adhoc

completed
2026-09-18T04:29:01.252108+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
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
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
1800
duration
278.5 s
total steps
354
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

pour the left container into the red cup, then pour the right container into the red cup

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 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: pour the left container into the red cup, then pour the right container into the red cup
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 80 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: pour the left container into the red cup, then pour the right container into the red cup
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 noteI see two light-colored containers in front of the red and blue cups. I’m approaching the left container with the left gripper, keeping clear of the cups.
move_to
left_x0.3900left_y-0.2300left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0162, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4308, -1.6479, 9.4701, 1.7509, -0.0269, 0.0757, -0.0611, -0.9094, -1.4838, 9.9077, 1.7021, -0.1245, -0.022, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.23,"left_z":0.16,"left_gripper":1},"note":"I see two light-colored containers in front of the red and blue cups. I’m approaching the left container with the left gripper, keeping clear of the cups."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left container is centered in the wrist view, with its body immediately ahead of the fingers. I’m moving slightly forward and down to grasp its body rather than the opening.
move_to
left_x0.4150left_y-0.2300left_z0.1050
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.775, 1.6466, 1.0729, -0.1936, -0.6296, -0.5098, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3837 left_y=-0.2251 left_z=0.145 left_yaw=-0.0003 left_pitch=-0.0362 left_roll=0.0156 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4308, -7.9795, 9.2513, 1.5897, -0.3932, 0.0659, -0.0611, -0.4171, -1.388, 7.2547, 1.8046, -0.0708, -0.0464, -0.0122] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.23,"left_z":0.105},"note":"The left container is centered in the wrist view, with its body immediately ahead of the fingers. I’m moving slightly forward and down to grasp its body rather than the opening."})
tool
executing move_to over 3 steps (0.3s)
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 fingers now straddle the left container’s lower body. I’ll close the gripper and check its width before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.054, -0.5991, -0.4873, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4096 left_y=-0.224 left_z=0.0946 left_yaw=0.0177 left_pitch=-0.0694 left_roll=0.0355 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3214, -9.5658, 6.7487, 1.8584, -0.2271, 0.1978, -0.0171, -0.1162, -1.0598, 7.0906, 1.79, -0.0366, -0.0415, -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_gripper":0},"note":"The fingers now straddle the left container’s lower body. I’ll close the gripper and check its width before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gripper closed almost completely, so it did not capture the container. I’m reopening and advancing 2 cm to bring the body between the fingertips.
move_to
left_gripper1.0000left_x0.4350left_z0.1000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.062, -0.5991, -0.495, 0.0133, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4086 left_y=-0.2232 left_z=0.0933 left_yaw=0.0221 left_pitch=-0.0751 left_roll=0.0347 left_gripper=0.0133 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0889, -8.9094, 6.1744, 1.5067, -0.2222, 0.0611, 0.9109, -0.3487, -1.0872, 7.0632, 1.7411, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.435,"left_z":0.10},"note":"The gripper closed almost completely, so it did not capture the container. I’m reopening and advancing 2 cm to bring the body between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe container is still just ahead of the jaw tips, and the arm stopped slightly short of the last target. I’m making a small forward and inward correction before the second grasp.
move_to
left_x0.4550left_y-0.2400left_z0.0900
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6792, 1.8599, 1.1336, -0.0921, -0.5762, -0.4831, 0.9989, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4264 left_y=-0.216 left_z=0.088 left_yaw=0.0443 left_pitch=-0.1001 left_roll=0.0442 left_gripper=0.9989 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0615, -9.2376, 9.1145, 1.4823, -0.188, 0.2271, -0.1343, -0.2393, -1.0051, 7.0359, 1.7753, -0.0366, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.24,"left_z":0.09},"note":"The container is still just ahead of the jaw tips, and the arm stopped slightly short of the last target. I’m making a small forward and inward correction before the second grasp."})
tool
executing move_to over 3 steps (0.3s)
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 bottle body now fills the space at the fingertips. I’ll close for the second grasp attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6792, 1.9724, 1.2686, -0.1383, -0.5816, -0.4995, 0.9986, -0.0147, 0.8013, 0.6086, -0.3855, -0.0116, -0.0166, 0.9998] state[eef_state]: left_x=0.4474 left_y=-0.2319 left_z=0.0799 left_yaw=0.0586 left_pitch=-0.1146 left_roll=0.05 left_gripper=0.9986 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0187 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2803, -11.3026, 8.294, 1.2381, -0.2125, 0.1343, -0.0464, -0.0752, -0.9915, 7.0632, 1.7363, -0.0464, -0.0757, -0.0122] 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_gripper":0},"note":"The bottle body now fills the space at the fingertips. I’ll close for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe second close was also empty. I’m backing away to expose the container in the overhead view and reassess its position instead of repeating the same approach.
move_to
left_x0.3500left_y-0.1600left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6792, 1.99, 1.2713, -0.1482, -0.5766, -0.5098, 0.0134, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.446 left_y=-0.2317 left_z=0.0708 left_yaw=0.0626 left_pitch=-0.1351 left_roll=0.0561 left_gripper=0.0134 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.2667, -12.0547, 5.9966, 1.4237, -0.2759, 0.0708, 1.1844, -0.1573, -1.2513, 7.0222, 1.7216, -0.0415, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.35,"left_y":-0.16,"left_z":0.25,"left_gripper":1},"note":"The second close was also empty. I’m backing away to expose the container in the overhead view and reassess its position instead of repeating the same approach."})
tool
executing move_to over 12 steps (1.2s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteWith the arm withdrawn, the left container is visibly farther forward, close to the red cup. I’m approaching its upper body from above, where the narrow section should be easier to capture.
move_to
left_x0.5100left_y-0.2600left_z0.1900left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6907, 1.4666, 1.3224, -0.7345, -0.5766, -0.5358, 0.9957, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.3588 left_y=-0.1669 left_z=0.2309 left_yaw=0.0662 left_pitch=-0.1429 left_roll=0.0441 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4171, -7.5556, 9.0325, 1.3309, -0.4322, 0.0659, -0.188, -0.3487, -1.2513, 7.1316, 1.7216, -0.0366, -0.0269, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.26,"left_z":0.19,"left_pitch":0.15},"note":"With the arm withdrawn, the left container is visibly farther forward, close to the red cup. I’m approaching its upper body from above, where the narrow section should be easier to capture."})
tool
executing move_to over 12 steps (1.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe left container’s upper body is now centered between the open fingers. I’m closing gently around that section to avoid pushing the rounded body away.
move_to
left_gripper0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6773, 2.0136, 1.5345, -0.1913, -0.6941, -0.3954, 0.9968, -0.0147, 0.8078, 0.6086, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4936 left_y=-0.2473 left_z=0.1631 left_yaw=0.0857 left_pitch=0.0595 left_roll=0.0764 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1772 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -11.3709, 9.7983, 1.7411, -0.2369, 0.3492, 0.1001, -0.294, -1.6205, 7.2684, 1.7021, -0.0562, -0.0708, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.15},"note":"The left container’s upper body is now centered between the open fingers. I’m closing gently around that section to avoid pushing the rounded body away."})
tool
executing move_to over 9 steps (0.9s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper stopped at a nonzero width and the container turned with the fingers, indicating a likely grasp. I’m lifting it a few centimeters to confirm it is secure.
move_to
left_x0.4800left_y-0.2600left_z0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6773, 2.038, 1.5391, -0.1925, -0.6991, -0.4114, 0.2586, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.4951 left_y=-0.2477 left_z=0.1524 left_yaw=0.0971 left_pitch=0.0474 left_roll=0.0793 left_gripper=0.2586 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.0342, -13.5863, 6.3795, 1.5263, -0.1929, 0.1783, 0.9939, -0.335, -1.306, 7.0632, 1.7216, -0.0171, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.26,"left_z":0.25},"note":"The gripper stopped at a nonzero width and the container turned with the fingers, indicating a likely grasp. I’m lifting it a few centimeters to confirm it is secure."})
tool
executing move_to over 7 steps (0.7s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe left container lifted with the gripper. I’m raising it above the cup rims and moving toward the red cup before tilting, while keeping the other arm parked.
move_to
left_x0.5100left_y-0.2500left_z0.3400left_pitch0.1500right_x0.2960right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7143, 2.035, 1.8172, -0.5579, -0.717, -0.4732, 0.2585, -0.0143, 0.8097, 0.6083, -0.3851, -0.012, -0.0166, 0.9998] state[eef_state]: left_x=0.483 left_y=-0.2604 left_z=0.2115 left_yaw=0.1045 left_pitch=0.0002 left_roll=0.0948 left_gripper=0.2585 right_x=0.2956 right_y=0.0015 right_z=0.1765 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.6769, -14.3795, 9.7573, 1.7558, -0.4029, 0.2418, 0.9206, -0.0615, -1.3197, 7.0222, 1.7118, -0.0659, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.25,"left_z":0.34,"left_pitch":0.15,"right_x":0.296,"right_y":0,"right_z":0.19},"note":"The left container lifted with the gripper. I’m raising it above the cup rims and moving toward the red cup before tilting, while keeping the other arm parked."})
tool
executing move_to over 9 steps (0.9s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe container is clear of both cups, with the red cup to its left. I’m beginning a controlled tilt toward the red cup and will check the mouth position before increasing the angle.
move_to
left_x0.5300left_y-0.2700left_z0.3100left_roll-0.6500left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.68, 2.1269, 2.2955, -0.7979, -0.7441, -0.3992, 0.2578, -0.0154, 0.8185, 0.6289, -0.4252, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5072 left_y=-0.2517 left_z=0.3189 left_yaw=0.1255 left_pitch=0.1102 left_roll=0.0653 left_gripper=0.2578 right_x=0.2932 right_y=0.0012 right_z=0.1754 right_yaw=0.0036 right_pitch=-0.0553 right_roll=-0.0053 right_gripper=0.9998 state[joint_eff]: [0.1573, -11.6171, 9.1419, 1.5653, -0.3687, 0.4811, 0.5739, -0.6359, -1.5248, 10.1128, 1.7021, -0.1001, -0.0366, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.27,"left_z":0.31,"left_roll":-0.65,"left_pitch":0.15},"note":"The container is clear of both cups, with the red cup to its left. I’m beginning a controlled tilt toward the red cup and will check the mouth position before increasing the angle."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe red cup is visible beside the container on the pouring side. I’m increasing the tilt gradually while moving the container slightly forward to bring its opening over the cup.
move_to
left_x0.5500left_y-0.2850left_z0.3000left_roll-1.3000left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5831, 1.9911, 1.8202, -0.2871, -0.3992, -0.757, 0.2587, -0.0154, 0.8185, 0.63, -0.4335, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.5309 left_y=-0.2637 left_z=0.2677 left_yaw=0.1351 left_pitch=0.07 left_roll=-0.5032 left_gripper=0.2587 right_x=0.2922 right_y=0.0012 right_z=0.1742 right_yaw=0.0034 right_pitch=-0.0626 right_roll=-0.0048 right_gripper=0.9998 state[joint_eff]: [0.3077, -15.1316, 7.2274, 2.1416, 0.0904, 0.0366, 0.7595, -0.3897, -1.3197, 6.9265, 1.7705, -0.0562, -0.0513, -0.0171] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.285,"left_z":0.30,"left_roll":-1.3,"left_pitch":0.15},"note":"The red cup is visible beside the container on the pouring side. I’m increasing the tilt gradually while moving the container slightly forward to bring its opening over the cup."})
tool
executing move_to over 11 steps (1.1s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteThe left container is nearly horizontal, with its pouring end over the red-cup side. I’m completing the tilt and holding this position briefly to let its contents drain.
move_to
left_roll-1.5710left_pitch0.4500left_x0.5500left_y-0.2800left_z0.2850
assistant
agent noteThe requested roll was just outside the controller’s exact limit, so no motion occurred. I’m applying the same pouring pose with the roll safely inside that limit.
move_to
left_roll-1.5700left_pitch0.4500left_x0.5500left_y-0.2800left_z0.2850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5201, 1.9881, 1.5509, 0.2829, -0.1516, -1.227, 0.2602, -0.0154, 0.8185, 0.63, -0.4339, -0.0116, -0.0231, 0.9998] state[eef_state]: left_x=0.5499 left_y=-0.2801 left_z=0.2666 left_yaw=0.1476 left_pitch=0.0719 left_roll=-1.1679 left_gripper=0.2602 right_x=0.2921 right_y=0.0011 right_z=0.1741 right_yaw=0.003 right_pitch=-0.063 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [0.2667, -11.6581, 7.0906, 2.591, 0.2369, 0.0611, 0.3834, -0.3214, -1.1966, 7.1043, 1.7265, -0.022, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-1.571,"left_pitch":0.45,"left_x":0.55,"left_y":-0.28,"left_z":0.285},"note":"The left container is nearly horizontal, with its pouring end over the red-cup side. I’m completing the tilt and holding this position briefly to let its contents drain."})
tool
target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]
assistant
move_to({"targets":{"left_roll":-1.57,"left_pitch":0.45,"left_x":0.55,"left_y":-0.28,"left_z":0.285},"note":"The requested roll was just outside the controller’s exact limit, so no motion occurred. I’m applying the same pouring pose with the roll safely inside that limit."})
tool
executing move_to over 13 steps (1.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe left container has been held at the full pouring angle over the red cup. I’m rotating it back toward upright before moving it away.
move_to
left_roll-0.7000left_pitch0.1500left_z0.3200left_x0.5300
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4858, 2.1761, 1.3739, 1.0275, -0.0723, -1.3205, 0.2625, -0.0154, 0.8192, 0.63, -0.4347, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5595 left_y=-0.2769 left_z=0.25 left_yaw=0.1611 left_pitch=0.3269 left_roll=-1.483 left_gripper=0.2625 right_x=0.2921 right_y=0.0012 right_z=0.1738 right_yaw=0.0036 right_pitch=-0.0645 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [0.1983, -11.9179, 7.788, 2.6203, 0.4029, 0.0024, 0.2222, -0.3897, -1.4427, 7.0906, 1.6777, -0.0317, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-0.7,"left_pitch":0.15,"left_z":0.32,"left_x":0.53},"note":"The left container has been held at the full pouring angle over the red cup. I’m rotating it back toward upright before moving it away."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe left container is returning upright and remains secure. I’m carrying it back to the open area in front of the red cup so I can set it down before using the right container.
move_to
left_x0.4000left_y-0.2300left_z0.2900left_roll0.0000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5888, 1.9842, 1.779, -0.0933, -0.3527, -0.9333, 0.2653, -0.0151, 0.8192, 0.63, -0.4355, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.538 left_y=-0.2816 left_z=0.2934 left_yaw=0.1736 left_pitch=0.121 left_roll=-0.7808 left_gripper=0.2653 right_x=0.292 right_y=0.0013 right_z=0.1736 right_yaw=0.0039 right_pitch=-0.0652 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [-0.5538, -12.8068, 10.6325, 2.2051, -0.1148, 0.2955, 0.2955, -0.1573, -1.0735, 6.9949, 1.7363, -0.0269, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.23,"left_z":0.29,"left_roll":0,"left_pitch":0},"note":"The left container is returning upright and remains secure. I’m carrying it back to the open area in front of the red cup so I can set it down before using the right container."})
tool
executing move_to over 11 steps (1.1s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe container is upright above a clear patch of table. I’m lowering it carefully until its base is supported.
move_to
left_x0.4000left_y-0.2100left_z0.1600
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7937, 1.8172, 1.7462, -0.7807, -0.7151, -0.7094, 0.2674, -0.0151, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4127 left_y=-0.2493 left_z=0.2576 left_yaw=0.1503 left_pitch=-0.0448 left_roll=-0.0449 left_gripper=0.2674 right_x=0.292 right_y=0.0013 right_z=0.1729 right_yaw=0.0039 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [-0.2803, -13.8462, 9.853, 1.4432, -0.6081, 0.0904, 0.2076, -0.253, -1.5521, 7.4598, 1.7411, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.21,"left_z":0.16},"note":"The container is upright above a clear patch of table. I’m lowering it carefully until its base is supported."})
tool
executing move_to over 7 steps (0.7s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe left container is back at its original grasp height and appears supported by the table. I’m releasing it before withdrawing the arm.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7506, 1.7115, 1.224, -0.3954, -0.6888, -0.6724, 0.2703, -0.0147, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3955 left_y=-0.2104 left_z=0.1523 left_yaw=0.1575 left_pitch=-0.0794 left_roll=-0.0018 left_gripper=0.2703 right_x=0.292 right_y=0.0014 right_z=0.1729 right_yaw=0.0043 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998 state[joint_eff]: [0.8547, -9.5385, 6.4615, 1.2723, -0.2271, 0.0952, 0.2906, -0.1573, -1.2239, 7.0085, 1.6825, -0.0366, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left container is back at its original grasp height and appears supported by the table. I’m releasing it before withdrawing the arm."})
tool
executing move_to over 8 steps (0.8s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe left container remains on the table after release. I’m parking the left arm out of the way to make room for the right-hand pour.
move_to
left_x0.2900left_y0.0000left_z0.2300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7502, 1.7084, 1.2015, -0.3801, -0.6876, -0.6773, 0.9954, -0.0147, 0.8234, 0.63, -0.4362, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3935 left_y=-0.2086 left_z=0.147 left_yaw=0.1601 left_pitch=-0.0827 left_roll=-0.0031 left_gripper=0.9954 right_x=0.2921 right_y=0.0014 right_z=0.1723 right_yaw=0.0043 right_pitch=-0.0702 right_roll=-0.005 right_gripper=0.9998 state[joint_eff]: [-0.1846, -8.0615, 8.3077, 1.2332, -0.3443, 0.0122, -0.1099, -0.253, -1.4564, 7.0222, 1.6581, -0.022, -0.0659, -0.0171] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.23,"left_pitch":0,"left_roll":0},"note":"The left container remains on the table after release. I’m parking the left arm out of the way to make room for the right-hand pour."})
tool
executing move_to over 19 steps (1.9s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe right container stands in front of the blue cup; the red cup remains the destination. I’m bringing the right gripper to the container’s upper body at a safe height.
move_to
right_x0.4000right_y0.2100right_z0.1900right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2207, 0.8425, 0.8185, -0.5545, -0.3588, -0.2649, 0.9968, -0.0147, 0.8249, 0.63, -0.4362, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.2345 left_yaw=0.2082 left_pitch=0.0222 left_roll=-0.0232 left_gripper=0.9968 right_x=0.2922 right_y=0.0014 right_z=0.1719 right_yaw=0.0043 right_pitch=-0.0717 right_roll=-0.005 right_gripper=0.9998 state[joint_eff]: [-0.0068, -1.5111, 6.3248, 1.7118, -0.1343, 0.1148, 0.1294, -0.3214, -1.5111, 6.9812, 1.6874, -0.0464, -0.0806, -0.0171] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.21,"right_z":0.19,"right_gripper":1,"right_pitch":0},"note":"The right container stands in front of the blue cup; the red cup remains the destination. I’m bringing the right gripper to the container’s upper body at a safe height."})
tool
executing move_to over 18 steps (1.8s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe right container is centered just ahead of the jaw tips. I’m advancing slightly and lowering to place the fingers around its body.
