-0.0001 right_z=0.1614 right_yaw=-0.001 right_pitch=-0.0382 right_roll=-0.006 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -7.3504, 7.2137, 1.536, -0.1197, -0.0611, 1.033, -0.3761, -1.4838, 6.9265, 2.0, -0.1343, -0.0024, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2004e47da7443216c6c1245997b7073478577783bf6cb597b470185f736134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cabb3dc00982e06c53d10d0d9502851e609f29adf2499f1056229958974c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd63b22e854f8a6f7c17f97b11588d0ef919d80640b3a709de54b6e7c957855d",
      "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 15 attempt 0 · /responses · status 200 · 6.177 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 46 changed as sent

message 53 changed as sent

message 57 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.757, 1.805, 0.688, 0.4782, -0.6533, -0.4801, 0.3885, -0.0212, 0.7132, 0.5045, -0.3992, -0.0132, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3754 left_y=-0.202 left_z=0.0496 left_yaw=0.0244 left_pitch=0.0676 left_roll=-0.0378 left_gripper=0.3885 right_x=0.2752 right_y=0.0001 right_z=0.1519 right_yaw=-0.0005 right_pitch=-0.0366 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.1026, -5.0803, 3.412, 1.1746, 0.0562, -0.0952, 0.4029, -0.759, -1.2923, 6.8444, 2.0195, -0.1343, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6849, 1.8809, 0.799, 0.3103, -0.5861, -0.4477, 0.797, -0.0212, 0.7647, 0.5911, -0.4416, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3928 left_y=-0.19 left_z=0.024 left_yaw=0.0277 left_pitch=-0.0595 left_roll=0.0479 left_gripper=0.797 right_x=0.2829 right_y=-0.0001 right_z=0.1693 right_yaw=-0.0008 right_pitch=-0.0439 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.8137, -8.0889, 7.2684, 1.5556, -0.0073, 0.022, -0.1636, -0.6222, -1.5521, 7.0496, 2.0293, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 1.9381, 0.812, 0.4129, -0.6083, -0.4564, 0.5412, -0.0212, 0.7383, 0.5488, -0.4198, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4028 left_y=-0.1993 left_z=0.0225 left_yaw=0.0387 left_pitch=-0.0057 left_roll=0.0133 left_gripper=0.5412 right_x=0.2792 right_y=-0.0001 right_z=0.1614 right_yaw=-0.001 right_pitch=-0.0382 right_roll=-0.006 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -7.3504, 7.2137, 1.536, -0.1197, -0.0611, 1.033, -0.3761, -1.4838, 6.9265, 2.0, -0.1343, -0.0024, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2004e47da7443216c6c1245997b7073478577783bf6cb597b470185f736134",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cabb3dc00982e06c53d10d0d9502851e609f29adf2499f1056229958974c0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd63b22e854f8a6f7c17f97b11588d0ef919d80640b3a709de54b6e7c957855d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":0},\"note\":\"The grip now spans about five centimetres, consistent with the bottle body. I’m lifting and pulling back while maintaining the close command.\"}",
  "call_id": "call_0Q7T1m9cM2gVNzssn3dblDxN",