move_to
right_x0.4300right_y0.2250right_z0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8482, 0.8185, -0.561, -0.3435, -0.2623, 0.9968, 0.6762, 1.5753, 1.1091, -0.2562, 0.5278, 0.3668, 0.9997] state[eef_state]: left_x=0.2954 left_y=-0.0017 left_z=0.2312 left_yaw=0.1937 left_pitch=0.0076 left_roll=-0.0236 left_gripper=0.9968 right_x=0.3921 right_y=0.2051 right_z=0.1724 right_yaw=0.039 right_pitch=-0.049 right_roll=-0.0348 right_gripper=0.9997 state[joint_eff]: [-0.0479, -1.6479, 6.8308, 1.7216, -0.2711, -0.0904, -0.0024, 0.5128, -7.7197, 9.3607, 1.453, 0.4371, 0.1685, -0.0415] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.225,"right_z":0.15},"note":"The right container is centered just ahead of the jaw tips. I’m advancing slightly and lowering to place the fingers around its body."})
tool
executing move_to over 3 steps (0.3s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe fingers are aligned on both sides of the right container. I’m closing gently and will verify the grasp width before lifting.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8516, 0.8185, -0.5613, -0.3424, -0.2623, 0.9968, 0.6605, 1.7313, 1.1793, -0.2001, 0.5137, 0.3557, 0.9997] state[eef_state]: left_x=0.2957 left_y=-0.002 left_z=0.2302 left_yaw=0.1928 left_pitch=0.0039 left_roll=-0.0226 left_gripper=0.9968 right_x=0.419 right_y=0.2201 right_z=0.1424 right_yaw=0.039 right_pitch=-0.0789 right_roll=-0.0537 right_gripper=0.9997 state[joint_eff]: [-0.0752, -1.4974, 6.8855, 1.6532, -0.1636, -0.0562, -0.0073, -0.5128, -9.7436, 8.9641, 1.4676, 0.3199, -0.0366, -0.0073] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.2},"note":"The fingers are aligned on both sides of the right container. I’m closing gently and will verify the grasp width before lifting."})
tool
executing move_to over 8 steps (0.8s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteThe gripper reached the requested partial opening without a firm stop. I’m checking with a full close to distinguish a secure grasp from empty space.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3439, 0.2052] state[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0485 right_pitch=-0.0958 right_roll=-0.0668 right_gripper=0.2052 state[joint_eff]: [-0.1299, -1.2786, 6.8308, 1.6825, -0.1978, -0.0708, -0.0122, -0.4991, -10.1402, 9.1829, 1.6532, 0.2271, 0.0073, 0.1978] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper reached the requested partial opening without a firm stop. I’m checking with a full close to distinguish a secure grasp from empty space."})
tool
executing move_to over 3 steps (0.3s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe close was empty; the wrist view shows the container still beyond the fingertips. I’m reopening and approaching higher on the body, using the successful upper-body approach from the left container.
move_to
right_gripper1.0000right_x0.4550right_y0.2250right_z0.1800
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3435, 0.013] state[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0487 right_pitch=-0.0958 right_roll=-0.0671 right_gripper=0.013 state[joint_eff]: [-0.1162, -1.347, 6.8581, 1.6532, -0.149, -0.0659, -0.0073, -0.4855, -10.2359, 9.0188, 1.6484, 0.1929, 0.0464, 0.696] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.455,"right_y":0.225,"right_z":0.18},"note":"The close was empty; the wrist view shows the container still beyond the fingertips. I’m reopening and approaching higher on the body, using the successful upper-body approach from the left container."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteThe right container remains centered but still sits ahead of the fingertip line. I’m moving forward another few centimeters to straddle its upper body before closing again.
move_to
right_x0.4900right_y0.2250right_z0.1750right_pitch0.1200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.6182, 1.8126, 1.4063, -0.3641, 0.4618, 0.3, 0.9951] state[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4476 right_y=0.2262 right_z=0.1678 right_yaw=0.0658 right_pitch=-0.1159 right_roll=-0.0783 right_gripper=0.9951 state[joint_eff]: [-0.0479, -1.4154, 6.8991, 1.6532, -0.1538, -0.0757, -0.0073, -0.9094, -8.6222, 9.8803, 1.3944, 0.2271, 0.0757, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.225,"right_z":0.175,"right_pitch":0.12},"note":"The right container remains centered but still sits ahead of the fingertip line. I’m moving forward another few centimeters to straddle its upper body before closing again."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteThe container now extends down into the finger opening. I’m closing around this higher section and checking for a firm stop.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5911, 1.8561, 1.3045, -0.0296, 0.4847, 0.1799, 0.9963] state[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4788 right_y=0.2265 right_z=0.1639 right_yaw=0.0874 right_pitch=0.0493 right_roll=-0.0951 right_gripper=0.9963 state[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6777, -0.1343, -0.0757, -0.0073, -0.8547, -9.0735, 6.8308, 2.0244, 0.2906, 0.0904, 0.1099] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.1},"note":"The container now extends down into the finger opening. I’m closing around this higher section and checking for a firm stop."})
tool
executing move_to over 9 steps (0.9s)
step 254
assistant
agent noteThe second attempt did not stop the jaws, and the overhead view shows the container slid farther toward the back. I’m opening and lifting clear so I can approach its now-visible shoulder without pushing its base again.
move_to
right_x0.5100right_y0.2250right_z0.2500right_gripper1.0000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5896, 1.8648, 1.3003, -0.0326, 0.477, 0.1722, 0.1056] state[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.4782 right_y=0.2266 right_z=0.1568 right_yaw=0.0964 right_pitch=0.0328 right_roll=-0.1057 right_gripper=0.1056 state[joint_eff]: [-0.1573, -1.4154, 6.8855, 1.6777, -0.1587, -0.0415, -0.0073, 0.0615, -10.865, 7.1043, 1.7216, 0.2369, 0.0562, 0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.51,"right_y":0.225,"right_z":0.25,"right_gripper":1,"right_pitch":0.2},"note":"The second attempt did not stop the jaws, and the overhead view shows the container slid farther toward the back. I’m opening and lifting clear so I can approach its now-visible shoulder without pushing its base again."})
tool
executing move_to over 9 steps (0.9s)
step 263
assistant
agent noteThe mouth and shoulder are now clearly visible, and the container is aligned with the jaw column. I’m advancing to its shoulder while staying above the wider base.
move_to
right_x0.5500right_y0.2300right_z0.2050right_pitch0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5659, 1.8645, 1.4597, -0.0738, 0.4702, 0.0811, 0.995] state[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.5031 right_y=0.229 right_z=0.2188 right_yaw=0.1223 right_pitch=0.1314 right_roll=-0.13 right_gripper=0.995 state[joint_eff]: [-0.0205, -1.4154, 6.9949, 1.6777, -0.1343, -0.0757, -0.0171, -0.8821, -11.4667, 10.0718, 1.8486, 0.188, 0.0659, -0.1197] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.23,"right_z":0.205,"right_pitch":0.2},"note":"The mouth and shoulder are now clearly visible, and the container is aligned with the jaw column. I’m advancing to its shoulder while staying above the wider base."})
tool
executing move_to over 4 steps (0.4s)
step 267
assistant
agent noteThe container’s body now fills the opening at the fingertips rather than sitting beyond them. I’m closing to establish a secure grasp at this corrected position.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5274, 2.0075, 1.4986, 0.0181, 0.4328, 0.0395, 0.9963] state[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5352 right_y=0.2301 right_z=0.1758 right_yaw=0.1375 right_pitch=0.11 right_roll=-0.1569 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.4974, 6.9675, 1.6484, -0.1685, -0.0562, -0.0171, -0.841, -12.2872, 10.6735, 2.0781, 0.3101, -0.0904, 0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The container’s body now fills the opening at the fingertips rather than sitting beyond them. I’m closing to establish a secure grasp at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 277
assistant
agent noteThe close was empty and the container moved forward again. I’m lifting away from its side to approach from above; it is now near the forward reach limit, so I’ll avoid further low pushes.
move_to
right_gripper1.0000right_x0.5500right_y0.2300right_z0.3200right_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5175, 2.0285, 1.5131, 0.0582, 0.4324, 0.0208, 0.013] state[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5445 right_y=0.2289 right_z=0.1787 right_yaw=0.1362 right_pitch=0.1394 right_roll=-0.161 right_gripper=0.013 state[joint_eff]: [-0.1573, -1.4564, 6.8308, 1.6581, -0.149, -0.0513, -0.0073, -0.4171, -12.6701, 9.4974, 1.9121, 0.0952, 0.0806, 0.5641] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.55,"right_y":0.23,"right_z":0.32,"right_pitch":0.4},"note":"The close was empty and the container moved forward again. I’m lifting away from its side to approach from above; it is now near the forward reach limit, so I’ll avoid further low pushes."})
tool
executing move_to over 10 steps (1.0s)
step 287
assistant
agent noteThe container’s open neck is visible below the wrist camera, near the far end of the workspace. I’m making one high, forward approach to grasp it without contacting the lower body.
move_to
right_x0.5950right_y0.2250right_z0.2550right_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5175, 1.9877, 1.652, 0.0425, 0.4446, -0.0769, 0.9956] state[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9969 right_x=0.5555 right_y=0.2329 right_z=0.2632 right_yaw=0.1653 right_pitch=0.2849 right_roll=-0.199 right_gripper=0.9956 state[joint_eff]: [-0.1162, -1.3744, 6.9949, 1.6581, -0.1587, -0.022, -0.0073, 0.3077, -15.4735, 10.3179, 2.1123, 0.3492, -0.0366, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.595,"right_y":0.225,"right_z":0.255,"right_pitch":0.4},"note":"The container’s open neck is visible below the wrist camera, near the far end of the workspace. I’m making one high, forward approach to grasp it without contacting the lower body."})
tool
executing move_to over 4 steps (0.4s)
step 291
assistant
agent noteThe broad body is difficult to capture across its width at this reach. I’m rotating the open gripper above it so the jaws can approach along the container’s narrower front-to-back direction.
move_to
right_x0.5800right_y0.2250right_z0.3300right_yaw1.4000right_pitch0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2619, 0.9968, 0.4747, 2.0979, 1.6676, 0.1753, 0.4057, -0.1204, 0.9967] state[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.19 left_pitch=-0.0014 left_roll=-0.0219 left_gripper=0.9968 right_x=0.5867 right_y=0.2272 right_z=0.2341 right_yaw=0.1768 right_pitch=0.3128 right_roll=-0.2196 right_gripper=0.9967 state[joint_eff]: [-0.1846, -1.7299, 6.8308, 1.6532, -0.1441, -0.0513, -0.0171, -0.5538, -13.0803, 8.2256, 2.3858, 0.0513, 0.0122, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.58,"right_y":0.225,"right_z":0.33,"right_yaw":1.4,"right_pitch":0.2},"note":"The broad body is difficult to capture across its width at this reach. I’m rotating the open gripper above it so the jaws can approach along the container’s narrower front-to-back direction."})
tool
executing move_to over 8 steps (0.8s)
step 299
assistant
agent noteThe arm did not track the rotation at its extended reach. I’m retracting to a less stretched pose before rotating, rather than forcing the same target.
move_to
right_x0.4800right_y0.2200right_z0.3200right_yaw1.4000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.4644, 2.1258, 1.6672, 0.2226, 0.3908, -0.1352, 0.9969] state[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.1902 left_pitch=-0.0014 left_roll=-0.0222 left_gripper=0.9968 right_x=0.5941 right_y=0.2264 right_z=0.2274 right_yaw=0.1861 right_pitch=0.3284 right_roll=-0.2254 right_gripper=0.9969 state[joint_eff]: [-0.212, -1.4017, 6.8308, 1.6581, -0.1587, -0.0659, -0.0122, -0.212, -14.0513, 8.212, 2.2051, 0.0806, -0.0122, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 299): [image omitted: streamed camera frame] camera 'left_cam' (step 299): [image omitted: streamed camera frame] camera 'right_cam' (step 299): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.48,"right_y":0.22,"right_z":0.32,"right_yaw":1.4,"right_pitch":0},"note":"The arm did not track the rotation at its extended reach. I’m retracting to a less stretched pose before rotating, rather than forcing the same target."})
tool
executing move_to over 11 steps (1.1s)
step 310
assistant
agent noteThe gripper has rotated and the container is fully visible again. I’m lowering the open jaws around its shoulder from above, with the jaw axis now aligned front to back.
move_to
right_x0.4900right_y0.2200right_z0.2000right_yaw1.4000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8619, 0.8185, -0.5613, -0.3393, -0.2619, 0.9969, 0.178, 2.2192, 2.4664, -0.8936, -0.7528, -0.8917, 0.9969] state[eef_state]: left_x=0.2969 left_y=-0.0028 left_z=0.2273 left_yaw=0.19 left_pitch=-0.0063 left_roll=-0.0198 left_gripper=0.9969 right_x=0.5304 right_y=0.2218 right_z=0.3208 right_yaw=1.256 right_pitch=0.0649 right_roll=-0.3643 right_gripper=0.9969 state[joint_eff]: [-0.1573, -1.8393, 6.8308, 1.6435, -0.1538, -0.0122, -0.0073, -0.6632, -8.5128, 3.5624, 0.0757, -0.525, -0.0415, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.22,"right_z":0.2,"right_yaw":1.4,"right_pitch":0,"right_roll":0},"note":"The gripper has rotated and the container is fully visible again. I’m lowering the open jaws around its shoulder from above, with the jaw axis now aligned front to back."})
tool
executing move_to over 8 steps (0.8s)
step 318
assistant
agent noteThe descent stopped with the fingers surrounding the top of the right container. I’m closing here to test the shoulder grasp before attempting any further descent.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.168, 2.2387, 2.3489, -0.9035, -0.812, -0.9333, 0.9969] state[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9969 right_x=0.5251 right_y=0.2227 right_z=0.2694 right_yaw=1.3048 right_pitch=0.0274 right_roll=-0.2516 right_gripper=0.9969 state[joint_eff]: [-0.0479, -1.5248, 6.8308, 1.6435, -0.1392, -0.0611, -0.0171, -0.1299, -15.747, 6.5162, 1.453, -0.2906, 0.2027, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped with the fingers surrounding the top of the right container. I’m closing here to test the shoulder grasp before attempting any further descent."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteThe fingers closed above the container, so the stopped descent was a pose-tracking limit rather than a grasp. I’m reducing the rotation and using a forward tilt to reach the body at a lower height.
move_to
right_gripper1.0000right_x0.5300right_y0.2200right_z0.1800right_yaw0.7000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.168, 2.2387, 2.3478, -0.9005, -0.8116, -0.9382, 0.0135] state[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9968 right_x=0.5255 right_y=0.2227 right_z=0.2694 right_yaw=1.3072 right_pitch=0.0273 right_roll=-0.2578 right_gripper=0.0135 state[joint_eff]: [-0.0752, -1.5521, 6.8308, 1.6532, -0.1783, -0.0611, -0.0171, -0.0752, -12.6154, 6.3795, 1.3309, -0.315, 0.0171, 1.199] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.53,"right_y":0.22,"right_z":0.18,"right_yaw":0.7,"right_pitch":0.3,"right_roll":0},"note":"The fingers closed above the container, so the stopped descent was a pose-tracking limit rather than a grasp. I’m reducing the rotation and using a forward tilt to reach the body at a lower height."})
tool
executing move_to over 10 steps (1.0s)
step 338
assistant
agent noteThe right container has slid to the far edge of the table, beyond a reliable grasp within this arm’s reach. I’m withdrawing the gripper to avoid pushing it farther or knocking it over.
move_to
right_x0.3600right_y0.0500right_z0.2800right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8661, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.2558, 1.9892, 1.2827, 0.2653, -0.4839, -0.2161, 0.9949] state[eef_state]: left_x=0.2974 left_y=-0.0029 left_z=0.2262 left_yaw=0.1903 left_pitch=-0.0101 left_roll=-0.0184 left_gripper=0.9968 right_x=0.5177 right_y=0.224 right_z=0.1433 right_yaw=0.7785 right_pitch=0.1718 right_roll=0.0079 right_gripper=0.9949 state[joint_eff]: [-0.1299, -1.6479, 6.8444, 1.663, -0.188, -0.0269, -0.0073, 0.212, -13.2855, 7.4598, 2.1807, -0.1294, 0.1734, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 338): [image omitted: streamed camera frame] camera 'left_cam' (step 338): [image omitted: streamed camera frame] camera 'right_cam' (step 338): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.05,"right_z":0.28,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1},"note":"The right container has slid to the far edge of the table, beyond a reliable grasp within this arm’s reach. I’m withdrawing the gripper to avoid pushing it farther or knocking it over."})
tool
executing move_to over 15 steps (1.5s)
step 353
assistant
agent noteI tilted the left container over the red cup and returned it to the table, but could not securely grasp the right container. It slid toward the far edge during the attempts and is now beyond a reliable grasp within the available reach. I withdrew the arm; the second pour remains incomplete.
give_up
hindsightThese containers slide forward when the fingertips contact the near side during a low approach. Approach the narrower upper section from above and confirm a nonempty gripper width before transporting. The left container was securely held at approximately x=0.495, y=-0.248, z=0.152 with a gripper reading of 0.26. Large yaw rotations at long reach produced substantial position-tracking failures; reduce reach before rotating. Stop sooner when repeated empty closes displace a container toward the workspace boundary.
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 0.8707, 0.8185, -0.561, -0.3393, -0.2619, 0.9968, 0.2237, 1.177, 1.0981, -0.4843, 0.1307, 0.0662, 0.9986] state[eef_state]: left_x=0.298 left_y=-0.003 left_z=0.225 left_yaw=0.1901 left_pitch=-0.0139 left_roll=-0.0164 left_gripper=0.9968 right_x=0.3701 right_y=0.0643 right_z=0.2655 right_yaw=0.0743 right_pitch=0.0015 right_roll=-0.0063 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.812, 7.0906, 1.6972, -0.1392, -0.022, -0.0073, -0.4034, -5.1214, 9.9077, 1.6777, 0.1538, 0.1392, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I tilted the left container over the red cup and returned it to the table, but could not securely grasp the right container. It slid toward the far edge during the attempts and is now beyond a reliable grasp within the available reach. I withdrew the arm; the second pour remains incomplete.","hindsight":"These containers slide forward when the fingertips contact the near side during a low approach. Approach the narrower upper section from above and confirm a nonempty gripper width before transporting. The left container was securely held at approximately x=0.495, y=-0.248, z=0.152 with a gripper reading of 0.26. Large yaw rotations at long reach produced substantial position-tracking failures; reduce reach before rotating. Stop sooner when repeated empty closes displace a container toward the workspace boundary."})
tool
give_up: I tilted the left container over the red cup and returned it to the table, but could not securely grasp the right container. It slid toward the far edge during the attempts and is now beyond a reliable grasp within the available reach. I withdrew the arm; the second pour remains incomplete.
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: [-0.6, 0.6], left_roll: [-1.571, 1.571], 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: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "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 · 6.133 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "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 80 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.",
  "role": "system"
}
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.4701, 1.7509, -0.0269, 0.0757, -0.0611, -0.9094, -1.4838, 9.9077, 1.7021, -0.1245, -0.022, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f704e4ad37d1e31ce1c0967a85ec31c0076a7c66a4348fbdd2c812fc0b3f1c9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f26ccfd47d978a9649b4614ccb352c088ac2b876123664b6f83e88cb562065ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2e21d28d41810ece4e2fd5abb47c80f211171fb13f477d3e6a4649d28e01176",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrL4hWB_z_ZO_AuuYEaK-qJHKs7n8IBTfoitkePCIM_fzdAunwSI1CMdXwXTWoHdbcx266iZwFUS_dq2puw47vPLLnavtkbJyn3ZCvrKfIDLGcWAHm2xebPG8JZehx0azQrOLdqX_RbwWdmrp-yB73PjEJw3HeItNHaWwLzURgNfp26zKDkDRCN-RSs-qdR5H-C-MU-6L2FXy7YVyaUOYj8mjuD3zDsM4qTRqxkdV9kuDp2XkOFG-f9ON_TX6dBBe2QMXVm68gw8SWHfsu5G5wseGCXeBqnQQ_xFVTvR3-5t2uBkNPHmuoAErrSWC6SWFdt4ByqxvIEwAZnKNe8BgYtOq-0ro3E_rL0F4iPSXd_ZbVbYpoxTqUZ4W3R2XaB3CbMGPYwR2QEiK8B04IqqYynTM2gPtTz31Mn8rpzYj4OD5dBZOaBwv1GXtXnH9NJsPwFy48BILw9DhGiKe9-H-jf4G6T3G7-Dwgv0vWtkTEen3hYNQWLHYGBiUD-ErqfNRemqRn30Jb5Wq_OdJOD7RKgp6ZIFi8j72xqom3YPpHlnfGmjFTDHUbOprKfUMKlC5oJqyCZ7ed1Oc0Cnz1WeCtrbCvnbNl9snugS1VLeFKH9RgdF0yrccFz1TI1_IM88G9Qp7TUFvaIw8vUTciim35n7BFolp2_nCxQZa21PXpY69O2NKrVYpgVPedJ_K08UgKuOOtWpLbfy8KfpRaQECTsMS4ZG3m88QSVyVGYNOX22bFeDxSRD5lxRYVjE0KfV-RLvn0KXWSPitk-Wr0BP2Mz0-LKFT7Vp-Rg8ipT_UZgldMP2lOUtO47rlJJKMiPJe8WxWI1j2XvOxKUw-1THeKMzzorxZPDTTFvQMPH566-F9agqFnLYnaJ01TezVPfSWiVt5iX70f5M1juT_-TLkKEk0qNvCO4LUwiqNd9WDX_WQ6zgKDXQpxCC2E7yoRqd5YDXscYwcDzGBe9x8Die-etg6-2B3pW3634ySiicdYf3KPPjzkBTwPbmeWE0LC-uTxJvF6jZRxTQ2QqnCKrb__cmCESpwGBT39M7FYhn67WBbK-6g8HJJiibU4QZWXq_qovHg0adAPHN_GdIo8XAo8raYBpEfvwhxm7sVyKMBtjwIzQxDwRJuhJHmmV0or8bmYNv6q-VucLtiEq6xvdRBBeyhHJxlDPAcysIhLjQgxq2mW90d9rOsL2pYJ6TDyu6r9oL3Or1B1s2ewV1ZIxZlNwrf7WYJ0He9eFfor3ThBsPAS6KaSXHyAflr5nAQ-KmMOQXtSXPJYiv5DFp4_7RpWpx8_EdFFzkYDQ36RllJbbtJEOQ2lF94sfLmgyyyG9vOHFaXMbs6XHrgy-xybSVZFO4s5umtLvSZ7UBM1Lo0xvYbbL8sXq2m6P8lksoM362WrtGnC41q_K4aossq9uy8hOxrhJ_B0Xh7bfAq6TjsptWN6Bo2OGURRLBRavsXBSXYowaUDdQtWbb4IROE_ACq6ustImYUZb67bSDXYaAH0qJ8_TlFY_520-U3dmDYzLFumUJQOW5vO58QHo0ds-gwTy3xkg==",
  "id": "rs_0ab12ab633e9bd85016aacbe1cd13c87d0b73f9d5b3eea7b15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.23,\"left_z\":0.16,\"left_gripper\":1},\"note\":\"I see two light-colored containers in front of the red and blue cups. I’m approaching the left container with the left gripper, keeping clear of the cups.\"}",
  "call_id": "call_Q7YZCFu2MfGkBKg2s9G6zSeO",
  "id": "fc_0ab12ab633e9bd85016aacbe1f5c3087d0a3e68b655ada93c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q7YZCFu2MfGkBKg2s9G6zSeO",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.775, 1.6466, 1.0729, -0.1936, -0.6296, -0.5098, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3837 left_y=-0.2251 left_z=0.145 left_yaw=-0.0003 left_pitch=-0.0362 left_roll=0.0156 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.9795, 9.2513, 1.5897, -0.3932, 0.0659, -0.0611, -0.4171, -1.388, 7.2547, 1.8046, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d503c53fc76ea97d5d28517f32bf06723c3fb77bc0fe2b73e57edea7efd09a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ac7e160374355cf252d6ae94024009d19c45534b91790e8c661b6de36c4c22d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c968831534384d65f603a465c4d6aca5d42b22bbab27f9aa11aae17c997461",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.651 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3782, -0.0219, -0.0261, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0128, -0.0162, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -1.6479, 9.4701, 1.7509, -0.0269, 0.0757, -0.0611, -0.9094, -1.4838, 9.9077, 1.7021, -0.1245, -0.022, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL4zQNRCoqm88Vym8eq1b3ewoXDY8nHbLElgyt1JDkrbusH_6W8sCHnmM75ZmRMRTWjMqzwUfX0BckoYS6pc44gZDsRl8vLYXDDg_SMwsO_3EITZZzwagjORXJL1lo-xbtdvxHR3LK8UnbXWjbUS-G52BnFwUtlgF-licmY2JRn_8n2im1bjzIErtdUgYlsEe1X0r63kTt_ok8talgoJcBwEf3r5lJhktPKrCRGFFYXZrqkgdahsWSjo7qPMFzIDz1qmE7ZltFwvBo0YMUSsawNjlbCgzT0Gv0pW4kpZJRSPIl5l848NSJvYohRY7yTiGLCo3TgWiaP7IOobYWizziEN7CBx3SRn0YOOJOgfEOhdYdJHrhyBwE06_BwvxwiBtph4Npwvg-rOkoPIxxyMLw9O5laBwRCkLSy9o5kGeIPB0aMTSdwCXPJUG36Xd7pHn1y5VczOjCYXBf2FpVdQ2XkpQKTyGwVNLataTIufPAatafP5HINWuCekLltNClQGmfwbYiyBLdpF_EABlb1N5xtBHdfbH3-ZhDiAbMy6iIpTGPUSplFYmIYPAhyIYccJzYBtCnxuVxlL7Fs8ww3yZ8CDBC9FH-YPxssqjqE4cAmvPIPcaRgf4yn-bYi0iXT3GaBVrehor5vT5uJeOqJ5mC3bMqdsZ26GMmLvNyLOeOgnsNqT54X04sE2LR2JkxEalKOcw-XLjbrPeG4D_N_mYGCX43z_2HcjP4R57w7XiEv_a7tCP58u6326_lgCumvc3UXnB_MHl21ydJESBcqSQa862UvUUlI_fLFKkC7e5TLthtdrVl0L8K0j3oE8eJO4onzlfsdoHE6N933CU6queJC-dKKcm6tqSKheywsKHIcMt8V7TWC0_qU4VWD58Dv5NgjpcZNphC4IOQYERsJF2uJaQPoByfYok8KZXdlDs5BlCNvk-p21a4SoffAlSN5MmKeD3p8H36TPdf31kILEwEhlumAyXdDvy8Gm-sefiE09PGyoddOf8Js5dlnoFu8Jz_pDzL2UMqZDy7kde2sJ-7xf7VlKilqztFe4GFiISuXjTJttZiHIGDoerXBHM9o5xgpI7o9aBv01exsNSPOKFx3UJtLA5uPMEohu2M2kIrFt6GZX-Ngkl8C7Uzxo70gOooZEWkxska8eQSJ6Fy3H0cErZWJqAIYVt4jRjZ8G8DNnDqzHZQGIw6C3QOUQbNeS7dmCgRBxXdVb3yG_daVG8Lbx3z7qGFoHg1Yt56LGcXkpt0sjSRcTaqot1qWyqy_GWqeJ5D5Y0hBf6lLqZ1XHgl9HxiP38fcvSFjODQkSeUM-j5EbVVtFCJY_bXHEjfj9bkAmrwoDFMjaxATt_YUssaaRJwZHEgeNuIFBqGChpT4KMr_5aU93JYYy8WUDw6iynqJs4uZFhKfe3pxeL4I0qMjzmHBwMUmC8eUArCmRG9BPLW5O5ddwCY9C9h86C--HZchWJ8e-mjDD5h-qGWTBUvISxeMT4rlQ6L59WcRxTlVtzjgCuT81HdsyAcyHtaU_hh4nc57gNDqIxZp6vBQeYEVy_yq6ntFSZ7s62b3N6sZj5Y2qSItPeWFHJqyCclrD9WQNg8R2Bb2PIPjvNLi9UayjL4TzmG2XLi_upgBvGPr-5vrXHEokikWdCY74E8MGq9gaKB1159hXqnKsCPVANQkgnmj37ktPqni1syic3f10g3o=",
  "id": "rs_0ab12ab633e9bd85016aacbe2ff02c87d096d36f94f923720a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.23,\"left_z\":0.105},\"note\":\"The left container is centered in the wrist view, with its body immediately ahead of the fingers. I’m moving slightly forward and down to grasp its body rather than the opening.\"}",
  "call_id": "call_dhsvq93iev30bRPOkducvggJ",
  "id": "fc_0ab12ab633e9bd85016aacbe325af887d086d2886295fb47d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dhsvq93iev30bRPOkducvggJ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.054, -0.5991, -0.4873, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.224 left_z=0.0946 left_yaw=0.0177 left_pitch=-0.0694 left_roll=0.0355 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.5658, 6.7487, 1.8584, -0.2271, 0.1978, -0.0171, -0.1162, -1.0598, 7.0906, 1.79, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480e41a713d34de45072eb0b5ef1c66c148e7eff4a6bbbed78cdf4eca74faff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3c743f72565bcdd902862de3f57a9230524411ac0be5cf3de5e0bad73cec4c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c9c75618a964b079c4b28b137ce6e3ffd961d9649e3759f2e3ca60ebb8f3c26",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 4.038 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.775, 1.6466, 1.0729, -0.1936, -0.6296, -0.5098, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3837 left_y=-0.2251 left_z=0.145 left_yaw=-0.0003 left_pitch=-0.0362 left_roll=0.0156 left_gripper=0.9996 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0088 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4308, -7.9795, 9.2513, 1.5897, -0.3932, 0.0659, -0.0611, -0.4171, -1.388, 7.2547, 1.8046, -0.0708, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now straddle the left container’s lower body. I’ll close the gripper and check its width before lifting.\"}",
  "call_id": "call_vp7RhpkatrQB1gE9RnP4hsnG",
  "id": "fc_0ab12ab633e9bd85016aacbe3770c887d09cab1e75cc1a2722",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vp7RhpkatrQB1gE9RnP4hsnG",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.062, -0.5991, -0.495, 0.0133, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2232 left_z=0.0933 left_yaw=0.0221 left_pitch=-0.0751 left_roll=0.0347 left_gripper=0.0133 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.9094, 6.1744, 1.5067, -0.2222, 0.0611, 0.9109, -0.3487, -1.0872, 7.0632, 1.7411, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f65cdf1539fcb66ffd0dc75c7a5d8aea021bc2bbad683864575ed4d7c1ae23a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c84cea529bdad3fbec600c2d1e94d2ced54194a964e7cb93fc8095e3683b908",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50df5a278b0a1b4ef19611e787d415c76a4592f0cdfcd79f508872d151ab1245",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.626 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.054, -0.5991, -0.4873, 0.9996, -0.0147, 0.7986, 0.6086, -0.3843, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.224 left_z=0.0946 left_yaw=0.0177 left_pitch=-0.0694 left_roll=0.0355 left_gripper=0.9996 right_x=0.2951 right_y=0.0014 right_z=0.1799 right_yaw=0.0006 right_pitch=-0.0149 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.5658, 6.7487, 1.8584, -0.2271, 0.1978, -0.0171, -0.1162, -1.0598, 7.0906, 1.79, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL49I7oIGBFBYKNrCM9Lro25I68rIX1F6ko-94OkLwkxl7pYypx-rdJvJh7yUvWN6PFz4dC-IOjbeQ4X5zDWy9x12NC4wwfYq_eEb78ToOZXceB1fA2iE7j44gv7DSUhNc3GEiHj46phWk1xbII8S6m7ae-DVHMwULmlSzXVO4eaLWcS2lNxYK8C5UnjDxDvumBEHqfS0XT1fJS5cVq2Z3gpS9TIbvV6OUZ6jqGcuWcfFVtswoJ08wApuY7B8L0EKtBmVp1U70cMUpJUliG-7ClJpKYbw4azxItIPWEadCw-Ukhei1xYuejEGY11cIC0WN9bMlyKuK5GwdUK6ChQS3t10Wxj1zyYn3XbdZ0MXVDahE_Zgz0LqXX0_8VwFE95AhpO8X4bHsC1eSLGHLE3FfYK4x6jsDLP1nqTTqPfuDmh8JlUIlFLq7mMtAErTPS7vqlo-IT5VT2CGGuevWlG2lwb0b7Hu4VaiTxH92a1cwjNBxhOU2elo5lJe7pv3lrlbCocLhkpb2BfPzDycWnFOYcpz3F38DdEDx_SSKGPsBn9NxoV1yikorThu5pNksVP7O1U_6SjSvTim0eJBJGJeOxTcdVwN0P-nDF0w2MgE-F4Vj7sxADykB4y2sjOANI-Vm9HUd1huz9Cqk9VqO7VWsVN_I6viVwG3SUNHZXCKfEwTQuRf6JayeaNpSQwLV9LJmO3-IShwg413STUkZw4pwmcOkRjqaw2eAbgdtO8nZ-MJ1gzSI9j_xuVZD69xrVm-msh1CSdF-dtGPuEZj3cD45wEN-AGVP8OXEG10TqOCDrZ2ek56c1SKvp8RGhmdWpFcQUAGZsk_NYoC0NBuLAWdr24G3YXMFnwd9kUXB82vnp2txZamjIgW_pl0kDcy-lbKJS13dgs4lqjTXKkIGRy-_XHX2GnaJYhq--uOIT_ewpi4m1-Z1OoN5QWe6JHET8Gyo44SD09gTqach_m1AL0E8fg7jpmxxT4OB9Npcnzk4qSJ9pFhVTtRXaaPzydrv7YyUD39eKGQHKUz1r9jgNw1NY-EcJZKXXSlpjtEiFuBgMZqXcEQ13AoU56GF2mHTckh1k_ibZ6QAQVLhGkSrI_vhZbHRM2N97d2LTI-SMMevXnq9i5BG49t-VMPiOdQsmQivXHQJVMm-vrd6Zb0cKArV0yYS3R2BWDCc7A72AVn2GslsLDJjf--FhxK0plR-uo4V03H_noUeO-JT4v7bM92kR3vMpGfyElzI-ZGJ9EKsikbrCAyFlvt8ivIPkkdlg8mTZvko-UFDY8tuD8It1DRn9qYaOvwUxYNhKRvorimQm2cKjxjEfySBiFLaZfTwyEt4iQOW_il2wHhRccBt9z8Ca013L_to7vJRUInp-xl4cWrYZ2ciHHw_fP8Jg1pq2t7QwGnME0vRifeF7Svzg2hGEEA==",
  "id": "rs_0ab12ab633e9bd85016aacbe3aa36887d0b0a45e950e3df9c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.435,\"left_z\":0.10},\"note\":\"The gripper closed almost completely, so it did not capture the container. I’m reopening and advancing 2 cm to bring the body between the fingertips.\"}",
  "call_id": "call_rPJTiFhWzVhjWuodx6bGHnG2",
  "id": "fc_0ab12ab633e9bd85016aacbe3c3b5487d094fd1916a6db8d75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rPJTiFhWzVhjWuodx6bGHnG2",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.8599, 1.1336, -0.0921, -0.5762, -0.4831, 0.9989, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.216 left_z=0.088 left_yaw=0.0443 left_pitch=-0.1001 left_roll=0.0442 left_gripper=0.9989 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.2376, 9.1145, 1.4823, -0.188, 0.2271, -0.1343, -0.2393, -1.0051, 7.0359, 1.7753, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae70aedbd720fe03c5cf37dbb410939745ecd23ff9294f77cab8d2306e87f9b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3809c52dc9177a8983587ffdec65370447c6be309d916df9f98c1662f27e28b8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54ebe7312c77a0abe92ebf7152f6e4795be31ef551f63a767896bb3a525d8096",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.083 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7235, 1.8076, 1.0695, -0.062, -0.5991, -0.495, 0.0133, -0.0147, 0.7986, 0.6086, -0.3847, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4086 left_y=-0.2232 left_z=0.0933 left_yaw=0.0221 left_pitch=-0.0751 left_roll=0.0347 left_gripper=0.0133 right_x=0.295 right_y=0.0013 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.9094, 6.1744, 1.5067, -0.2222, 0.0611, 0.9109, -0.3487, -1.0872, 7.0632, 1.7411, -0.0171, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5JfYKYi8vtHLD2be6FQRRBhP6OIjD6uq9GQp0oC7eEkJpQFVLPwPSiqwrsf1V5KccgDglSZTfPcfkXy9U_GllSYXv2nlhRr2Gc5KDAyzlZH-tBJ5v1B4jMdlTonCQkH49SSJDOic3WalkFj_-zNZ-IXI8R8GHzwRoPoSGEQ8tmGmvcPnlgJXFMENd3Y7M7yAowrbROepty8cg9SEuwouIVKskUmkpnsatqxtSk1CC_D8T0T6jZRjIeQwPGyP9zIaiICLZGq6bvqgIHtv5JZjtifp0Mn36uuCBEjOCM5LGQ8eF352N4wEm7AlPp2wym5YMLSN2b16v-gtBFaQPHyi4BFSriDkacPIybdlQsOkpQ3Qi0XWmj0YY18oiabB91xt-1Ku5FYSuE4O8bgm00zEdXgwrX7SJ8M46JcnK3d9cOJajbuL_jHSS1xmjMsH1aqxZoUvWH4zCa5VDjK3pT55Hn-TOw4mOVh8VV7aXavy5DDgDLZFTC75PKuUglGAco_BweONJAaAvqchCDuWqIJuPb7TOmkPV0kZPEHCxvKdvJ30DrtbuGj5gcG8uJ5I5WkR-6ANVIHnP_pVMDSmIlI4ql_iRTm7wMlOaAHoCGhza8tUBlBnEGo1g2ulP-GcSdpAiQ3eHOGmoUTuTKZd-lVAvi5Ezv4NP9q-ftzePHVHjq8Q5LKoDIqiJak8qf1zyt5AuUzsoeLp9FDS652_vMJDxCV2encxgmF4OaA-trejLPsTBgXMHgFTRNxQWJYky7O1UnWWyMCjjravDIYSnF3MlG23-SCtaB-QuFIJQPlXPIYfKCyizw-SqpsOtbQI1IDhkSVY0dBnk7ugMYcGMmejmhuu_wRr90prW-idSxYCk-9Y3lhff1VIrGYwgiTc338qcetqxJTWx-yVZvvXrrna8tY3hwkCVR3F4CdwPh2UWVM0XA5tq7VGOkar4M3xf1XMLBNcPzRYp-UDUicaokV3wYbPoLkWETN3mYBNON8q0mPUv9vghEx4H9YrPMqDFA0eQkB4dv20tvpMBkFlzsKV9rmlVcgdMfnOcETKXvDBL3ZQ6lBhsqmH9xTc475-PHFJVHZhxLFlYFFsjBwhVHh4VgAzjGRnJH0aCWoy-tSYCD8B_9W7pBrHWTpAxBgVxccH--Tnqs6sj1GG5UocQ8LzAo5YCCMUBtXBQxLMkLmWqb3k994If2sAfDQjBt_wIN-UiZ-M7ye8VSy7v-7GsyO_zTn0dUclWHfTd8TgN2gTwpP50Y-wgyb0Uy428NC8i4ceCIhvGa6rjv4yvT9lTiJ2_BUg==",