  "id": "fc_033b40766fed2a73016ab476d9a77487d0b8cd9e246a64a1b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0Q7T1m9cM2gVNzssn3dblDxN",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.3193, 0.7082, -0.2855, -0.6476, -0.5961, 0.5411, -0.0212, 0.717, 0.5129, -0.4011, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.2915 left_y=-0.1741 left_z=0.1116 left_yaw=-0.0251 left_pitch=-0.1125 left_roll=0.0498 left_gripper=0.5411 right_x=0.2762 right_y=-0.0 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -7.5145, 12.5333, 2.1123, -0.989, 0.0513, 1.033, -0.5538, -1.1966, 7.1316, 2.0195, -0.1197, -0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194efdce344cd42dcae27f338a069fa0831241846f8cbd2ccfcf4b1887a7a5da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee86b2936cc98f210cf8c29194126969a256384912acfcc0af29e321bc7ecfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1270fcef2c76063a63dd8a241d70cfe153330127910fffc4c567ea2f564ce1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.753 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 49 changed as sent

message 57 changed as sent

message 60 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8711, 1.211, 0.7258, -0.268, -0.7002, -0.5854, 0.3877, -0.0193, 0.7948, 0.6403, -0.4652, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2969 left_y=-0.1703 left_z=0.1577 left_yaw=-0.0015 left_pitch=0.0106 left_roll=-0.0245 left_gripper=0.3877 right_x=0.2874 right_y=0.0002 right_z=0.1789 right_yaw=0.0008 right_pitch=-0.0485 right_roll=-0.0063 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -4.3829, 9.7026, 1.4579, -0.4615, -0.1978, -0.0952, -0.0479, -0.8137, 10.0581, 1.8828, -0.0464, 0.0659, -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 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 1.9381, 0.812, 0.4129, -0.6083, -0.4564, 0.5412, -0.0212, 0.7383, 0.5488, -0.4198, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4028 left_y=-0.1993 left_z=0.0225 left_yaw=0.0387 left_pitch=-0.0057 left_roll=0.0133 left_gripper=0.5412 right_x=0.2792 right_y=-0.0001 right_z=0.1614 right_yaw=-0.001 right_pitch=-0.0382 right_roll=-0.006 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -7.3504, 7.2137, 1.536, -0.1197, -0.0611, 1.033, -0.3761, -1.4838, 6.9265, 2.0, -0.1343, -0.0024, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.3193, 0.7082, -0.2855, -0.6476, -0.5961, 0.5411, -0.0212, 0.717, 0.5129, -0.4011, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.2915 left_y=-0.1741 left_z=0.1116 left_yaw=-0.0251 left_pitch=-0.1125 left_roll=0.0498 left_gripper=0.5411 right_x=0.2762 right_y=-0.0 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -7.5145, 12.5333, 2.1123, -0.989, 0.0513, 1.033, -0.5538, -1.1966, 7.1316, 2.0195, -0.1197, -0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:194efdce344cd42dcae27f338a069fa0831241846f8cbd2ccfcf4b1887a7a5da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ee86b2936cc98f210cf8c29194126969a256384912acfcc0af29e321bc7ecfd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1270fcef2c76063a63dd8a241d70cfe153330127910fffc4c567ea2f564ce1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbhYtQUAJJxK3CGSWikZmxGhAW3TutG6fT2SGT5NP_bkQZoQzw-kNs6I9eYdxbLSYHoenRf20P7e1Kfrx2lt1ytR5AKBvcXssMTIP_POAo2m5T3NzXjTnzcCxYz9UERHm8qwLccebsBHQitPIyykSwXe-GLV6tVVcN2Adq7hvfCY6WEoXkHFb5y6Opn6vdsrBcgriUmgeBORhljMakNk6uayBkRIZc5Zx4qW0KuXwYfcJcPvQGhShzGpmDkJaYGRSsqYT4NrdjRbQNvk-vBRE8EBXbFFkAd1FUWIEJPc_0LsnwXPmWjgdwZRj5wf6JkLOqP84OEBb4PgwcEHcoGYitm3kqtogHzMs1HWL-sg5wC090W4uBJ2xlgtTm6tt3xjO6KSdCFMSO_K-4ycdifTJ_MSeT7obmHxA7FSKpIrVBiBNrv3YKaPB8FA45xBvIu82HCTp0Pu-vgMGb2---sJBaRLVIhcGQBk3yhfvZKpUy18xB3v6NqJK8fHn4lmccKcTnpgQwoRrIBewkAl7Shfsal6bWzhIcBPgmZkvhtO0a7g04VgLrfwgrK7q5CDLB0-yFpI2puES9X1AxY8JaLc9oi2FFzPUcpnQdH9MRZJpxjqIgB8Pr05w7G_AhW1yR1JcQtw8kG4PM7sj2ED5k02uoFFXfu7WiPYfTIPsLtqBrJVfT0NmrHcekvAapZglbEjgt-LgOP7BIWGjg5_OE8d9fPtdAcFLM9WpPubcQ6BSVMd_rZxcJgqTrO1PclEyBNvhrqfaaoScxxN6A3GwXYE2ueqgAY2UcBdQyZNAlIMSshxjzroV3oQU4DQpnz3K8H9lDnY1IdhoydDSD9z5y3NsDwUSm-1RlKS_-0FnPQEtD0cnjGgmLJSAAIUyWd3XtBnsKcz2hWoyfmg3tiNWHXAtk80H8C9dH68G5V3s5z7HyinkPLQbrU5WPTVTouV1GbF9WkMQ-G_KUSKwRdyhSk8PvcRyuQBGjtNCm1xDsTDegp6n26aJ5nqgQonWbZGhTW-2sXnXARsHA03ZAqgvzfdhupqXe74IocBbMz76xboc8hwpaSxDBcVBQjMzz-CWe_YmQDDUHoUDqNCDtmknizxEbNzkI75KFy-5fZZGSe68uKwtSVhi1dRCxzgnX773t8FedyMe0AKlyE3uBxhZ_HzULI3W1eAsPX9_TiatKcwmZdeLfzjL-WsbJ_-9vqpbDKM5-vbg5msGsrL7aDg3p6RuxPSC3XqbqYLE1Cd_r_qkzzaR_22nuSfz0GzG_-s6k5oVwytGlK0sCJNbTFt2iGHlRHAL0mnRyHMu6UTTLkAwnVSVmo-nwWf13qoA0QECzYquT3VTLiZFO2OzCyaR48ArowssRSBiLoPf4HPcXHIFO5EVyfAUAy5BVlBXQ4rcO91HHqRElF2ivddd_U4swQsQc6I87nO4GaCGV33zw-jZ3B1Vq5Yfs4PFYw2WvJKeGNjOkLuqrEHkhY_crn23cTDzckQCHaelTxdyGFIeDoRuoBBSv9Rhk7Ne_YAUNkuDdhC4Gou1luxupB0R70tZYqAKRBldMcTUkLNxcLuheFTMJAyWCcb9sd3bSYDIorso8JZ4I9QAquLFJ7PMbApiAgR0jVUY1E9mduM6p_76VhvVIcvKQWgB5GSr1UcOEOwlzq3toqDgpLiI8XzAN0UTidcGoysuOQxPVaLlxyQeF6c9DEOYGlxOf_CdIZmJQ_OEGXy8HijB4hBIY06v99I82iucb-VIkzBXmCfzGEDjjFDvxl8fVQeLFeGyjLYe4TwPQ4C9e2KkHJjmv5UIQq7aMakwXs9mlLi04MuL8Yt1qcOTSiPNq0wyLdJmJnMJOMyg3AxB2zuQtA0yAqTDnxvzGgWp1wHH3iaL0sbjpxT_8mqVNp4zktOK3an8Qoqg5okMlVuVAKxQGJluURRq1Y-QlOHozBtG31arlZAk_UBvQoGpNfH52dZt84X2ZqBHjtphH_nSTOvQa8jie3BZ2IDxTah1dApRWlsTOEYpZ2ycGFuNDtUZUHDrLMkpxde-ghg_sgshG3CWgxVkBllwm46Jng_0hpBQ==",
  "id": "rs_033b40766fed2a73016ab476dd483c87d0b1be2ecdffbe9d25",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.24,\"left_y\":-0.075,\"left_z\":0.035,\"left_gripper\":0,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.2},\"note\":\"The bottle is following the gripper now. I’m setting it down closer to the left base, where its cap will be reachable for an upright lift.\"}",
  "call_id": "call_5qJI5D09XHmS4VaARqIQSFmZ",
  "id": "fc_033b40766fed2a73016ab476e0786087d0ae7a0eb2d5f81350",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5qJI5D09XHmS4VaARqIQSFmZ",
  "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]: [-0.7147, 0.9169, 0.0521, 0.0956, -0.5617, -0.4545, 0.541, -0.02, 0.7979, 0.6411, -0.4725, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2316 left_y=-0.0716 left_z=0.0214 left_yaw=-0.0168 left_pitch=-0.0687 left_roll=0.0279 left_gripper=0.541 right_x=0.2867 right_y=0.0 right_z=0.177 right_yaw=0.0001 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.212, -0.5265, 7.1316, 2.0342, -0.2076, 0.0171, 1.033, 0.0342, -1.0325, 10.0308, 1.9609, -0.0464, 0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8de840104bed8a0ddaf6d9caa870a8fcac9ded5fe85dfe22617d4c46c81bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041d8166b1ecf02b7b6a46e6aa8976b5e142715b13fa72601b3ed6adc0ad9f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037b14253023d72080b536c971ce1e44365381ccaee018eec90b8c1339d1130",