  "id": "rs_0ab12ab633e9bd85016aacbe46dbac87d0aa5a55ae6541845b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.24,\"left_z\":0.09},\"note\":\"The container is still just ahead of the jaw tips, and the arm stopped slightly short of the last target. I’m making a small forward and inward correction before the second grasp.\"}",
  "call_id": "call_RnC60emOi6BntskOHa5ohBNP",
  "id": "fc_0ab12ab633e9bd85016aacbe47b9c087d0933fb929ce5f94b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RnC60emOi6BntskOHa5ohBNP",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.9724, 1.2686, -0.1383, -0.5816, -0.4995, 0.9986, -0.0147, 0.8013, 0.6086, -0.3855, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.2319 left_z=0.0799 left_yaw=0.0586 left_pitch=-0.1146 left_roll=0.05 left_gripper=0.9986 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0187 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -11.3026, 8.294, 1.2381, -0.2125, 0.1343, -0.0464, -0.0752, -0.9915, 7.0632, 1.7363, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:212dc6619375edc4a2216b05431d7136d7049d9cbba8633268cb7faae5b00d00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cb06a0f4170f729669edc8ca4d8591727f784644f6c00d74aef8df5aef5fad6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27b86a65e62b927a2b7a95c37074c11dc15089307ed72e9b56d56535a9af4e7d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 4.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.8599, 1.1336, -0.0921, -0.5762, -0.4831, 0.9989, -0.0147, 0.7986, 0.6086, -0.3847, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4264 left_y=-0.216 left_z=0.088 left_yaw=0.0443 left_pitch=-0.1001 left_roll=0.0442 left_gripper=0.9989 right_x=0.295 right_y=0.0014 right_z=0.1798 right_yaw=0.0006 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -9.2376, 9.1145, 1.4823, -0.188, 0.2271, -0.1343, -0.2393, -1.0051, 7.0359, 1.7753, -0.0366, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle body now fills the space at the fingertips. I’ll close for the second grasp attempt.\"}",
  "call_id": "call_804vLg3g4Fd04OIcnBSrGFwk",
  "id": "fc_0ab12ab633e9bd85016aacbe4ba65487d09594060679642ac5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_804vLg3g4Fd04OIcnBSrGFwk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.99, 1.2713, -0.1482, -0.5766, -0.5098, 0.0134, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.2317 left_z=0.0708 left_yaw=0.0626 left_pitch=-0.1351 left_roll=0.0561 left_gripper=0.0134 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 5.9966, 1.4237, -0.2759, 0.0708, 1.1844, -0.1573, -1.2513, 7.0222, 1.7216, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6731d321c98ea395b5afca07fa0c689d0df356df211c968e49155e0332be01f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2ed9a70e6336d397ec303fbe87038cb37838a151273b34a254c903d50e7d686",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7095df781d8ea804ae208fbdb32cf02485e9ef8d230fcc722193be37f75440f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 7.06 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.9724, 1.2686, -0.1383, -0.5816, -0.4995, 0.9986, -0.0147, 0.8013, 0.6086, -0.3855, -0.0116, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4474 left_y=-0.2319 left_z=0.0799 left_yaw=0.0586 left_pitch=-0.1146 left_roll=0.05 left_gripper=0.9986 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0187 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -11.3026, 8.294, 1.2381, -0.2125, 0.1343, -0.0464, -0.0752, -0.9915, 7.0632, 1.7363, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5SAc8M0yIS_OgM19wwJ6poTSyf6GDtNFmCWHLz2MYf-IK1oTr2FtWcwReUsL4wVFtIVamziCmdSM9xmG0U_Gh80usRU4mBhww6cJ3E4A62KXWesEZXm4lMPUNYe4B_0d_DAelLch3NG-biz_g54cLvUQEboDqPfaj94UIqw9VmYpveLm_6TeUOmZVw7OH0BTqkQsnOs8Mk3QPQcy8ulVPsl8-1TzleF-riBQvOmsddLFvcEejWlFtUYBuiVfqDQfUJmNsQDSz-qNRiw1hqYeUnQYYQ0KuI0tAULVbyYqBbClKyI_rvfnpkpmswm0Z-buUzd0CcWsyi9umvpJypC2Y35erXixxx7oRbFfKKYRdCAGySD6jNFDuueiGb3sCM7C_0H8Vy7Ew0VDANAbV1tXv-fSz4VeZjAekVuqCOYLtvaxj9mFsb1qpDEgx0zF66KT0reYpVO3pzcyaic6Ld7LrdV3wyFhgNM2PvMY5zthEhuAG3XiDQ4pGwBA8Ozi-qV42qCxdot5Gf8o0Udq2__5qplu950ppol7hQ6hPPZODb0m1iEdCuQ_Waw5RApZJ3S2Gj5Kiv_VGDBcR50hlAA6tCqsxQsUfcjT8mk7slJeqNXKeVnyFOFqpzJ3vcb9cK1WuumQPVBKGcJTvvRqmh__wK2tnKmiVgR4SS396y25o4yAjM_WjNaIl0KyRqEy8Hn5Svi016waSk9NZQKAcr-LuWscXXbVa40RYuXjbo6IOPzbRZfo1PFaIEeb7ZeqLVAHEdPy_LfFPTtttw6gMsqP--q9eX95nf0tbfCwdrLXN7QiWKrBWHPS6OSx5YytQALv4YTAGkfDoxIMvK327cIVc_drEJ5HfQNCbRyMx1OBpQn-xVheNXFQDUm72y0tNJZ8KxDT8PF9aE8bWChFfWpDOw3kadPYyPgvpL3NeiQPfcZJV8BLgx458sZfh7PkEQDNqtBDznpiC08BLQYSCkVwQM1VdYl1ogxTe9bUpdoNLi-xiSnNoDRFeHeeSlSJE9-2mYgJUYqNkQIOk9xGOhB_-dJeatBP-WUM3OpwScO94LBK271cWwYcUN_xpIjgzWO3Vu9hPOQHratxHNQhWKz7tH7bJE5ko-ka03ANBwwedwExJfakLEMRZC5ZlJWL7RP4idY4ZnW_wBdO1LdVHWgQfHXS2kwVHvtOEaQCUnVer47YLpVVZ3NyhCtNhxFNCBu0zQcCoQt9L-rBbZ44KCVUfurDb51kl1yYD1QIODUoRJPtRKr4z717xI7-OyFukzk19yIby9mfez24kq9LFyvU_l1XmdjcSF-e_mC3Uu-D1k9B8xgIEPkxhUpD0Wf8EtEADTgcYhlN4eZtsx0DPEkFfhV1SiM9Zds9kwL6cSlcVnWuqdzoQJI03jqqheHrsS7BwiJS-Z1dE2yqxstfmazSTSMw==",
  "id": "rs_0ab12ab633e9bd85016aacbe4f087487d0b530642aa5c1a8b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.16,\"left_z\":0.25,\"left_gripper\":1},\"note\":\"The second close was also empty. I’m backing away to expose the container in the overhead view and reassess its position instead of repeating the same approach.\"}",
  "call_id": "call_jzEQpoIFzEqu6OJ7zVq0B2dk",
  "id": "fc_0ab12ab633e9bd85016aacbe50961087d0bd8623702afb1a8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jzEQpoIFzEqu6OJ7zVq0B2dk",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6907, 1.4666, 1.3224, -0.7345, -0.5766, -0.5358, 0.9957, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1669 left_z=0.2309 left_yaw=0.0662 left_pitch=-0.1429 left_roll=0.0441 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5556, 9.0325, 1.3309, -0.4322, 0.0659, -0.188, -0.3487, -1.2513, 7.1316, 1.7216, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a8ee586c03e05423f50676804b846a781516e93c9c84c40ec37b7c9c621088",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ef0eee377193e303f7f44327e8a9128e142af9638427024f54ce95e9470ccc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e095485dbaf2d1fecc5624e04fe4e840ed30ca1c8141a4d3d5de58eb4fb5a39",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.217 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6792, 1.99, 1.2713, -0.1482, -0.5766, -0.5098, 0.0134, -0.0147, 0.8024, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.2317 left_z=0.0708 left_yaw=0.0626 left_pitch=-0.1351 left_roll=0.0561 left_gripper=0.0134 right_x=0.2952 right_y=0.0014 right_z=0.1787 right_yaw=0.0006 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -12.0547, 5.9966, 1.4237, -0.2759, 0.0708, 1.1844, -0.1573, -1.2513, 7.0222, 1.7216, -0.0415, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5aUzaFX9VVIlH6MVRMoJiLGJYZVnYPzI10JnZCbIK586M3ShN78yDAGSGI0fBk8Zln9BUK-dJuoRA_WGrXQiRdhguWNOGCKeD7H677TEwfxeXk9ITow6-Y_YfeC-eLoJlzY0p1U3wnF_GZwXX6OyAjztmzGwY62p_7nFe_MgyHq4IP1WZUdmTUmpvjf7d6TtyUiS4-YIO3R8-4kQ61AQV_5DXdnPE6ZfunNjPi9WDLDLW2twRjxyZYc7bSjOQHGvrJuIsW35RaugHrTOQ7bPZ4K7XVYKwIHV0n7KcvEMsygOnw6A3IhZi8ZPZkionenZ4D67pZY74bze3u91YZNVqkifch4cQg0ahPl4QgKUCf4nEPWKTD4Ld7iClm366sosaOaTzWkANkMqVAwUyiRjSGHLLOtuzEc9smi4qIskBlNgzVF9UHmWvywGf0i3BD-m5GO_f9tEvu1P7LIS8UOQPjFY5buOV1PbvrL0dAeShoYywq60yy40G9YY65lIHvHXCZKsJAgWbuF1OgAOo0c5UYLN-UXrQiVA8xTLRhUMIoHlZzInYK0T6wKxTwrUUBEuzlKHntiu9obsoxAefhztOoP9FnT70w3E37cde5JNUeqcSA9NCz5O0_nMqhc4Fso2OoQh7h0_PvAZoHzkjSOAF83AbRLThDQGbDX7XsKvKdzyJKdtMhHD4tuDEPWR-hH5k3AM13kQpwoCM14NcZ6QZixQPjVbK5ThIttMY-Bw7NHDWrz7dU-4idLOgmWjCpnKwhna0NVbUVc144JEcNMhiX5GzO9Ijr9thHLsNOY7Aogq4b0eKGkPctOz5a5gVnlSQVP-nvPQqTcUwSk7pppfHv4oufYFeSY0y5eAcWDXzc0x1g1hMYNOocoKauIjc3A5HTdVT1UqpUf6yllCIKC-YFxYy1nO3SVtbBncm786UlZu8MJ01PgLc3gLP1Z298faZEuxHUUXh1eoi8zEMhPk7o0p_NM4_C3XTYUT34rU5dWLXNdZWaRENaxqQsaph2fKXi1M3QDZ6CFlph7ROD61MHHotMveQc6MLQih0AN1X11IzK1BK_b9UOLj3IOV1XPe5VOVdeSh79GuD7l4fAMNKL4cvuA1xO9b5JIhAzp5K5SfLiohi9sEso9s8mBCgmyv-FGuBIAhOaF50o-J6ndU613T05Ysr-L8MFnLlA4ArJPcewDIF3ETcpZeuJx17Iteg_gXIRDVyvwTbUjV-d0EQt8ua--DjRVWPiwqWDQXEhjR6yibd8fRIrblxbX1IzGRKmttqLe11ZS8QqlKswJtUhg9gt9lQ7wNLnRbvk4yj6p2AHYJCo1lukIn7xJK6PmNGeFR8jw81EZyLfQcq-9ZiLuLB6gemf7mxKAZpLzyNEdb5rdChSrg1nw6PtEYCVqolD8_zFQrWinS6CSz7lVqs7bjFpWtO1ERkpU5PeW3mzvcsG8iMVjBzP3ipswAUsB0OmxdT0RjcbQvwTHyLP2nT87sCqLJ1tOJMNpOOOpQgamEmU9PlC58jjHQp8ig49uciVegIuk3LCGufk0G0ZNa_-DWwA4LZLVHJe9KVd-H8jVAQSR8iqGXz2L4i5HeSFNxJEY8l_TDJtrx16zRIy5SuW8y45eEAJ3jq1IElhyjk8ihNESpUQzrqOdW2kxMfrSDXRqTuWlg7uM2xhb2yge5UuqrGUFat4RWAEMuMnBt40JVqgFPSBXPZR2TKd13r9Zdq5fFp1t7LEvUzVd1CJs9vHfDqzYWVLLv3ZyWwS-hq1YAQlzgOJe3pkvXkv4RcLezhUaEbodLslx6QtKsOlgL3Qvwsm1zCpBG9MVn_77pKD9nZhnbuNF7GZtuIsJlW9bVyPlDckXdM1q6ZmSnmzFEqDEmdUFcR_RAsof-Ou-fuSgnwHPqBC5RqvsdC5j54gmeXpek5GAUAJsqI5Xq3jXcRIEkp-4rggWA5cwAWqGkcyGiU=",
  "id": "rs_0ab12ab633e9bd85016aacbe54ec4887d0943459c35ebb2420",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.26,\"left_z\":0.19,\"left_pitch\":0.15},\"note\":\"With the arm withdrawn, the left container is visibly farther forward, close to the red cup. I’m approaching its upper body from above, where the narrow section should be easier to capture.\"}",
  "call_id": "call_J5MmpLgyPtxaxi1tzL49ZbUD",
  "id": "fc_0ab12ab633e9bd85016aacbe58964887d08c731a131ba264b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J5MmpLgyPtxaxi1tzL49ZbUD",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6773, 2.0136, 1.5345, -0.1913, -0.6941, -0.3954, 0.9968, -0.0147, 0.8078, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4936 left_y=-0.2473 left_z=0.1631 left_yaw=0.0857 left_pitch=0.0595 left_roll=0.0764 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1772 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3709, 9.7983, 1.7411, -0.2369, 0.3492, 0.1001, -0.294, -1.6205, 7.2684, 1.7021, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c732a1e8ff3210098d43bc301f45cad10ac46c5fb73b109134c1d8427ae81054",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da8f2dfa2d41783d25a93e06c2666d4740facfb758766360ea337b731a14d82d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a540e335083f7a488de28617841085b76a57a9daca58e11d6883776b8156b6f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.068 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6907, 1.4666, 1.3224, -0.7345, -0.5766, -0.5358, 0.9957, -0.0147, 0.8043, 0.6086, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.3588 left_y=-0.1669 left_z=0.2309 left_yaw=0.0662 left_pitch=-0.1429 left_roll=0.0441 left_gripper=0.9957 right_x=0.2953 right_y=0.0014 right_z=0.1782 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -7.5556, 9.0325, 1.3309, -0.4322, 0.0659, -0.188, -0.3487, -1.2513, 7.1316, 1.7216, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5f_8CPkEQ69qjWs61zHJZAdZF1GiMmH9teVRDAb-THO1BRKUtIkekqZgbEGtMpeqDaR1AjphNMk_lkLJuZteBcQFLY9DFsrbDdTx3A2aew965hqEeV3Jk2a-QjI4Enu1PEunrKpOr3wlY8MFwOUxPjwzLqqCBE8fZOaGu5lUXMJlCrdQqCbt0OalMsqhufFluGpqSzNc-QN8frVPpUdqbc59OZ0vyXbUtcBAGpi7llrEc-9XSfPNKkU2vMPdoaaG3SpQQvWFG6docBDxU5CaKwRGCFMy0CFfFFetTUJLH2gRlS8cZOBrGqEVK6M-5U4FC_VK7d9sgXCS-5jGeBYABO6X8LDvH7DtSD9P8Fly8K1d9_b-wVpijZB0gO8YfgVIN6jZYHWC6nLISfW5xMHFXDpheylILS8ezCagYaoTDJ0j5UD104d5tLecJ1_uf2M2sK611Ardy_JjlSJ9sV5z3LpFALJu6pV9AmF0FOeacNbpppprddKZc5QdxW7__ZK1CKkTofQW5SEvDicL-UdtLjk93wZ5wVjj5Qs0-9qtVNbVFIPUsikD_2Cwhhz9WFU-AMn16A-ySoM7ZvUNRO1ajjiWT1C8abok3lR2rOIPexuJ7tuU9AhYiTF79hqMGQglbbbHDdj9MS8_y-lWeErqpOBBuQwtnPVZbAdhOsNwwVNDBFj_A0CIWx7dlW1qrl4XZCoU1JwLRpYxoxlUtW8txYzob0DUuQZWoVWNKSLULYflfA9kg-uI8SzAJDImfYk-tXo4cKBgnoESy7ejK_zaJ_4DipMxW6PiKH7KSbZzE-B0l_Ifc4MnEMVwcfvXc7KaSc29DnLwU5beTCBdPxFRNTUotkaoX8zScCsmu2sbcdhvfcCxv2XgxEJEgjQhVjd2dxdvk6plJBxYcjrOsjyzavKoh-uaMUQnU6ZAF-7_Ioad5rIAXrqYTweDdenEACB6usXMEVT2lo87Csf2MRiExXvHJ7a2cU8ZSOXS6d7cc5gu6EasmvZhQ_dyoPAAi2UYDtsq0laNIBMbvJKOaM9q9WN1oGmyU0mLN0g9n6hR6rg0zldxWtwxkKGoDrI2WjXLe_q7HDWTpL3WIVV5sbhtkh2kU_yiDB8Q3P89Jw8do_ztnAjyoeJ30HzsB0UlFMMuW74_lgvtxfQ1AdcVLG5com1yib9wohJhBTOC0QELsoCgyFmL991V9f-d0TJI7CEXYT8uKaV07J53xX_4GnHReBkaGCU2LpgC_OmAcquNUA0w1gTYP7Qh0s2FD1uQi3qlIS49KkeEylHr_c1CAg7h7Sw5RrVVY3-26dIYlW0j-8n6ZlA0nsPK5fg8917w_de-w9TU1Qt-2JUDP2TwoGLE5BLSf01gvH9zQx1rwR_665F6Ds6FoKsaws2yP8idTupo9HeEzD5Pf3r3cdyVQn_sK_9augw5MnlJI0d2Lpgbm29odRm8CRXFYkFnqW0-i3zitX-0kGwHxBGPp0HkOz_t9RO6Jv-0jD_2fzZYQFOKpfnoQ=",
  "id": "rs_0ab12ab633e9bd85016aacbe5d097487d0849909df301138b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.15},\"note\":\"The left container’s upper body is now centered between the open fingers. I’m closing gently around that section to avoid pushing the rounded body away.\"}",
  "call_id": "call_z0OoKdzwEW0t30t1rr1KtfXn",
  "id": "fc_0ab12ab633e9bd85016aacbe5ebb6487d0af069024c6ea6664",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z0OoKdzwEW0t30t1rr1KtfXn",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6773, 2.038, 1.5391, -0.1925, -0.6991, -0.4114, 0.2586, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4951 left_y=-0.2477 left_z=0.1524 left_yaw=0.0971 left_pitch=0.0474 left_roll=0.0793 left_gripper=0.2586 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -13.5863, 6.3795, 1.5263, -0.1929, 0.1783, 0.9939, -0.335, -1.306, 7.0632, 1.7216, -0.0171, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9405e6118e02d6b94ec4bb6e32d9146dd9f764d44928a5dbd9f4a89c244cd18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c8daf1b49abed8516e0fda134cc80b074561d6e229b3d7f756881c635f7f816",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4185f57f0d05fb2e075bef1220cc30f8171d560a370f84a2201e14f52cd39b44",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 10.04 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6773, 2.0136, 1.5345, -0.1913, -0.6941, -0.3954, 0.9968, -0.0147, 0.8078, 0.6086, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4936 left_y=-0.2473 left_z=0.1631 left_yaw=0.0857 left_pitch=0.0595 left_roll=0.0764 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1772 right_yaw=0.0006 right_pitch=-0.0252 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -11.3709, 9.7983, 1.7411, -0.2369, 0.3492, 0.1001, -0.294, -1.6205, 7.2684, 1.7021, -0.0562, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5jtzl9bfdgsVhe9_fKDmEm2M5RytlOs8qJTIG2NIFU2FEFkNd7LLZFG6OeIMBDxcz2OBFe0z4hSPzTaBoHvBImAs89NrLv9TIX2mX37sVZVlVMoCb01-ErOKM5AnOR6vXVarOkCZk3rWv-2bNZrubaG5WpM_OxkFk93Wx9AHxox7xtdEWEe0jKw5wc18SD4Y7XIgT6EOwxtHw8b7TjXC17JFoCoHbv1TdrmDV5WHFLjaD8_DbDfRmIOVaneYdXcx6-No8PRYg2I072bXpUFEeN3WWLBIALsupGorB19DvSQTHeYW7IgxF_3gR0wm6_dQueFkpjyOAU0Jo43TxEbf3tessfFAzG6O3EeDg-6uQPdtPbbKucZ3wqN6UzeycCN2wGa6J9OOhvhxVbYELc0Txxf_RE-yhlCl38Ocx9nLKzHVtuqJGaZCnTIct77nwCfcmAho73Rzoa_7jDuCxGVtXDtUrMjB_TZib6seKAclwBCOXyZYV66rRNsYZ6RRLiLTHTso7YL0bdv52KHT28ILErff32fZfrY6R8GCodMWXvV7DSds5bvyY37t_x9RSJyA7npiF0gQbZcZt9OUV8CSCVOLP6Iypr7YcgfQWISrxYG6oX7q8A1-56V7rcsz1UMaVW3RBFec8TCQGW048IvTMJD2qwwSMOxwjlRy8z8XJrwN6fJYCpL4tUafhP6Bwi3hRdztvfpOtn9NO4cuxk6iIWMhewVbCoEw4J4-NfsXnEvAmfRpAUP52gR5xPvSpohbmC_wKkRkPkAb7fJr8vuxs6PKP29CWDxyxKgY2jOwauLYke3dhGMTgrgkuOGVq8qjrvkLcH3Ah4gOWLYn4MfiLzliFmfjku6T66UNjC1k0EJkhIYgDdTKHIf3iJFyd5srM4lnjdWkzaWejiWvl7kmJT-9O6i9hq2vHXKbVzxwxaw24ytO_3Zmv3mRVsn0Kygn6X-pMkEEpwXLKSLTQaXYfyCNHcgz5xJQQ4kzjd5LBC8-ItI2JwdXo-H49PVg22pKojITkkfrMWCXrxCBpD9McbEJ2u5EuWLu_5zmlvrZ6n1OpZhObwp41auWiKzfOMAi0oc4j2XPfrOiDW7QzBxDdb1l5_T9VxAZFyhpEluXsA4t7Irr55cw1QRp2Mw3VNAmH6MVTBJbAQ0Nl4JUhvZ7Tcf8ctFj_hQk3OX-PVqo3Pr2ozglbz4qEzRs_4VNm6n4mivVxoTpCqizm4EZm0ggws69VVz9db2N4r9EiKkeC5I4YYSlDX6tK3Zy59K1chbcxw",
  "id": "rs_0ab12ab633e9bd85016aacbe61fa1087d0a86a0dbe0ed1a7cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.26,\"left_z\":0.25},\"note\":\"The gripper stopped at a nonzero width and the container turned with the fingers, indicating a likely grasp. I’m lifting it a few centimeters to confirm it is secure.\"}",
  "call_id": "call_LZsOOao2fNhP8wrTHZ5fA8C2",
  "id": "fc_0ab12ab633e9bd85016aacbe62524087d0b9813b2a2da9af8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LZsOOao2fNhP8wrTHZ5fA8C2",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7143, 2.035, 1.8172, -0.5579, -0.717, -0.4732, 0.2585, -0.0143, 0.8097, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.483 left_y=-0.2604 left_z=0.2115 left_yaw=0.1045 left_pitch=0.0002 left_roll=0.0948 left_gripper=0.2585 right_x=0.2956 right_y=0.0015 right_z=0.1765 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.3795, 9.7573, 1.7558, -0.4029, 0.2418, 0.9206, -0.0615, -1.3197, 7.0222, 1.7118, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eac7250fa57d925879088e1dc3e72d72dfc7758f576c70f66b8e5e78ab22cbd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8852cd55fbd2969401829a0b22b0d3280577307cb4ddd253ffc12e8c4e696691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b81b99040628dfff6c9243360fe654534db5274c55177dc23ce80d3baf63930",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.323 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6773, 2.038, 1.5391, -0.1925, -0.6991, -0.4114, 0.2586, -0.0147, 0.8082, 0.6083, -0.3855, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.4951 left_y=-0.2477 left_z=0.1524 left_yaw=0.0971 left_pitch=0.0474 left_roll=0.0793 left_gripper=0.2586 right_x=0.2955 right_y=0.0014 right_z=0.1769 right_yaw=0.0006 right_pitch=-0.0259 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -13.5863, 6.3795, 1.5263, -0.1929, 0.1783, 0.9939, -0.335, -1.306, 7.0632, 1.7216, -0.0171, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL5uP5L465njbQIVZmIb2CzTmucl5DZMuhjdEeIX-DeNMh-IWzy8RfB3LzywkAeDh_XgVPEQQyaEtAvMw6gNR2GOwUl55l4DtTP6svhof-T0IcKkYCB8RuNtZBL6sjQfQewz5frDqKqOSyDRD2TVYRNJu9y634467or3-tYwi2CcVLJw8hJ2zDT8JwW-cBFsf0DrTo0BEQp5-iTqsA27dWbPiSf3RaMxD1djVY6bgvaIXDsRlvBXQH9fBN5JQ_lJvTeB0LwITYFRdW9T7cct4CDug9yzAOIHUEZRch-R2qOuBcvTN_f09eATCNL6u6m3k1r3H6TcuQ969i4Hh-xX0a9eE1mEs6qJm-F7FxzjCS5nvq_hr3nuquiePmW_Dbvd_Q8A9f3oCaNDtCmQBFimqSg3DsexbQRSskhA8xI62_v4jKvGqllbttwabSuZDI3lg6nKsRPX9Og_Dt1xFkPcMUhUKIxAlhzi5OoqqNySsEA64OLzc3fHe4Q3yhM_1pymSkcmXUcTKy8i6SZNSOJMxh3aMc2T1zkF9Wr1GtdejxLyLb35nBGB3JiweZxgHJYzDKC2NewzPrtK0DPe6eM3XK71_KRwoSvfB7UbzEwMixLiXvogEAifndLgyWi9MQdfCKvCk2CHCpgat5ZiCwf2LLceAK9GqXmdc3ho5PchJdmSDtgt4lcqfBwoTAhBS0iPHZZq9EAhTQj1c9cCyOBGKX8arq9hq7IaYYEQWF6oyoklSW0rnBVxJDE-Zvk32kMlCV8yPP978rVt8D2fdfZB_8cMiWKIQD4yg6F6aD1uoFyGrhefDqTvIt8LNMGpCjpU-GgNU_82njWouaYZQk8JC4Ajp1_3Mc7ELi0-jLGw4_wqicDjJO1y87cJfWiN3MW-43jvDySYWnyMv-90NlU1-wtVDZF-NrUUvqbV6orJLkWRsgqYfe7l1gXkYb30__tsXfTwaGis18IKzTzwP07mSmKNqh6lJyfZLPYVFzt2IVPvFY5O3NkKzhblW08iyHWClQc-uzbg1Lp8MwSv1zpo3SNfNv2IKqQYYr8GIseYv6oTikYO7MZTOmU2zh8BlnB0ODCDClYLKCzkLLJ3vXOo7XSH0BZI0tyz06PO7gkRwj0pMsMrLiqdWcAkpbo6DJhS6enyqPHFTaYpzBWV4_v0ZY9SvgaBz00AOGSoUdHGyL1L70-Boss_7OoSCv5NL_gdsxEYb2foPmIzsIIZ0bYq8tBxEGA5sDtTiGd-zT077KpS6kATB7xeSq7zKjuvT6jPtbSSsFzloBMFmZOTOiUOTdsVfkwXT2LPQ5bvYBi_DsBcG1VS0l-9HX36UYVINP9leQHpUcdK6rjzKqBsYBZSrkPcKlAzx0-lcOfllUwhmHX0WTmRN_Vm-AKyWj80ur3ecs-zhjqX-y96WEs0wJT6kDgs3rUjMxNwXr3yjIcieF82y2xnXjcOfd3NumCchnCUBsAZnF2SuwSIBkhJqyzQS5qEWNGTOk8Nokbi7kfHK96C8byov3laB8zHzZMuRuJPmCmfX_5RkG6QRnGGbRRp4t17H5mhr0aUO5BdD1dUUt1tx2TIXunJIudO1fHCAU1Avbt6dgYZ31pjr98tJBZQl5Esnu7UbIytsD2J4PZ0m36V4OU4lzqWpQhMcYfKKT8UI_iH-p9seyRj_iE-sYBxui97ky1qLLkxc_KbL-HfQg-bDfWVIVr8i0D901PJ5z6vQlUht4SfAwo3DLdNcRr1X4TnSIQp5WlTg9rHlEtPFxuyFWfJFmCVbX-bj7P2dYY4gF6PM-n-7YbFHevLJum0Qyeyx-M8uaQJo8WYMTQ16u_telDjb5UuA-GKTQs4JkWItNGdetTruTc-_VdrSOA6BjqdfZ5iH6B5oyYCINHzcttfOdFTpXDBbiGgHtY-pSarHOAcjhVvPwXE8IRdvof8DBsFsJEtzKphFXLV8Y8qlR20qiUDQ2mboYTXvahzWjZqmRO6Z98TDZsdLwIBnN7R6yP519Sc7wVthLAFIQ9QVT6RcmEemKLbT7jouK9LTwXv_E_3yO9ARz8lkXz9P2jSzl6NslEXK2IQNk52cRcoy8s2YBLoVP16lyG7vY6RoseutI-DfToBhScLKD1mRcsKJ5NAdGdFC5LoIaMBs89XEJHPJXGeWwYvw3TJLCqdjOV40psrUFSsz2tuyqLoXkmm9PSR4c5sF1qyCwARaL4IVydGSqedb_kRJAlXZDa8bodMhkWAdVZcSCLaIBIIRngaIIBl_K5xYbzvE8bUkKR_L2BRQv4IdKUXNbDfhpBSumwG09WAxBQBWvonGdL314ITlNWhMNLztpcLfTCA1FuPWIXi6GJTPjGPNjwImBIH_i1ZcY0nXu7k11XwEHUliJHOHhO0W-KtPAWmVklY8R1wv_YqrjiK5B_U4Gaw94UdEwvq2QLLvn2IfsdYMBX3THYhSCMVE2eLu5Y-l3qCe01Mi318cPc_lhQg9sqA18SNQ3vPtawqVNjQVIETZqozYPbOWIVk-Zr2jrhDFAS8utZGajZOlbIdqEl3JCywP2y9IL8p-3buRD8wLgfqz_oJXuWV8_X4ecRkBJejlgWvxMjsYy1shHuKAIsZIUBe8s5AMZ6Vypqvau6PtDplwoXe7Wq4AviJQg==",
  "id": "rs_0ab12ab633e9bd85016aacbe65cf1887d0a12f4984a42615e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.25,\"left_z\":0.34,\"left_pitch\":0.15,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.19},\"note\":\"The left container lifted with the gripper. I’m raising it above the cup rims and moving toward the red cup before tilting, while keeping the other arm parked.\"}",
  "call_id": "call_NOYIJdDUdOl80i8Z7bTOzkQ5",
  "id": "fc_0ab12ab633e9bd85016aacbe6ccc7487d09246376bfbb4d452",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NOYIJdDUdOl80i8Z7bTOzkQ5",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.68, 2.1269, 2.2955, -0.7979, -0.7441, -0.3992, 0.2578, -0.0154, 0.8185, 0.6289, -0.4252, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5072 left_y=-0.2517 left_z=0.3189 left_yaw=0.1255 left_pitch=0.1102 left_roll=0.0653 left_gripper=0.2578 right_x=0.2932 right_y=0.0012 right_z=0.1754 right_yaw=0.0036 right_pitch=-0.0553 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.6171, 9.1419, 1.5653, -0.3687, 0.4811, 0.5739, -0.6359, -1.5248, 10.1128, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e03cdf27ab351820b6e19578b20e1d049be999a29d97b62f2ed077e300e2646",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a53fa78df2f0d8b9db8591e259858a46244f6bc054e40cee3e80d48f2199ff9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0469578f007ad4be4004570e92765c187bcb9cbcfba02dbb6acba0353ae6a14",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.182 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7143, 2.035, 1.8172, -0.5579, -0.717, -0.4732, 0.2585, -0.0143, 0.8097, 0.6083, -0.3851, -0.012, -0.0166, 0.9998]\nstate[eef_state]: left_x=0.483 left_y=-0.2604 left_z=0.2115 left_yaw=0.1045 left_pitch=0.0002 left_roll=0.0948 left_gripper=0.2585 right_x=0.2956 right_y=0.0015 right_z=0.1765 right_yaw=0.001 right_pitch=-0.0271 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.3795, 9.7573, 1.7558, -0.4029, 0.2418, 0.9206, -0.0615, -1.3197, 7.0222, 1.7118, -0.0659, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL507i4TaW6O2XVf3cZN6bGXSqeAjrIaBG59JEpAgHvzAnITsq7amyYyA33o6uYM6go93BkIJ9a1HSo5hwhwf6T96m8bUC9_LDpxjo4EjilPNCRGtYBF24tGX_328oagLN3COy3EYrXwYTY3sPU5LKJtXlaEjImgjc2xXNjma-CF17E09eE3bqEHUKWU8LPFHuQfhW5c-TPRNybpUOKv59_7F6Iv1fiQibL7K47qZwN0v4F3YqaYxsM5wL5idkXcukOy1GAcCgLfh5WQ-Yzvi-Re9yz_3bNB2dJoUg1396alIuWnngXDXWsWHJ98iJ-7jBFpwNlRKcdQ09PB5l-7YWb2q-Ny2YuYTQhKF1dkRDLfbk3GBhrX-S6PmI7rejzj1vvyp7sWGb6bnj4q2FccFlzJLjc-USnzZqVK_g8bE5-U_hJpraTdwG5off9M48qg7mVr6jttgixp81qjkVJjh1JTC3aDDl05SVjtgwLd-7_m63fQze8Bne_n8OkngEraoDTERHfQmE-M63QW3BUmr9pB0EbJ2XggfWwyaII-oWgrnxtdjmMaee8o5IGMvN7PxC6yd9A6hYIpIka866m-Ai7m4z1x27lRSZ3a1mFjg1Nwrgb8nebxH0Tvy5gB4Go7hX3y1xKZ6yWrqaAgOQSOMAy6dI9QikBJrN0iHlb0Zjg-YDEAgJ2UUBniHLir4aKe834RF46B8M22hDeMpXK1seLwj8Yf_iztV_wF8wx0q9vfkK9-gnlUeaK-Eq_7LSI-Z9suDpREKzkVgtm7OTK4coeFqnPkWOGsadfizqWve7Ft-Ei4hboBwzEPgG0okJDGDnnsIPQAvgbt6pFZXnEvCguI7Z6qJFJLIblUiLcWriqCFlZvNnR0h97XSnizqLoijgzzNh89D3bYNRELpAMSCILuXbcJzzoYy_ibqZCSFWAjMg2zffLT3FddAaOMM_QF6aTjP-KySf_A8bnX0F6nlnH4sGBAJECYpmx5h_wHg3-xcrMtKJPSvAVYnnz9fdAvL26qzD6lFZLhpF8t-rc3zXtu-trOjAdCVMNZKNGFJMwrGe1nxn_w4DbcJbZk70VvUYWnnxSH76Hkdaa8L3aoqi6bv70Mhy6POLvn38pvlP3y62zkanlLzjg3zBz_BvEpvHjB5teOF-Qhu8uGxK0v-QwMXkpBoVKEB65oIKKd6NUH1TUAsFChJRsShtJ3kOtvxhdzhCKaXluQ7m758BuFu_idYiZscVdz0l9Tz444lfprnLap2eCW4XyPgfK4rPxU34Tl2oE-rPJ6AHyXHQWfZZ1i3VR3zcn9U83uIKM1Q3D9aiJ9PlbluE76RV_2Cw3wg0JnLWQiLiL3QPpLZ1PNd7aFZW2xEypU9JswlFhL1fvxU0xrlxgo-iyxLuqxHEKBST6qAilFBctTCDmK_VJJcAQrIsZgFCUNUeU42IEkpr7w3E2c_Rd6GpIJwopa7r0FeUFm",
  "id": "rs_0ab12ab633e9bd85016aacbe716a4887d092f13c4243f3b036",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.27,\"left_z\":0.31,\"left_roll\":-0.65,\"left_pitch\":0.15},\"note\":\"The container is clear of both cups, with the red cup to its left. I’m beginning a controlled tilt toward the red cup and will check the mouth position before increasing the angle.\"}",