      "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 · 4.751 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 53 changed as sent

message 60 changed as sent

message 64 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6849, 1.8809, 0.799, 0.3103, -0.5861, -0.4477, 0.797, -0.0212, 0.7647, 0.5911, -0.4416, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.3928 left_y=-0.19 left_z=0.024 left_yaw=0.0277 left_pitch=-0.0595 left_roll=0.0479 left_gripper=0.797 right_x=0.2829 right_y=-0.0001 right_z=0.1693 right_yaw=-0.0008 right_pitch=-0.0439 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.8137, -8.0889, 7.2684, 1.5556, -0.0073, 0.022, -0.1636, -0.6222, -1.5521, 7.0496, 2.0293, -0.0952, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.3193, 0.7082, -0.2855, -0.6476, -0.5961, 0.5411, -0.0212, 0.717, 0.5129, -0.4011, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.2915 left_y=-0.1741 left_z=0.1116 left_yaw=-0.0251 left_pitch=-0.1125 left_roll=0.0498 left_gripper=0.5411 right_x=0.2762 right_y=-0.0 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -7.5145, 12.5333, 2.1123, -0.989, 0.0513, 1.033, -0.5538, -1.1966, 7.1316, 2.0195, -0.1197, -0.0171, -0.0171]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7147, 0.9169, 0.0521, 0.0956, -0.5617, -0.4545, 0.541, -0.02, 0.7979, 0.6411, -0.4725, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2316 left_y=-0.0716 left_z=0.0214 left_yaw=-0.0168 left_pitch=-0.0687 left_roll=0.0279 left_gripper=0.541 right_x=0.2867 right_y=0.0 right_z=0.177 right_yaw=0.0001 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.212, -0.5265, 7.1316, 2.0342, -0.2076, 0.0171, 1.033, 0.0342, -1.0325, 10.0308, 1.9609, -0.0464, 0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b8de840104bed8a0ddaf6d9caa870a8fcac9ded5fe85dfe22617d4c46c81bb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:041d8166b1ecf02b7b6a46e6aa8976b5e142715b13fa72601b3ed6adc0ad9f1b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5037b14253023d72080b536c971ce1e44365381ccaee018eec90b8c1339d1130",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbmCpqqBFYynJoxswscbz_dZHubUNQ2yOHhm3PWDErFkK58NOKNtGKn0ROh_1sIbg5uFO-5maWi9bUVDJ7pC_jU9H-KFOhjk0kL_cfAlABlpU0LpZUzbR6eLEChqt0lPMAZK78_NnSqkb3oOojOb-a_btmX_xm4dAvfYacekrNpSEsbYhzux7p3VC_JFUCUODpz2e66UgTa-OrX-FS4gJq20R3XqGZOrlj3TSlyawzwtOFH3zr_iTgWD90wl-QpmzU4-xz4ujfxF68PRQKKTI2snt4-X20B72SIXb9ujIlUYjWm8NLwCJESTd3zjfGOBHcjkRShuZISUd3BbAb2bChPfp63BzeKu_kc7gEtDh_Ma9KtrCKTbNPdlQIJprmWc_c2PSVrI4PGtPPjLgYyE_nab2Pkq-jWTG0Zj_4o4EA5ZRgmWXzDZ0N-WToUWBDHZ-SLmPolyWC0SJvuAVT6--b3tZRSizRTDNbtiTmdNrZbH3JF8PI6tJ0L7RrOk1GISXySvW2E0aY3cekahwANaUz1lJy_ioc7KsrfpSYS2uI25ekIQK1mfNJb2Y2AIr_lWAx7cZpiwHmPlcChJ1KFLxdsIA_75v8WmbTkeg7CZtXiRDH-GUnycqiGToWKOUqIwwnYXSTzXHjWkr16qWFHj0LxZxlwbwnfwtBQMLYPUNWh5PFjqnpiLr4BOl3vlYPA--9zPnHBL1zqd-jcjsfAv98c2_wRr_5169SC7fSbGKJ3tGIz2jMmOf06FshC-HtKfEE7ohkbVUHS6j50LvhDtq26WVj_sp7P5KIjfsnBeO3Ma9iVntMGDa24nFLGWCU_2TgQ-TSixMYMM41iGnAfaNDiWqErKefRoJUsy3TOVOrHR-n0r9neCXppq9r2zNdMSy_zO5Xh1YK8fjRAs57TSGZVNDsd7LYc5t8uMUTFz_qiZkb98YSb09ZOaPsuz-Y4YMVNaJNCIr_hJl5TveL6jgo7jgoxv_7haUIN9oiTGzYbpRNcUMC4q9FLknjlalJ8ShQ3KkfYMlkFeyN249RFNBaNovw9xNELdJtnZe0LKAtvsZDHz2mTrV_8BWqrxxlL106bPo4jKw-p5nZaOumtxgWdWZziZqbDBqYMGA4GwlAkDbKmLGwW9UhNk66NnXX2MAM-83EXvUhhpDZUgOlIPofhhOWlT4myNm_KHwmxE7nVzIwrsNf4hffb3o9dvDkmIYvWHfQMkKcWkA-AnbGIqgb4gNJ8-9wXsm5coQCLO53e6TloLYW9adRvKLKX_7VY607zWQXUqAwbh2zwL_zpQY9hjnAfaBrHnQ-yOlIv0XXmBItRNIQDDF0UlpGLNyJ95gcPvuoEK6AQCAS2fp3T5RmfwyZ_L8MQNzYiNWeZs2rH9-VV8KvKliFjBt4UtRuJt_yW",
  "id": "rs_033b40766fed2a73016ab476e41f7487d0869d7fd3a540354e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.75,\"left_x\":0.365,\"left_y\":-0.08,\"left_z\":0.07},\"note\":\"The bottle is resting in a clear area on the left. I’m releasing its body and moving toward the neck for the standing motion.\"}",
  "call_id": "call_d4qnOwApC3DxjflkFFdJ1XOV",
  "id": "fc_033b40766fed2a73016ab476e4f57487d09f18afb31541e1e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d4qnOwApC3DxjflkFFdJ1XOV",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3702, 1.4258, 0.4213, 0.387, -0.3199, -0.2344, 0.7485, -0.0212, 0.7609, 0.5831, -0.4412, -0.0128, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.3551 left_y=-0.0744 left_z=0.0612 left_yaw=0.0135 left_pitch=-0.0207 left_roll=-0.0015 left_gripper=0.7485 right_x=0.2817 right_y=-0.0001 right_z=0.1668 right_yaw=-0.0008 right_pitch=-0.0477 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [0.7453, -4.547, 6.6667, 1.7314, 0.0952, 0.2466, -0.105, -0.6632, -1.6342, 7.1863, 2.0928, -0.1099, -0.0171, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2af792407167c0a22885a8a66e16034a48f32359970bec64d713ce333513b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dd86646c35453c0ac7e2e2dd0582418404f729f08d68c3ab23c931515febff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b54721f388a45b693929acfc3a7f11a1488ad8df4534712a56890ee8b312abc",
      "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 18 attempt 0 · /responses · status 200 · 4.6 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 57 changed as sent

message 64 changed as sent

message 68 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.6941, 1.9381, 0.812, 0.4129, -0.6083, -0.4564, 0.5412, -0.0212, 0.7383, 0.5488, -0.4198, -0.0128, -0.0433, 0.9985]\nstate[eef_state]: left_x=0.4028 left_y=-0.1993 left_z=0.0225 left_yaw=0.0387 left_pitch=-0.0057 left_roll=0.0133 left_gripper=0.5412 right_x=0.2792 right_y=-0.0001 right_z=0.1614 right_yaw=-0.001 right_pitch=-0.0382 right_roll=-0.006 right_gripper=0.9985\nstate[joint_eff]: [-0.6496, -7.3504, 7.2137, 1.536, -0.1197, -0.0611, 1.033, -0.3761, -1.4838, 6.9265, 2.0, -0.1343, -0.0024, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.7147, 0.9169, 0.0521, 0.0956, -0.5617, -0.4545, 0.541, -0.02, 0.7979, 0.6411, -0.4725, -0.0124, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.2316 left_y=-0.0716 left_z=0.0214 left_yaw=-0.0168 left_pitch=-0.0687 left_roll=0.0279 left_gripper=0.541 right_x=0.2867 right_y=0.0 right_z=0.177 right_yaw=0.0001 right_pitch=-0.058 