  "call_id": "call_p2l6zciVPVM3VUnqlSOH0mdT",
  "id": "fc_0ab12ab633e9bd85016aacbe72fe0887d0be1f451e509f1f04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p2l6zciVPVM3VUnqlSOH0mdT",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5831, 1.9911, 1.8202, -0.2871, -0.3992, -0.757, 0.2587, -0.0154, 0.8185, 0.63, -0.4335, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5309 left_y=-0.2637 left_z=0.2677 left_yaw=0.1351 left_pitch=0.07 left_roll=-0.5032 left_gripper=0.2587 right_x=0.2922 right_y=0.0012 right_z=0.1742 right_yaw=0.0034 right_pitch=-0.0626 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -15.1316, 7.2274, 2.1416, 0.0904, 0.0366, 0.7595, -0.3897, -1.3197, 6.9265, 1.7705, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10348dc44cd57ff3df9675a7ce93e8e8ea09eba3bc8b2263166ada4d8dbb6f29",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfdb9366d72300f9ebc20e973c3d280bcbb6b3ebaea43976518f366c054bdec5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc55400d105c3aa5d37fcd8712c4523115ec355aced44bf27919fca1ba653e51",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 9.764 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.68, 2.1269, 2.2955, -0.7979, -0.7441, -0.3992, 0.2578, -0.0154, 0.8185, 0.6289, -0.4252, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5072 left_y=-0.2517 left_z=0.3189 left_yaw=0.1255 left_pitch=0.1102 left_roll=0.0653 left_gripper=0.2578 right_x=0.2932 right_y=0.0012 right_z=0.1754 right_yaw=0.0036 right_pitch=-0.0553 right_roll=-0.0053 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -11.6171, 9.1419, 1.5653, -0.3687, 0.4811, 0.5739, -0.6359, -1.5248, 10.1128, 1.7021, -0.1001, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL56036ZGfK6JnJlTBGqVjz26_XCOKdH81KLpPkPaUFiF0WCsj8Tz25k95G-2WirkUFo5KZHZsHKQZbs-jqmKmQygf-bVQgI2KA9VpOJnAND7XKyy7sbIOaumuwCI3wh2cf14b2LX5riqBxgNx62ZWuor3xT1XyaNa5J8d8olIaxksB2xL-uxvCEgJYjMYeuDLSwTgNrU9y6_EGmXXaqmsvMlrjcNCQYpvg2u7iATy2QEYQTxk5RnU05dSK2PXcSGhWbl18p__EKlzq0pAprfvCsdZjN5ssgbxsvwdiGidOxxsuDbHp49oCa4fCFLFVW1NZIRLop1pKElmpronc9nsBnIziWhJE2-nasOlqkWcgBNebAPPVY59u2tpWdkYIjP4x5aWySiBhTtnkUGq8Dl6DheHdStfWgTE841EoMjBmpQM7neBXB6T0MIt-CB9CJHP96m651wSb17aYuLJYtaVJE5nZ52zhbmU8XV7Fk3dGDI8aEyoRAHtBdqmb8xfHo7TfvxNa5Hid03Y8LRzr0AZs6x9IovwWDj67rGvguI-J3X-g9C2a74DxBMGaK0tCSzJcOV1j_PzroQgyoicEdphx0h7c8X6wDsMM8EpeBUoXfr9K5dyV2-YLMztUCcfFz8cJcdSCwKzzLbJhExAa5x_QNI5OzseYCtKWnHe5MGOwUL7eYncqXn_TVh8FQYMi92t0S5MKIjEiIQ3UHATBC-n3ylhaiih2ngw6WmIOhTwyjDLUSK7vjQMwVkDvYC2bVo6m3k09onx5Gm-DxBMOsP3SnQ-rrrfq0iX59NmUK_ZK4NPJyPkNmbjXsmpiZOdxCMBB6vMbUk4adiw4Y4MKrtbN21gy0e3QhxDtxfxJOcAKc95_GCvYcTf2rlMdoGcwoK6UPgIASgVMDbJyvc-crbBg-DiYtoGz84JDiThv6kPpD0QhQkZVy-poZYbF9wA9LpEHny3lMuKCTmCk30dylbPuu5mKX0_1WNFDeRcSr_nIh2dYhNGUzJIvqfx5EQ4NFv4hrwUwyiiGVf5BSuC2_6D76MhHb9wPr3SKJt3DNjuacrR0a33auokUM4sOhizQtCDKeDn1URzQxnVieJC9saqsbvYARgit6d2DLHsGlqBOfLtmz7baxUnr0CSMAZTRyz12yVaM7poAolSXDgbTwwapMXY74eaGMWrZWx-4ZLRBYZ7_hpd2IVIjSOURDbuzgO5pJtoq3VDKIEOSgMk9wsHfYp1_6UwjEcboF5zjH2HSX4-rZXBRe-zezI4xLDQ9abcuDXXsrocaRS6Jef855RxJV8SkJOEE1yn-ZSAs24rsCEYjUyTmAutupd8OX2dHsQJoFUvJq176JkBT-2rOwhTEhUWJ5XmikqVLUtNMrAE5XVmjpXlTY7hxIKYfY5fp5FovBlhhk2afcyZ-AwNxp0gVp1aqaSy5uXC1UOqKMg5m1xajR65XU6GPdvwl8LkBFam47hFyLqzNEPNTLXIawUytrp4nneqvkeRDbRGdFGGiA2fBv1aWr8DeAwIup_-2V-RYMZBdwqF19HgOMatgzDdcOtw==",
  "id": "rs_0ab12ab633e9bd85016aacbe774de887d0adc11dae04f8d467",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.285,\"left_z\":0.30,\"left_roll\":-1.3,\"left_pitch\":0.15},\"note\":\"The red cup is visible beside the container on the pouring side. I’m increasing the tilt gradually while moving the container slightly forward to bring its opening over the cup.\"}",
  "call_id": "call_OFmwnTmGUwGzt5iACTL9rWw7",
  "id": "fc_0ab12ab633e9bd85016aacbe79628c87d0af8d21be3f4ef4b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OFmwnTmGUwGzt5iACTL9rWw7",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5201, 1.9881, 1.5509, 0.2829, -0.1516, -1.227, 0.2602, -0.0154, 0.8185, 0.63, -0.4339, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5499 left_y=-0.2801 left_z=0.2666 left_yaw=0.1476 left_pitch=0.0719 left_roll=-1.1679 left_gripper=0.2602 right_x=0.2921 right_y=0.0011 right_z=0.1741 right_yaw=0.003 right_pitch=-0.063 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.6581, 7.0906, 2.591, 0.2369, 0.0611, 0.3834, -0.3214, -1.1966, 7.1043, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82178a470e9813fd6a2b4dafafc849ebb17a74882f1d036f63c703b459d534aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77decb8adcb8ee99566b8e099e3cc4c988380be3fc09b46a7c35ff202f3e4bcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb54bd6596cb840139c0099c727c0cd4a2f4e68229a14581010ebd951a51cea3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.877 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6FEFKZ41fnBeJKPvocyZFtG1X0xTAuO88pTrQ9vJc-KfvoRN39P2NfhPIjZVtvu-JsUf6qe4Ydr0ac0tgyXaXf_gEjBgYsl8Uqy8KlCMtlfErFmS1qCzqyFJa2HkyMvcKKbFApQH4HOYkZ4RBwahMRvfS0M7IwW0BnAvf79cX7Y8HH_gvKWikWdA1fwXA7X8xLD7PVMBqXulnv6_6c4BfSE5xeawXR4Q4Ei6ysY09kN8_WmFH1K-KgC3v_WuQEs_uFvSNsdCYPuvzugu15RflvbzMKqpETyhvUrOKg4obEYGZRvNfeL9Dcwmh-MWBrGfx74emvpeYoYZgt6TA9QGgGWsCaYqxizOnIktMyI5PRV2hp12JyWvNM1NbrSIfMYON2IEeWZ1ubBVszKquU3_RCIGDov7tlK9jrXm4KxSqqh2_B3Ebidga070Yt1-uxWckjw09JpuA67Yq9OThB1hh9gW2Us9ddw7J4OiGRrBQiN6UXZoX6I4yRS7CwAfPfVuAwtsMRqAcW_eAznlkBwUjRy04fN5eOP3IvH5_GV2CBzP3FS0i1V-TU_anqD2fNNWPqThJ-rZSaC4qqHNBW0CEXYx6mysKu3QBFng1qP4BWAqce-fmI3rUD3GYOn83sriqWf8tTCUP7NRW6dAwEG5XTA_Y8qD0hOUSfkdrNq8w-PMaK8MyQrHODzDUL3XhIoxWWv4dHkUht2IkejGTd6f7C_c1CvF6Xz-wasydhtkEdGvs9wEjkVqNQ7LA2VkrA2QnWTymeACiaKfjlZB5lFShRecqYJGjiaql3mTtj43jmxeimoNvJD72r7bgfThgaGE0ax01BGcinvMGoS1QYqRL-e-xlwvQmndZvK1JfjrI8gZYJvA_DDmeWLCFfGUL2pBUrzRqkcb6ZCPI2O2U3kAGGbiTXXcMytG60tJN6BjsWbbxSfHAQ49EsPGI6tqS86Tz7G4_be8alj7lVkluoNDGh3eCP9eAfmiTQJgxUjmVCP9xfwgITJhSMyqC3FYRgTJxRjejU4Ky_TONtZ4csAiRAOQtDDsvTDY-Ynqe-JZXBq9UIDLy16BBa4OnlzBzSFjrYuETMVymN2-t1-DNZkkcAXBuoqFMepfD3uj2Uk4VD8yncLxQk5e0XCbG8_w2fWjEpVbbpLyjKqF-ma2bXF0mFX3zmRcOrSDMsY0_YphS75AFTDARnT4CxTm5LnN3Us-vqDdvQPY5-rrbChva_irRLV0N5RTOL5XoNIakFz82VKr10WzVyW44Qy3pMn5O9VpjmowkaQsEIU1QYzsGmjyKe2PPDMBAOmYncbz2a2SnuknS8TsXlk6fCcz_wFWZzSRwbJbE8eZO2MdHIhW598-Z-T76PceBKTuGRvJSEahZZvWHPhjCXz-DsZHtZwgNUl6XVjtX3MYoQLht_duR6NiedP77dcY0kNYWmaEjlsRhj0R5EE-AFS4K6Du8V7IMIGXaqU4UlL65y2jUiKaomk7ZmiRjWD7wqDbhc4lKP3ihnTFiT3vz1QLfvegnFGqiejVvwV8t6ooz9VM2LgwEU0QkjOq4zb4W10tARY1Z3xYX4HwyMufU4hMsHgRB5sIKGgCzCDK7luCaOfTu1Lug3NsLgw_J9ue-EG7svn5WQYr4dYJK_xhn3dyjbyfbcafeGA7kF0Vrw1wxZL_7z2LIqsAncNwDXa0h0qcsMpxCdgNB3mZBmQ99AFRm6JGhuAg2ikMyj_Vk2rwNpdmpdcSHsCSilOoZ86686MO0DpeoSg720svzDWbH0H4coIKqvGvFV2BWAiiGbP8jZ5CXTvEmcKIPDZuLvJ5rdNHPgv8OUwCxI5dNLtKUCtlT9GjhnreeFZSClCYv1QVL3VTc07yJTsRtrt9rWsQjqu6jZvq1LHPSFH-WBN-9f3vU1H6h9z7VRnULw270kiaa3z5o4tBqB6kj2aV8yICd_4Qw81cICIHs2I1-4972sGTtRxCaq4d6aml2ahIW66782R_rSnzMcCjISmOoWrS8kjk4-Ei9iImaRU0xoW5XOSCfh6Hi8SEyg9xhydSpmGHsHpBOvwVYXSdeGg5J5M4wiDRS22Qxm-Hjr0xU2qy0oFjydu1nAXbIW5kHG7nFfOT9saoXOIx6UHKOPMSsm3J5aIw1OjJgweMsm1rDFj49CkjwHI0Tih_UeHhnlYbdedsX_P1DJCs47oG0QOuGT00lYHMMEzC87rDoOjeub1DRzf0EvP_nXvk__cF3ukAoNU3HuDYm1SYdHC3K8fAp9ZDWFiDw85yXxAlk4H319i_w6sfT7n85YFHKpNJJlYb_S84q29RXbRGCt_VIO7Qch6M0wEX8fH5Dxwin-o8-h10jBolAr1nnl0PVJT7ziuDmqHmZvzu3pXdeUWloF_ynRP6Bqia_n1PSXuQmCEE72W5jtRdizy9HfJUfmJ505",
  "id": "rs_0ab12ab633e9bd85016aacbe7e080487d085aa01612be4ed01",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-1.571,\"left_pitch\":0.45,\"left_x\":0.55,\"left_y\":-0.28,\"left_z\":0.285},\"note\":\"The left container is nearly horizontal, with its pouring end over the red-cup side. I’m completing the tilt and holding this position briefly to let its contents drain.\"}",
  "call_id": "call_VR9V1i6sQOMaFGCxGt3P3Cjg",
  "id": "fc_0ab12ab633e9bd85016aacbe83ce4487d0b0707cff8e16d4ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VR9V1i6sQOMaFGCxGt3P3Cjg",
  "output": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
  "type": "function_call_output"
}
call 15 attempt 0 · /responses · status 200 · 6.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5831, 1.9911, 1.8202, -0.2871, -0.3992, -0.757, 0.2587, -0.0154, 0.8185, 0.63, -0.4335, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5309 left_y=-0.2637 left_z=0.2677 left_yaw=0.1351 left_pitch=0.07 left_roll=-0.5032 left_gripper=0.2587 right_x=0.2922 right_y=0.0012 right_z=0.1742 right_yaw=0.0034 right_pitch=-0.0626 right_roll=-0.0048 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -15.1316, 7.2274, 2.1416, 0.0904, 0.0366, 0.7595, -0.3897, -1.3197, 6.9265, 1.7705, -0.0562, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-1.57,\"left_pitch\":0.45,\"left_x\":0.55,\"left_y\":-0.28,\"left_z\":0.285},\"note\":\"The requested roll was just outside the controller’s exact limit, so no motion occurred. I’m applying the same pouring pose with the roll safely inside that limit.\"}",
  "call_id": "call_Rtq0x6ogIyWX80tu8wHeK6o3",
  "id": "fc_0ab12ab633e9bd85016aacbe86be7487d08e52b8a527b7bf3c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rtq0x6ogIyWX80tu8wHeK6o3",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4858, 2.1761, 1.3739, 1.0275, -0.0723, -1.3205, 0.2625, -0.0154, 0.8192, 0.63, -0.4347, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5595 left_y=-0.2769 left_z=0.25 left_yaw=0.1611 left_pitch=0.3269 left_roll=-1.483 left_gripper=0.2625 right_x=0.2921 right_y=0.0012 right_z=0.1738 right_yaw=0.0036 right_pitch=-0.0645 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -11.9179, 7.788, 2.6203, 0.4029, 0.0024, 0.2222, -0.3897, -1.4427, 7.0906, 1.6777, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f54a799e249309291bb45da38033a1d6ca1752fa981d616f73f53612e0506651",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce95e55bd1384ee931f63798ff0e1688827f7b1d54ab79bb9c488d214be6f33f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40d23431cc60845ca13fe038d1ef8e1f3c41a3d0027bf1a647009742f871d0ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /responses · status 200 · 3.423 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5201, 1.9881, 1.5509, 0.2829, -0.1516, -1.227, 0.2602, -0.0154, 0.8185, 0.63, -0.4339, -0.0116, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5499 left_y=-0.2801 left_z=0.2666 left_yaw=0.1476 left_pitch=0.0719 left_roll=-1.1679 left_gripper=0.2602 right_x=0.2921 right_y=0.0011 right_z=0.1741 right_yaw=0.003 right_pitch=-0.063 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -11.6581, 7.0906, 2.591, 0.2369, 0.0611, 0.3834, -0.3214, -1.1966, 7.1043, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6Pmg0XxCyXbfWhu7f2KWZaLNlirSs3nvg7Ti-EgrrCJoJS3xmTHOYuDyh5B-C5ocHbAAE6tJl4Gt-pi0O1-LKUp9iUjxLBgT7IB7Z0R12aNhq9hq11PYXwZ17gVrUbuX1JyTStvwqlJpF1NeEog5DrT4Ta56Q9YAEf8gG_Mh45uvxbw_CvAS42bNt159io-N-4VjaDin_MqiK719nOLmM_y6F6suCVbhfNFMRjC1vpWkz0o_mOPX84teDxFvClxCJ382DE0yEGGHh4DrZk_1GFi5rhbb2EP5ebf7hGcYgbGVB1q6qfc2xUEjqzOziSCep5psT9RCoYKavbLfB1AJV2KRl-bLe50bavg9JKqMBqD6qu5Xw-PaWjkJtZUi6ASmaWaY6p7Mmy8a7ayLAkVx7qcZGKosn0Yk6MDY38RYVCYkA973UaVgf5MRTNVOuAwpEDaOSiluB5MKDU4fqSuTysWQgO95_wRQY844jWTSCBqMCHO3W3uE4AvpJ07W2b2NAVBvCIWw9embGVCLHJ6mkbY9b57ykl6ErTHMKZLGXcWRzftLHkX2jEAls5ubO3UftoLT2PpZz4nE4oU8MvX_OS4FMyniodm5wulceDrgFg6HU9jWGUVoGhfjMhIhSYaEdkyHOVhnetlhB-NCgYsYw-SbusmfK4da4-WeQokwIhWzV7EQ3GTi1fRFZT0oE7kmfgFiLYXr4KRXvRF6FGcmLtGKz8TnSiDM5I1vWRomtvWeslTu7B_IYQUhP6XIGjhhb0k86H2w5qUwJnfWf45ZJ592HzSZYfHK_Maj2NzqbHZA01pm-ttQt5WtNP1yMp4w3ID1xoUEOvGjk2PLofCWGyZMJkDAo20nT66DwJFDOsBdZWBMdPy07N8lcr4fZ_7fss8TP0hTqqPlBQtHfiRRwA8WwAkL9rVi4FHpKK032xmR6wYJqC6zuZytT_CVVgjk_6q68Y1hDcFcYGa6L9JFMU5uig3PVoXI7FVTd2O88_l_XF0u5-dZQhad_lngSc7e9iiZcZ-xYjRrgvfAYB9zzuMlSoFk_9iABmu_zBQ9SInswh3tkDxSOMCAx2de_SnT8THfpfnAJX_pdPR_lJ-ifw3BPcfxKW7a4kdNQNUp8AWHW5keZnNZjcxVRpMEe8QUM_ZvHH-GQNJxqb2xarOFiYGuYMnZXC4vhRo0kI8-KvYLoUqqh8-pnNv3eyp0uG9I-FQKoW6-VZNb10mkAKiebnemg9fddZFPOp7mYYEtFY-p1B0x2FrN4IWiKbUsY_J778EgxbXc5lO7iaTR2sK7RdEpAjGN1LHtQBN_FBEduH5MawPaAugsn7GV6b6PLb8hwPL9Ou52e89uzK2GA3HFHuRHz37FKbQ_Spa9tG1hUELKPe5CSFcaQAZhb9JSkgWxmFJyj4IFZ4_UUEFM1qyjpplNmEGy50YZgrNSDp7HMO2GOMqsBuqUT_M-LSrNmZzKs7Kg8Ib5ZpAgkYr8syL6lUb3T93QCGxGPTYY3eoLzsc4ArS59SgkEXS09hjwBAd-q0861jlZHzQ3YOMg_B8LG28Hp6kmUMYolQoXyzDJXSIB7Y4CCZe7iw0Eih9sW_AOmre4VKQw_Qy8JIeMUwx-lHWDj4M0YWSXqnne7tS5CYoc3bOMwdhu4qLCW8M59OVY0kfgW3zNeaWie_M6RSIweBYvWG6bCw6JI4kJhjPUA1AN8U3pMyITeB_XS3KTWbTMQODH6EkoJfGYP1otPbru1WTA4N1CQtpeTu55YDKz78Qy2z8Topv4jB8jxSF3Rbxz5r9fZFtgU1Iy4ixMXZKMijEMsU_ifz7kBJ8fQ_cwNzvw-bSQRZvFyQ4naLgSOMKpcDRqeSwqvToUMA9duhZj_1WyXzu-fE81LBvFshOEWREu1XpjKNnUvXsf3VJ9WpJJRI",