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [0.212, -0.5265, 7.1316, 2.0342, -0.2076, 0.0171, 1.033, 0.0342, -1.0325, 10.0308, 1.9609, -0.0464, 0.0415, -0.0122]\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 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3702, 1.4258, 0.4213, 0.387, -0.3199, -0.2344, 0.7485, -0.0212, 0.7609, 0.5831, -0.4412, -0.0128, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.3551 left_y=-0.0744 left_z=0.0612 left_yaw=0.0135 left_pitch=-0.0207 left_roll=-0.0015 left_gripper=0.7485 right_x=0.2817 right_y=-0.0001 right_z=0.1668 right_yaw=-0.0008 right_pitch=-0.0477 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [0.7453, -4.547, 6.6667, 1.7314, 0.0952, 0.2466, -0.105, -0.6632, -1.6342, 7.1863, 2.0928, -0.1099, -0.0171, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c2af792407167c0a22885a8a66e16034a48f32359970bec64d713ce333513b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7dd86646c35453c0ac7e2e2dd0582418404f729f08d68c3ab23c931515febff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b54721f388a45b693929acfc3a7f11a1488ad8df4534712a56890ee8b312abc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbs9kdsYIto5OnKdWcv06V2IfEGEdb3wYyBQYda8x_wTBEsJOan_JbuPP-O3DtG-LXUYOqnwZ8J9bci2m9dN_nuqLb0VDB4v0ARq4uo2ZfKQ0Yz5wgbmmq1ABR7cbJnKgSTw3DvEFBB9_HoYaCUy91n1_545_GySJMJ4aLpDc0bpJAAMUBB-VydvqZ1JRY9G27_gaXCZThpzhR5RnPABOWaAiq63dFBUreDAksXhwgrTOaQwWrgjHoly8cedWMrcKA-9dfheAJkISENkPymL8aGEl-IdbZdk_J3yu-D2zPpt3qxVulcWUZcGeFk5TLuCJGySQx8Kad-g_jMd8DP2oHUp9D6XzqpRXqmmRe159mjl3Tn5y81StCdM5vfbKhvnAZSF_iBS9l8PdqtKLMrPyqc-p0OKHKTcoFms0Y63_zGbwZh4MmNgQjuIfT2irsvWQXfPKQ_FiYNGEGjTZ_g1Sz8BgYMiM4W31-2neC01lvSNQFCJvqVG2Z47fQJec2yQ_V3T_TR061Gmg1CtMT4g9uJKlB_z3LiXTDtEfvBIysfjCVcDigdAkWt96simkeb8GCTcKhciKOtcNGdbDf9tEAZkSFWCp0GxTJ9SxFG-uHhPXzC-7-d48xvfrrzp5QjNQ3fpTd8ea2b_9f5pSywzBGsIy4VWWZjrOOr1AbFpYH2KC76FxaPmmY_5mxm6KmfMGjWjyA93QXXkTm6rPaC1ak7wi1cyHNiB08CrdmxP3G4FogT-h0vvRntmHd26rYdTDA4CDiBTUmKH5n6C04fNfsLo6xTL5qb7B69ZrwKC0hoWcTLLxHkFQMLjGrmaL_xUf4cR_RUzor9su3nTcTTb6nr8T57EjKpe4LRFIDgGwS_kGWOWA91elAFxK8qds9_dE8V_62mN2hb6q9TxJlUEc7e7jUgCowK6_KuVV0hM248sNeT4kXxrlE_S4VUYlEesRTzoG-DDUgl803lZuIesT04jnAMBC43KGIzJmpM90W1TMIGx4M8sJT3rIvIqt327bNxBJGKzEhNHJeclC_OFhaxL7qOWW_J_HnL6YxzypNAOpk0DHw7ll6PHl2fvkV3OGCKFAjiyOGFNX8iJDkDHzI0vajKZNzFIggY8amf1zuKL1lib466jA5gZYQiIf77GA6ZrliYtR6CHssZp5emY0B_HZOx0jOvFwYb2vGgCcbvK4b8s6MyjKf_F9mo-WiOii5SUYpdsOKOSZK1-Rb7JMiPF3I2UNHMByvdDu4u0ILqvVWJ6EcyFP6IFEcEB18FGkWPeb1f_nIo3uOZYDZUHzlhg73uOHvEUYln2f_ZabruQtcezypHIKuzCOgPtm7d_YrrJyy07t3wwuyHiu3dZTxlBP2SNfDFZjDvlzXj5YtZOr1meZFgyrePo6pJ_xPsToTMAJW1Hg70gH8ZHvL3fgIvCelEdF9jUhUo93TOOdb9n-YEdifszFfyBMMUE4rT8XJW1XSzuJEeWcDg5-0VK2_kN4l6Ldd5zZJxqJeQZFBcBDzRLSugt67q2PXcHHEYwOBZEIbQz5dVYe5K_fIgK3wLTeLzBnt_4oTxUT3rbSWfHDlhPGYnXll0CUQEuO_HwozP3kzKwE225UTO92-c_UXwDvrTwFdJvhvKppXulL_8Jvkbe6Kt9Hl2fq2zAhgx1rILSFKpFt9kgWOCHGRSRae0kxzJMRoXp71WtGtl62MG5FjmlYEgBcS7a9L6RizNOEh0",
  "id": "rs_033b40766fed2a73016ab476e9014087d08fab6b01a8e4a709",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.07,\"left_z\":0.045,\"left_gripper\":0.75},\"note\":\"The bottle slid forward while the jaws opened, so its cap is still ahead of the fingertips. I’m advancing with the jaws already open to align directly at the neck.\"}",
  "call_id": "call_meeI4lRrwaq1QJJDl6XTP37d",
  "id": "fc_033b40766fed2a73016ab476eabe7887d096dafd543fe6f9d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_meeI4lRrwaq1QJJDl6XTP37d",
  "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]: [-0.2523, 1.8099, 0.7109, 0.5018, -0.2432, -0.1825, 0.75, -0.0212, 0.7311, 0.5377, -0.4194, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4445 left_y=-0.067 left_z=0.0419 left_yaw=0.0399 left_pitch=-0.0162 left_roll=-0.006 left_gripper=0.75 right_x=0.2774 right_y=-0.0 right_z=0.1583 right_yaw=-0.0008 right_pitch=-0.0416 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.6222, -7.3915, 6.3111, 1.7656, 0.0073, 0.232, -0.022, -0.5812, -1.4564, 6.8855, 2.0586, -0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf93846f61d16da22a1a3ed47d1480d71fa535d6e82a4bf341e6e4feef73ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65946579cab3d86652edf44d63953c36d34d23087ca9ffb178fcca2bb076be6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e7688f43264325526da754c5b8be5d1cc46e60f32392e106c9874cb01e7efd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.009 s
model
gpt-6-astra
effort
high
temperature
n/a
tool count
3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.8688, 1.3193, 0.7082, -0.2855, -0.6476, -0.5961, 0.5411, -0.0212, 0.717, 0.5129, -0.4011, -0.0128, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.2915 left_y=-0.1741 left_z=0.1116 left_yaw=-0.0251 left_pitch=-0.1125 left_roll=0.0498 left_gripper=0.5411 right_x=0.2762 right_y=-0.0 right_z=0.1544 right_yaw=-0.001 right_pitch=-0.034 right_roll=-0.0061 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -7.5145, 12.5333, 2.1123, -0.989, 0.0513, 1.033, -0.5538, -1.1966, 7.1316, 2.0195, -0.1197, -0.0171, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.3702, 1.4258, 0.4213, 0.387, -0.3199, -0.2344, 0.7485, -0.0212, 0.7609, 0.5831, -0.4412, -0.0128, -0.0437, 0.9985]\nstate[eef_state]: left_x=0.3551 left_y=-0.0744 left_z=0.0612 left_yaw=0.0135 left_pitch=-0.0207 left_roll=-0.0015 left_gripper=0.7485 right_x=0.2817 right_y=-0.0001 right_z=0.1668 right_yaw=-0.0008 right_pitch=-0.0477 right_roll=-0.0061 right_gripper=0.9985\nstate[joint_eff]: [0.7453, -4.547, 6.6667, 1.7314, 0.0952, 0.2466, -0.105, -0.6632, -1.6342, 7.1863, 2.0928, -0.1099, -0.0171, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stand all three bottles upright.\nstate[joint_pos]: [-0.2523, 1.8099, 0.7109, 0.5018, -0.2432, -0.1825, 0.75, -0.0212, 0.7311, 0.5377, -0.4194, -0.0128, -0.0437, 0.9984]\nstate[eef_state]: left_x=0.4445 left_y=-0.067 left_z=0.0419 left_yaw=0.0399 left_pitch=-0.0162 left_roll=-0.006 left_gripper=0.75 right_x=0.2774 right_y=-0.0 right_z=0.1583 right_yaw=-0.0008 right_pitch=-0.0416 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.6222, -7.3915, 6.3111, 1.7656, 0.0073, 0.232, -0.022, -0.5812, -1.4564, 6.8855, 