  "id": "rs_0ab12ab633e9bd85016aacbe8b1c5c87d0823ad5c2cc8b8b46",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-0.7,\"left_pitch\":0.15,\"left_z\":0.32,\"left_x\":0.53},\"note\":\"The left container has been held at the full pouring angle over the red cup. I’m rotating it back toward upright before moving it away.\"}",
  "call_id": "call_HPzU3k7BwpUBMNrGShiEVcI6",
  "id": "fc_0ab12ab633e9bd85016aacbe8ea8f887d0af1fa335f1ecb894",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HPzU3k7BwpUBMNrGShiEVcI6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5888, 1.9842, 1.779, -0.0933, -0.3527, -0.9333, 0.2653, -0.0151, 0.8192, 0.63, -0.4355, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.538 left_y=-0.2816 left_z=0.2934 left_yaw=0.1736 left_pitch=0.121 left_roll=-0.7808 left_gripper=0.2653 right_x=0.292 right_y=0.0013 right_z=0.1736 right_yaw=0.0039 right_pitch=-0.0652 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -12.8068, 10.6325, 2.2051, -0.1148, 0.2955, 0.2955, -0.1573, -1.0735, 6.9949, 1.7363, -0.0269, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02ed4964068f6ce911fa8a222b0224dcfca3f8694bf3dcaad008866b36e0335a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f42e984a7b673cf5d3427be6205918150118177e427a0ef0a48b6ad8374306",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a9db6e41f35c40f0b639030d00e141fa9925d778e798426a932f754febe6f65",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.15 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4858, 2.1761, 1.3739, 1.0275, -0.0723, -1.3205, 0.2625, -0.0154, 0.8192, 0.63, -0.4347, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5595 left_y=-0.2769 left_z=0.25 left_yaw=0.1611 left_pitch=0.3269 left_roll=-1.483 left_gripper=0.2625 right_x=0.2921 right_y=0.0012 right_z=0.1738 right_yaw=0.0036 right_pitch=-0.0645 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -11.9179, 7.788, 2.6203, 0.4029, 0.0024, 0.2222, -0.3897, -1.4427, 7.0906, 1.6777, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6UTF6ipceqfgMW8vXehIGNnUfB2KN0_rgD3CASSBcvBDDAdsBIMroLvY3sCjyOnSM7pr4aBH1OLb8bK6_7-L1tBm-lIjoPtlfHTHqAKXnkEw3Rvsg_r5MZGSAA-E5bfM4ZIFahjsCvTFrtAUUfjopqX5CI3n6eoU3TxdzTJnelftlknvzAwyZj1wX1crwXzzx0o-9nY75ApVfyjSe9XdOJyJOgu6l9VMPNo84ZF6CZOdZGeh2KS11IvwO8EVpkO39yLBzauS5gs01WVSlB1dEamjtihGzIt4TIGpfz0RV66wo-OxfTzrNMm_VC2DXsRkY3iM2NAOFm0q7jczwSQ4fq8RPJpI69h141OHXRLDcHmybRqAggUjpnobb7kZSvy_2LCj03gy89BdTQ-IoYjYy3WULJSeYREDeL9rlgKKu0CJx70WIJiiAFIdOozoXyRVZBBRTXrhFjwDq1WRN3Mz1oncS1RIsJW6urQtTR7u-HEn353_EEk_WvSW3Z1Kd8htaA3DJHuWVBlVCk0miBCJV9x6nS9LUWs6fLZoS5Q1goFZIPHL_WiyUBg_FpRBBsjHxMwCfKHd_WK-B11STyTdqDYo5_gG_ue6fiffjC3Oy_xmcC38Hf2bC0RpOLzUE-tI3PCXuL-ky15F5TAVD3wb3jKAX5shJ9blICDrnfeUwIFOBDfV1sx7GWqri9OdsQaIJ9eOnNqvTMzMsHrI3YekYbzHr-BhRaK5ztoGb2-5fEDm5BCzH8b7UPi4hC0tfOGg002kXfe_5Tkj9L6iYXFl56zTUHnFXecA67nBPjezyWqm3WCkzNUNSMjxF0GunzmLfq-5T9_FcoBHx2uVSptc4HvcbyzeygtiQn__7c9GOBMvKGrx8D6xvzvo-DXyU02xA1neB9ZdmkYdxPRONlAYerQm6Whax9QBoRDkCjvrXXig5R02yl7uDjEedfx_Id3g5NPqk6wOvJa61nDTtMP0Ni5WpETSx1SkiuNJ1g1ZYhKqC8N--VrViJ5Tt4aSiCVaSIclr9lJaYfJHYF7pISQ19pHlk556SWTHY-9Atoi1JxWBHH1K7nEM6C_cdGUilMuh7tYecuOkuJds_wEg2dkR-sPQC1EUXVcOhHBUecgXrxh4iAdpD2C1Cm7epQLayyQhj9v7J-OvwWUR1zx81hynbwu8vPl9jrSEaaiDewlM_7K3gBmoWgJ09OsrbY4iRk6cDjSlRN9PNxOhgINusUQZzU0BWjiFeczvrLdw-MYgm1SGWaSSENStZW1y1x24CyDYt",
  "id": "rs_0ab12ab633e9bd85016aacbe922ef487d08ba93486a71175cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.23,\"left_z\":0.29,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The left container is returning upright and remains secure. I’m carrying it back to the open area in front of the red cup so I can set it down before using the right container.\"}",
  "call_id": "call_f8WU63gNHX404zWzslKqkDKL",
  "id": "fc_0ab12ab633e9bd85016aacbe92ae4487d0a41da3d9debfe84f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f8WU63gNHX404zWzslKqkDKL",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7937, 1.8172, 1.7462, -0.7807, -0.7151, -0.7094, 0.2674, -0.0151, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4127 left_y=-0.2493 left_z=0.2576 left_yaw=0.1503 left_pitch=-0.0448 left_roll=-0.0449 left_gripper=0.2674 right_x=0.292 right_y=0.0013 right_z=0.1729 right_yaw=0.0039 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -13.8462, 9.853, 1.4432, -0.6081, 0.0904, 0.2076, -0.253, -1.5521, 7.4598, 1.7411, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04db6149cb5b461e8687e3e0c15a61c88b13d22f82006bcbf0a0a6892abddc59",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:559f0326074e6f0a65e25299f8ead456870300a5261cb61c93a6d66da9fbfc66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6c966b958e73a3927e29f779872b7f2473dbfaecbb13a2727799096ec04dc22",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.228 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5888, 1.9842, 1.779, -0.0933, -0.3527, -0.9333, 0.2653, -0.0151, 0.8192, 0.63, -0.4355, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.538 left_y=-0.2816 left_z=0.2934 left_yaw=0.1736 left_pitch=0.121 left_roll=-0.7808 left_gripper=0.2653 right_x=0.292 right_y=0.0013 right_z=0.1736 right_yaw=0.0039 right_pitch=-0.0652 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -12.8068, 10.6325, 2.2051, -0.1148, 0.2955, 0.2955, -0.1573, -1.0735, 6.9949, 1.7363, -0.0269, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6Y1SpWxFRmNmkRzI2cOiZw2v1LPjVW3f6juyJDuBJbBgD6mKX4pWyFKqVIlrxPNNh_2cXVC1g9jKXHRHhXUehcwKMNYy1W35mAwprbdnUVAu7fMduJ1i1q1L-ev6y8FVSlPLD-zmKZ1RcoRf6KFcQ6_8QcSm6wh5QCw0xI4UOjbylYwCBTLbOVpxn_YV26xFBv4wUsjgOzEBXdC7apwCceTDJkDkteEtyfI6iIvAq-P7NupLO0DD0iGwsRXS9UwcBb-FbLbq9xgihmkaigIXkbFI4XkbNwPuVunRUbXpBB1z1C8tIYQVmT8QzjoWm2FXz4PTxxVWa_BELF6CoqpGew8Y147Zy1roKTxyZ40N01tO1tNbxbbPcjjl056bJrsojfb3_jZcvaHqESWb6IyPCRps3ptFE2oKZA3spOo1_b0au2bjkZGpDVH-KLMcKgalFO8dIma-hHACT_xDoiAUUqOCX1g_WLhcXlFQ7Z8qLZaRrRci-wSeV3NaxPR5_W9HHKiU7Bo6VWwpj9uhzF7tKW-pHu2hgPzC3myRmGmj5dsfhW4MiEVFzdD1QAtrUtKOH_wG26XKd2BUB2iIj8Jb0W7b-lmxJoGJyLH5YeQ9Xe6zp6L00fXYE7tVk8hptR3qm9pgePWjKMCOSVzICtX1vf8xals6up_bMOsMU_XO2bkDSzpIFrwmmPYJtx5BgFIG-MlKXWcBHqvHB2l4VMkdXXqTzU32_KMEJCtpE86DD16i6Ompv6NS3AgiK1cBjHGt4UILnt3e-oG8JqxzIZ9nknX-8eK-qKYzYWx0PZQEdSeI62C5LiHbpgVnseb6xnvnPa6hN8GjTv8-MTkjUYUj3vDqSzVH3ZGvMZKet5IG7tRNpEATYV6rR4JV6pVsnhA1QmZmKPQCZiCbnWMrpvPizZyyetDI5kq1SLeFufADRocunimUFQuhVbLm-BeLWXLA5VKQCy4R9yHd57NoZa3nQlpaow-G6hnLccrJjgYC5okensbFJwN7MxDORoQdHKDSX22BsJTUeeoxRSJywKsi4_8CHEvfqooZ6Yq76akACV40yQR1j4SI50r00BjvUpS7qpGtb98SWyt_pLmBnJl7fwylkSn9rraeAv75Gzbo16gMWFBKICGqgy9K9WcUeQZ251DODZkWYOUnzBbc5AjFlATdDrvPvVIcLAbH7wDbRSbLxCCswb8AM16FT0tRRh9KZrDNT6njpgG6yPNfWUzG9x0enRwrt3umOHTz-fNMqyOuXd_oVM6A4fRrhyIrJVLF4VN4zN4255lt6uSuuZ0mqa2mHmNSJKXxA53GxoduqqamA=",
  "id": "rs_0ab12ab633e9bd85016aacbe96cb4c87d097a6d1a860b72354",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.21,\"left_z\":0.16},\"note\":\"The container is upright above a clear patch of table. I’m lowering it carefully until its base is supported.\"}",
  "call_id": "call_eMH5AOJKkG7FqUYWNJguSDlF",
  "id": "fc_0ab12ab633e9bd85016aacbe97347c87d0ab59fea8be5ef172",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eMH5AOJKkG7FqUYWNJguSDlF",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7506, 1.7115, 1.224, -0.3954, -0.6888, -0.6724, 0.2703, -0.0147, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3955 left_y=-0.2104 left_z=0.1523 left_yaw=0.1575 left_pitch=-0.0794 left_roll=-0.0018 left_gripper=0.2703 right_x=0.292 right_y=0.0014 right_z=0.1729 right_yaw=0.0043 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -9.5385, 6.4615, 1.2723, -0.2271, 0.0952, 0.2906, -0.1573, -1.2239, 7.0085, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fadea1682f4292bb0ed5db2af73cd8debd00c4ac6856d52a20a54cde0b44fdd0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a70291fee06803e9576962cc3c7005542052b708329c973156e2592170eaeb8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9266c2271c6bda2e4ab2568c27389de6b8285ac6f4a8c4a529112e8a4e2dc797",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.074 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7937, 1.8172, 1.7462, -0.7807, -0.7151, -0.7094, 0.2674, -0.0151, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4127 left_y=-0.2493 left_z=0.2576 left_yaw=0.1503 left_pitch=-0.0448 left_roll=-0.0449 left_gripper=0.2674 right_x=0.292 right_y=0.0013 right_z=0.1729 right_yaw=0.0039 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -13.8462, 9.853, 1.4432, -0.6081, 0.0904, 0.2076, -0.253, -1.5521, 7.4598, 1.7411, -0.0464, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6cYwMamyhtN44Uv9QRootpmeVRpvyiNZ1g1afBXQlSSUUe8rNT0HbL77Hx-3SRPa2GEBD0aoljV1kA3CPrTFHrxnIE3TIjOeLENKMtZyUDThUXTDbKvMrcXDPPy3sc0KQ3zLKjzKgS5nDzW3diQKYHFrQU2L4iPZgIKBmMrsOi7XQnYkK3as2hE6fU3m2Ehscs8zIP9fBBq-D7-GKydS2m_W08Z2KmzWHrEdER8AkNYsUkel5s4X29pcWcn9OpFc4dS0OAPWyV6IzKrtuGrtTIi9xRw55YN1TXDMu0mUvNQBBjrJgf_PaPrsO3wIweYP8biAj4epLQASesK9DsLAz3bAqdFkLQcuDe8-ajxBPcNVK3Msp4lt04RwLVlt0gpIZpa8wzRxbJfnQT2cu0R9kVFdNDVHAhdnmQoJIJh3iBb8VG5fRX9m4tOYqN1TyPjNXNpfK03Ku_O8kzi5LmY-p6wrZJ3Mxq4D8Nx1ztaLX9TcAYpXRMWlDfY5vWwqA428C-TLUtPQ6qidFzNb8NYTBVMWqNFTcHHHvIR_Qidw7yUVXqzD2cs7Z2rpOuKaW29unHA2MsC-o9T2E5YCh-vUAr-I8HLQ8Aat7HadSCdALdLM3xUlekNedD5Zd5eIRcEefpNZiCBtberNjDCr-640jcu0kr7x4hmEpsKIV0Rhhytp24YEqPv51VdvEfKDMrZHblqp1ke7TPkUIc_eNTe0RIppMdXpGkU-qZHv6JgJTJDh2hFbzfyYbSWCd5PlNe30pInZp8p8o-g3f8t8Um_2cvexRJOqBkZr7pbj0Rm4PK8Bt9tk_8YVP7D9nniXzWhU9p4214aILTaComFoxFFEBRQ50kP6B83bwrKa9Dz78Mkzsl8N-NzVddPNK-ncWSh0miONO9n90X_muaauRZ6lysb0hSCrsewtBbVAiXMyKJsaSmhu0XErTLP4M5m5SjQosiEz9B7SMmo75nWk_oxVPUJSWS-GELML7Z5eIqUs7XjDvFtYp5edA36-ThGfjKk542ItAAiV1ISIGwjTD1geZVU8MKgmRG_LlvA0zHF7TtxWsNwVNjMg8kMbb9rFF9cQ0YSCWF9FpXS1HeS4uvTUP8fd0E6MdqMu8JLmPpb_MAnV_M9w6vkcw20be8Ct0Z8NSSQtkQBSJLYuSzqKNh0o39y9WNu8ZTO5OPPVMh4uEwN2PR6wD38DqyxFStEGG3Q1km6XV59SKWLw0jQuan7p2wqYRbWCmtQfl7sBPNtIzEmuE=",
  "id": "rs_0ab12ab633e9bd85016aacbe9accec87d0b7c52bb6ba5fea9a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left container is back at its original grasp height and appears supported by the table. I’m releasing it before withdrawing the arm.\"}",
  "call_id": "call_xbIu9rPNjte2m54w7xrw5VlR",
  "id": "fc_0ab12ab633e9bd85016aacbe9b6b6087d09209f1d1eafb24a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xbIu9rPNjte2m54w7xrw5VlR",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7502, 1.7084, 1.2015, -0.3801, -0.6876, -0.6773, 0.9954, -0.0147, 0.8234, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3935 left_y=-0.2086 left_z=0.147 left_yaw=0.1601 left_pitch=-0.0827 left_roll=-0.0031 left_gripper=0.9954 right_x=0.2921 right_y=0.0014 right_z=0.1723 right_yaw=0.0043 right_pitch=-0.0702 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.0615, 8.3077, 1.2332, -0.3443, 0.0122, -0.1099, -0.253, -1.4564, 7.0222, 1.6581, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57195a2420283b9d7b2acdfaf03abc2e18c62e5daf97a124cc1ebc101ffe95b9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2e8d97194abd26906c853c3a5b4379ce1872aa2f6f6ee82873b57bb64ddb076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a46d40106844a549862f95b87a39d42a37705b001539b825f67b82adc37981",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 9.625 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7506, 1.7115, 1.224, -0.3954, -0.6888, -0.6724, 0.2703, -0.0147, 0.8211, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3955 left_y=-0.2104 left_z=0.1523 left_yaw=0.1575 left_pitch=-0.0794 left_roll=-0.0018 left_gripper=0.2703 right_x=0.292 right_y=0.0014 right_z=0.1729 right_yaw=0.0043 right_pitch=-0.0679 right_roll=-0.0051 right_gripper=0.9998\nstate[joint_eff]: [0.8547, -9.5385, 6.4615, 1.2723, -0.2271, 0.0952, 0.2906, -0.1573, -1.2239, 7.0085, 1.6825, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.23,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left container remains on the table after release. I’m parking the left arm out of the way to make room for the right-hand pour.\"}",
  "call_id": "call_b4R0PYgqpwUcBrOV36wyfyJ2",