2.0586, -0.1294, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abf93846f61d16da22a1a3ed47d1480d71fa535d6e82a4bf341e6e4feef73ee1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65946579cab3d86652edf44d63953c36d34d23087ca9ffb178fcca2bb076be6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1e7688f43264325526da754c5b8be5d1cc46e60f32392e106c9874cb01e7efd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtHbxrqvJDBIJVeV0IZkQCKRyr_PFYmrlZNRZYcerXYcFwI0kiVqze_GCvyXJKub28gizlZnghJ78Fu-hfgQh1UA65k8vfy6NNLLMO5N01tVTKfGZ8xvvdOvA8-9NYABkMJ5687jXIU2miKUnFkw5oiylMX1nymshJTXEHHdL7Ka9H2lBVIhADSGU9XVamDvzkUhg8Y9MBJ35VLwIKQ_KTdpY7U-jgh2-mA__ZHkUIsSow_HVL-k_Jz1AjGcmGQGpAxmCDLQyLvj-mYv8rIqzbE6skDBtQN7oBvkd3WN3F4vNEliwn922za0MnoYvdqyactfm735AiY_kqaUjkAyS_lBIs2oxXuaXSXQv1xAMOf1qcvOTrOUsKmJaSW-t7w9iipCBZsMfnzSv0vYsgaL1Mv-94m143mIx6vbuAkyrESNIRGTkf2U_AK7LboFczVukWp6_1xG8fGFrgJvU9lrAM15GGJsBTifcuPznuKJPWjVbM4-2b-UcarUJtTWMwTAMT9AGL0jyWaXIR-NNjVfk7lq95R0ghmV2hQt5Uggtbn1L-r8o4nOzt5u3igYUU32IkNFRghYICzZc5i_QnzTJXqx5w4NKyd8RkPZnD1AG1mRl2vO2DmhIqog3IiH-jKqjY5CcIl8RGWzobRXd4BRSu_M8qoAhSHf6pte9giw8PaMA-u3lhvEdOecCM62OIjes1wmbLpzFZ9PqgukNAHG9JTCTJaKyW7PVr_F7bnM3uyf_H4MYrMrw7WLK6g7A2BGY2L4WKhOlk1RB7op_PIkSy5kRe_Pti5Di0jCCSSMpaIMdFHF5Ssi2x0wgUU1i5KaCXBh8qD9HIkEdcg-kIJ3NYiDpW32dThBt9Xx4amsk4pAve_rWSjDB0rsFdBHOozkBt1ZdmaW9TOBXRq1n5IRiTSgtMTcdP47Y9YVjU48Ubh636SBcipnv2JtOW_GdRDNxx469EuQUO9iClFUsXDrpuegEv8rN5BIVGcMC7ds6jo8yo8ijeOlzVosgGzQoOKb94KhHFWxQpEw8u__Hc77q-KuXr0AAaNuvmJJrtRMw1aMFjpyfsBuNCLCrnmfVt3XSHLPhnaWFSO-bkEtkV-QmGXUc6TOKVVJM-5kLyg3W72mJnwkQG8PPMuR88pAZOzwJHzV2_EMxW0xMjj1ud5LbAH6_cgo6BsUBw7qcwHzqBeaRAFKd1cGU8a2xYe585s_e79dNxVIsDtB6BDBE6FxzT9FPCayQaIc95cJD9012xt9GYzH-FqxQ98idNaHC4wlFZeHZFKbv0mVqnjaGA5wIjuUYRecUVp6_F9XRwzMtATbN5wypsL9p3Go-Sw_F57bRj65MaeOgqCh-pypK3BprGOwF36wYYT3Zq_8tpc44na4V8mq--PiVetkkGIo1z4QnpCWAJNff_9F_mmrflnVCskTAQhp2MsZQaLBQzomW8dH28XM=",
  "id": "rs_033b40766fed2a73016ab476eee19c87d08f8fe57900bc577c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.068,\"left_z\":0.02,\"left_gripper\":0.34},\"note\":\"The cap is centred, with the shoulder just below it in the wrist view. I’m advancing to the narrow neck and closing to a loose neck-sized gap.\"}",
  "call_id": "call_ZxhvQZWo7bQ85imfftssfue7",
  "id": "fc_033b40766fed2a73016ab476f0039887d08f0b0db7ebcafea2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZxhvQZWo7bQ85imfftssfue7",
  "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]: [-0.2291, 1.9682, 0.8608, 0.59, -0.2466, -0.1818, 0.5096, -0.0212, 0.7048, 0.4999, -0.4015, -0.0124, -0.0433, 0.9984]\nstate[eef_state]: left_x=0.493 left_y=-0.067 left_z=0.0438 left_yaw=0.0662 left_pitch=0.0607 left_roll=-0.0267 left_gripper=0.5096 right_x=0.2739 right_y=-0.0 right_z=0.1515 right_yaw=-0.0013 right_pitch=-0.0351 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [0.335, -6.6256, 5.0256, 1.326, 0.0806, 0.2418, 0.8132, -0.5265, -1.2376, 6.8171, 1.9853, -0.1001, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af31784f1645d2a144e54f37407f515fdf8aa4d8ccbec811e85f5ee42a39ca88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34604ae186f76fe5938ee6212a4f0ce3579b4118e81b19c7ff0356a8752bfdff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:accd39b05c57a809bf43af66f146c3c19ed37185db9b2834658e702ad49801f4",
      "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]