  "id": "fc_0ab12ab633e9bd85016aacbe9e93e887d095d6435a4ce0a9e2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b4R0PYgqpwUcBrOV36wyfyJ2",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2207, 0.8425, 0.8185, -0.5545, -0.3588, -0.2649, 0.9968, -0.0147, 0.8249, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.2345 left_yaw=0.2082 left_pitch=0.0222 left_roll=-0.0232 left_gripper=0.9968 right_x=0.2922 right_y=0.0014 right_z=0.1719 right_yaw=0.0043 right_pitch=-0.0717 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.5111, 6.3248, 1.7118, -0.1343, 0.1148, 0.1294, -0.3214, -1.5111, 6.9812, 1.6874, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0745f1aa61254dd43819827dd12f8d4891b96f7a7dd1f018fdd0f123b3938fbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:794c109fab3e0509a74973adf010de7b1a57bc4ee39799dd06e4f00a5f8efe6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b501875b6efa0f995bf1b303c7efb24fb69e4a72ab5ad75c04c0b9904dc8f92",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.312 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7502, 1.7084, 1.2015, -0.3801, -0.6876, -0.6773, 0.9954, -0.0147, 0.8234, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3935 left_y=-0.2086 left_z=0.147 left_yaw=0.1601 left_pitch=-0.0827 left_roll=-0.0031 left_gripper=0.9954 right_x=0.2921 right_y=0.0014 right_z=0.1723 right_yaw=0.0043 right_pitch=-0.0702 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -8.0615, 8.3077, 1.2332, -0.3443, 0.0122, -0.1099, -0.253, -1.4564, 7.0222, 1.6581, -0.022, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6rIpy3iSNz__4LGwZt7oFJec3E0f7rlNEuJsRTeRp53Av2ghcAO1ChgGd4YV2G8kPxthdyBphJxpLeZ3u3EBopbBguSDtsRsJL5Cd-lQD7_AEGpNIQiuSiXty53HmeNJfBEaObBBYQq020tRvauaGbzU7QvcmBE8L5zPPb-6_-KhBlkaxN5ulsoZz6zfcJxFu2oBgR0lrKsGEqLVnPEZB--nD3tYu4GGVAVtDR3Bs19-udbx80vVOZH1yDcRRJxkXFyR4xYXCJSMn5DgqHNdwi3D4fbTPqjaAc1EPDs9lqP7KhUtpIqoGW1uwCZW7dkG76fhOX4DFBu3V2WQVagyrowmlqOu3PGGvAts3N4efM3-ZC_MvHqFomjMPcT-W9MuLxuvK6kIEVGj39mn7hOeEK3hbTLY_IfrTDtCGWlnXDssEMirn5RYIMghOlL4Ph6CFP5ic-0yrv0w3EisMsfqsEj4-zAiznOHWu4PyNQdHSgwBhMZIQEtimPy07qnKYD9mXWmUAHA_p0iEbXP1Sgso5KDc0RrHxRFG__dS5wjAV_wJ-VXZ56rShZWiVSo7q4aI-COVPwyjsGtAE-CaOBAy5fIKFb1Ja7z3CqYJHhTtGruq3e48RrqmUHhr0-2dLs_BKZqJzm8SVix56iLc7Rgs8C3wnu_Zp9IFvAl4sJ6gqw0fAhOEW9kaHtO7-a7r7iqTU5M0eDYqwmmuDMjg77znvZ8W0FH7qOf2i2xP240HEgxcczBzoW7708r4PRjrQsjNgYQR0exskriBbA6e9KH6aOR-9b69RYgjYBrEjo5nN7zReU2KXyN33_tlBhzotUlPHwgrmeABVZui4nLqo26J-PIQPFDOBz9JFdfXPm471mUbpjIJe8gzIZa10zKqSsbiBvAyY3IcUHG5EUG6zoNTHLhfN3HsjfYNDQ0Te_hbjkA5eRvX_iJkw4ej_h-is6LLTGVHnV7MKL2luuFqxArl5PN23McNSYWd8kgOenNrg3yuba0gEI_k_r9bT4Ty4SvE6fuxNHkvyTHFz3vwdEsdWI9bZDjQOcdkq8MQzC5NIp-Z2ESTD1xh-MWZRjD5QTtkVGKa6s4l6BiDU2oTciNZ3ZQi7VTy7uwTVpwU5jvKkYbU1jL63_gMp_pvxgfgvcGgA-IMaF03I75KV7t3IOgqGpvi-Pw3CgMHFpw1Sb4fyI_cfje2ZXw_KFV-PuWi2lR8FKUcXoQBwl-TJCqgtGcl3YIZdicxrUjVw4Sx0HZvW6pfr0C3hpCRG0v-la8-8lWDHi1fEOz5d2Ui2VMVPYu77IYt0X6iuPKHGqPvB6lIm33-bqCUjsRbVyeFauK8US9-4-UGIJ9wwwNi6IRQ1j2XhXgh7v6B1Dah2VLpgMHIdGf6s_rtUQqPSa_GUJdXy8-Qktw2Is8wthWBYLw-YT-iVranUHAWfbn0XVcYl2PYRwcmV0m6NVwS5yqM6aNxZykONNfC1eco0kuwAF5sPit6m5ZK8q8jjsrgGbR3ZINGjOyfSOPOSu4LQN-HpNRov4xHtXaerI6tuV7ys1Q6N8isH9ORoUBOV3O2Uq7fTSz7HOFc4NLSM7w0c5ufUzp5Zqsk1_1DsBRNRwL8FDaeLDBdNU7rEWZy5_Zcg014Mu_j4TNvvr8jGzYqKt03EYzBxnS2iDLPdKbJbDThoh4llN2qib-b6dgYVh-oC_dkG07zBMWxLVwiTZgV9ancR8SoHcEqzooKjNAVoyK0ONL7TXeTyDxk0oLMBooaYn_2NuMpy0FVMLG9eaas3fC3A69SkhB-OKfva6HQpfggRwXQ2PrvtRc2OGr9iQkLVFxbYMm3rao2zx-JirrfGfaCIe3vyF_k_aHxy3Wt4zsPOueWNTHyExXcw0PaCM9hvnzQhGAqkajWmB7ZCiCzlv2L2KDUoJVDg6cwY_TNFrnqL5vpZXOfxh1eHyMVweSYYMN9oJzaLI2lkUF2VhUVPBRMcJmrPw3wJjxxImOUUOYEcB2MxKOqW_NXivtXo5vWAlSBTGlUTilSuoGrGf9ldMJ1Yui5FgTwxhHsE8go4pKzj4Kjn79GbWLNeYqPy_uFC5KOV6Cr8Qxo=",
  "id": "rs_0ab12ab633e9bd85016aacbea4e61c87d0ac3c96a1805c1dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.21,\"right_z\":0.19,\"right_gripper\":1,\"right_pitch\":0},\"note\":\"The right container stands in front of the blue cup; the red cup remains the destination. I’m bringing the right gripper to the container’s upper body at a safe height.\"}",
  "call_id": "call_aQqjbiAJnw4LRCMdEBSJ2adv",
  "id": "fc_0ab12ab633e9bd85016aacbea946e887d09dd549baa7104f93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aQqjbiAJnw4LRCMdEBSJ2adv",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8482, 0.8185, -0.561, -0.3435, -0.2623, 0.9968, 0.6762, 1.5753, 1.1091, -0.2562, 0.5278, 0.3668, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=-0.0017 left_z=0.2312 left_yaw=0.1937 left_pitch=0.0076 left_roll=-0.0236 left_gripper=0.9968 right_x=0.3921 right_y=0.2051 right_z=0.1724 right_yaw=0.039 right_pitch=-0.049 right_roll=-0.0348 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.6479, 6.8308, 1.7216, -0.2711, -0.0904, -0.0024, 0.5128, -7.7197, 9.3607, 1.453, 0.4371, 0.1685, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44b67ee6a48587e9a0d9ea3372441480b070a39fb81bb59a54f2bf56ad64efe0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18a1fae406ec8de41c777fc8d4b691d1903dbdb7f74901b53e689650b07c3e1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00a088172e2354d4606e3d365077c5c3aa1cc251fd321b6296ab973ef1ab1cd1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.389 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2207, 0.8425, 0.8185, -0.5545, -0.3588, -0.2649, 0.9968, -0.0147, 0.8249, 0.63, -0.4362, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2953 left_y=0.001 left_z=0.2345 left_yaw=0.2082 left_pitch=0.0222 left_roll=-0.0232 left_gripper=0.9968 right_x=0.2922 right_y=0.0014 right_z=0.1719 right_yaw=0.0043 right_pitch=-0.0717 right_roll=-0.005 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -1.5111, 6.3248, 1.7118, -0.1343, 0.1148, 0.1294, -0.3214, -1.5111, 6.9812, 1.6874, -0.0464, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6xFqW_rO3fCFBmpInYns8RD9O4el2zAWBa6vMBZyFqxvgRzv6sEq3ZMOGS7L_CURYrMPl08gK72EzZds1ZXj0BqU1ca7RdNTvNj0_lVwuZHvxvyutMz6k5nr9yx5-62fonXlL95yQDaVa1clN1BIFvuI4i76ulJ5gKLq9QdLHZ8VMRX4hFL3zSKHTy4sgrRMHTiPJmC1kz1_1iPsHBvZxE143ow53_-EhtFDHB7Q8BqSc2Wm9CFfhpZDk9_b0tjXwsBjC798gIqA4NOEgitR4CngM2EtZSImhtu2Sc0cADJ6wsp5y2iLJGHhSN50ARkf5WWnlyD2DIdwzLrqhpS0DjLf3ZN4DY2PNVO1j8x3JQwPEzzXYh_d9GnJry2z5jZKMpPpGJnbiY619gribG-G_q5VEudriM0QJqO6dzkR8L0pMd0WD3jTFol4k2D3zf10pZY4y6mUyhWP1ZwgrO1ZCMg4KODViWhdwQ_Z2LuxNEsgwTb5TUfiD_XHE35C_ebcWub1YXU1Z9ZjSg166Uy6-GA8ZTpK2MozQEUu1Y-uD25OY2ECsq44dhR6pVwfKNlyaYxb7yGPIuwcT6gsGp5ie7GewHVtlYnqt0rEtLkPRmCk7o9xi-7hyiJco6le4KwY5SdsNRoDa03qR7jfASsKzClpRbzvJUZKJHSYDQuIt-4P0AK_Wpm3DNz4cmMwJBdLuWgFFbdxG1uvOEz5bN7U-rH4IYKyPbV8cP3haPxlqETzQjrT_6XwSuWi_KFuyUrcMTZOwOuapNst8h3Pbplhq6nSNzgCNiISlNmf33kpqG7FXQjN96WcDBJGWF3bj_fqMlGcHokE2wvujcNSC6IOsx9TlQXr4i5XWgqANzXcGOUHJdlS9SWqoBtj5XqDxMwdRFjrOww4Y1EW4uq_UY-JQ091JBLeG8myL-YTKKq4mXYVJ4rSR-jJCltwuYoKUF5E56a2DBloh5j5ubP0hRjKUtBpNynlJ6W_FAF4NCLKf_UPb95--GqFnMPN3ha2r8YqRcfmXV0F0tEBla1dJLNJswLCsoCHc8ZObl6U_37cB0qHABviJcRCV6Y7JN9h-vvraz-4ghppxe-SWfVgIC-uRroFUpCrHal1Lh_jgotrdM0Glu9L2d0zJvkzy_9y6JWHhv38dT6UdFN8CDWSXiCxeowkN8ILi7kxOuEOR4y8SJEDNkMXFtf9jY7RoMBdCiZ1VYtcYon6TQWlSm21dOLLYuv1ZL8-ersxATreqehUwoFK6OwZH6ExJBVlayy3sbx7_kINI5DBGeBXLLOVoLUGk1jbTKwvDqq-i-T2G85_HbdghAohgUCzt1fSBmsCxgT_WK5PocMhkO6NtnA0GPbsYO3A==",
  "id": "rs_0ab12ab633e9bd85016aacbeaf355c87d0867045a71b9a2628",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.225,\"right_z\":0.15},\"note\":\"The right container is centered just ahead of the jaw tips. I’m advancing slightly and lowering to place the fingers around its body.\"}",
  "call_id": "call_QmYShXnMoQeaoT9mKMkF5teZ",
  "id": "fc_0ab12ab633e9bd85016aacbeb049ac87d0a52a538b6d07c117",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QmYShXnMoQeaoT9mKMkF5teZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8516, 0.8185, -0.5613, -0.3424, -0.2623, 0.9968, 0.6605, 1.7313, 1.1793, -0.2001, 0.5137, 0.3557, 0.9997]\nstate[eef_state]: left_x=0.2957 left_y=-0.002 left_z=0.2302 left_yaw=0.1928 left_pitch=0.0039 left_roll=-0.0226 left_gripper=0.9968 right_x=0.419 right_y=0.2201 right_z=0.1424 right_yaw=0.039 right_pitch=-0.0789 right_roll=-0.0537 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.4974, 6.8855, 1.6532, -0.1636, -0.0562, -0.0073, -0.5128, -9.7436, 8.9641, 1.4676, 0.3199, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bcb52c393a72ce9eb33ecd8aad5c1011875a32df649b2a99341fce68fb3c28e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5583bf2e584188575737dfb90550f47b0f0f79e7201cf23ec4dda80eae1aec7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e160f90d806c27b0565bc37312702f4a81416fa169e1041026ecea53a4af58e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.876 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8482, 0.8185, -0.561, -0.3435, -0.2623, 0.9968, 0.6762, 1.5753, 1.1091, -0.2562, 0.5278, 0.3668, 0.9997]\nstate[eef_state]: left_x=0.2954 left_y=-0.0017 left_z=0.2312 left_yaw=0.1937 left_pitch=0.0076 left_roll=-0.0236 left_gripper=0.9968 right_x=0.3921 right_y=0.2051 right_z=0.1724 right_yaw=0.039 right_pitch=-0.049 right_roll=-0.0348 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -1.6479, 6.8308, 1.7216, -0.2711, -0.0904, -0.0024, 0.5128, -7.7197, 9.3607, 1.453, 0.4371, 0.1685, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL61SQI-lI84GYT2kXv-P7mg51ddQRV61h4PAGmjYn8K5CZx2U4c2--CmfkWOcxGgA3yb90at7NgPcRR7JyCtEQC9v3LBENr7Wqf0sbDESlPlD4svbOWUz6c0h-7SN6mNxSIBF31I7ilhUtXJQtVUB1nUTVWpETkGiuKw4jnTccNpVfcaMjr7nAzCXyBP3tFbaNNBqOrwYJctk7ib3gnbt7pnwPkv5AaapeTSaFjrbNP4M2gEnm_92LZL91oNeFgG1eNP14qX39tUttxIYcHTlUyvIIqKkYvZ90PtTsksWF4R989ByPdiXhcZ_UWH5rDtn2nVB9-_BVxMtXLE6m7InSWL2lIJFZXm4tM5XwVocsKjkncalTdFnGd71b_xgotWMvs-glnBjfhZ7-IMDP7Pz80Zbg2Th9SqRYcjxYAeoBcrcUVWTqex1UG8cmfY4czksceBgYI_AJx9xZMZElbwZAZj5OBThC_QWJRYZsVThs74i3N0pr_4kJ5lz37blSY5yVni-vHO98UMLQJtgMeF4kPGOkpl_JG_LsJIkALICrkyIjixqEs7F6rFT--1EkdAdPFx2wpPEsb01n_ozF-IF6uBru1crjLgAF8fHycN9JqCyAx0EjfLXzb2xxPR9ZAmrUCBBkk-8gy3FcoCdDyE1UcygfaOGTn1hHc5nYla33vnrtAm9hWcmqgltIvwkdCbB5YWT5bR9i38n_RDzYv3d4aaxmBJCV2U7FkZQMT-yW6eqwFr85kzLAF9nzfQdcebSDPOeFdfPgpDMnpmN2r-7JNu-s29ho4lC3EQUBxk_tQdvqCzUn2OwadYsA8L-1dXtOe6TjLl4gSN4dhnrcAkGOiD4C_qGhjBvrvCuczt11zP9aSV7sVD5xyxu4g11lbwlFZkn_nWs5ogQkLW394sDP6wP1yqQUkI5Aelr26SOsTGtZEXvIbCtnBhrKevLK0nIMz9m87e0TAIvzJ7qe-vzdjYaMXdVXP3eZ0Ga3rumoV0G9EXsv3gzL1ZzUcdXOQKmrWy4tth4XZ0PHHS0aFJjgotLCrSpewzWdqxafohRKlUKUFWXJ76VvAg_EjBNMrV3uS5B6ncUCcHNSXjzesI5abQVXC6ZhssmJV4q42I9lvEmCXEuBl3Ej5FUWACP0TegXJZgNqS76TE4QXacVh4seMx8CmrcfxHIajbUKDazHcwFmgMoWcKwR2oPcAWZ8y7C4nhVjYIjmkdSewxeWcqLDWfTU3jmStSzC81jPE831Cvqbt3My7JEF2N2VQK1KdGS9Z",
  "id": "rs_0ab12ab633e9bd85016aacbeb37e3087d085bf0948633c83f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.2},\"note\":\"The fingers are aligned on both sides of the right container. I’m closing gently and will verify the grasp width before lifting.\"}",
  "call_id": "call_wfZNTcmSZgHt9BEUF3t4MOLs",
  "id": "fc_0ab12ab633e9bd85016aacbeb3f59c87d08c339b14b45454a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wfZNTcmSZgHt9BEUF3t4MOLs",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3439, 0.2052]\nstate[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0485 right_pitch=-0.0958 right_roll=-0.0668 right_gripper=0.2052\nstate[joint_eff]: [-0.1299, -1.2786, 6.8308, 1.6825, -0.1978, -0.0708, -0.0122, -0.4991, -10.1402, 9.1829, 1.6532, 0.2271, 0.0073, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:914173f16a81491cf202daa63adfec95be16807467ff1344f1cd9fd5b9f5f1eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9182a23e28de9e511d95ac5146807f3f0f18d8a40c0d44a9b774958e81052964",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:885e5b11873a84bbfd68c46c36eec2df2b5b8d54019755c6c8c0508c3982965f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.355 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8516, 0.8185, -0.5613, -0.3424, -0.2623, 0.9968, 0.6605, 1.7313, 1.1793, -0.2001, 0.5137, 0.3557, 0.9997]\nstate[eef_state]: left_x=0.2957 left_y=-0.002 left_z=0.2302 left_yaw=0.1928 left_pitch=0.0039 left_roll=-0.0226 left_gripper=0.9968 right_x=0.419 right_y=0.2201 right_z=0.1424 right_yaw=0.039 right_pitch=-0.0789 right_roll=-0.0537 right_gripper=0.9997\nstate[joint_eff]: [-0.0752, -1.4974, 6.8855, 1.6532, -0.1636, -0.0562, -0.0073, -0.5128, -9.7436, 8.9641, 1.4676, 0.3199, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL653R-ZWgKuCUu8lyKQZxfQEFr2ycBwg8jAHuzhA4nPdsFszxxHAgzNgzPQedVVDsUNvdpqzCNtbGRi1CXXQQaPNijk0ChaLk0_f_BPYST_Vb-daHxUu8gG-QK9K1NQtm0RrrA_aRIA22CCUlcn7lAVab6BGMps5hXe5LWnp9UpcWbmxZNETs6nHXVhwlny4P_WB0UVuM7Fz5apZtq9BpaqF9AgskWYukIYSjGbXpRXm_aO5habX68oViKq3cpblVLwNj-rdVN1wnpHWwUmw21psGOzZj4XZHRb1wiPsNotAE-zVLGd4lMnmP7QQewQ0NQqGnKG4CIUmKqQ9lRWz37raMK07S4D5nPnXT0wUxrdlRWEMOYYmWFKQgbKO_MaKor2iU2dCt_hsWHKeClkWqMYH9NX7DU9MWGLk-1I7tnjXBmjOHCao2c4ASM8K4FeBk6tQp_W2YoTVPUSu01Z_xHIsZ1FeUQtbsDo1eOFFZ2_HLXbw_hgBp0IEV5Rv8rgHlZI8dbdLdpgBayp24KRQg0x-DOTkqd8FvTe82rWLMmYGV0-A0f7bXCaTWwuQUK-AuqfpV_z-DPvThNcawiAlONQlocgfCugPnCGP60STci6XzFUhJiBQp442XB9sYQDc2ihQsl2cMhsg9QoVCSvX4Id_KuNBIGe6z5xJRmIKW6miz91RgrX1OdhhtyVPDPv_F9TMzeqy8EeDC_4jUdVG_YAr3xhX-DL56X6CyYvye_M8zMWwOZ3flutDFXIt6k44JYey26T_93fu0IhPE6_5-fvtMTDiNqn6zkZ2KXy0_M2M37pu4I3E7glZQkFKv6ncr_BDdTpsoFcFWbYTTEafF0VpjJFv5v8WJ1fOXOt2-FrYvkQUIWrxPP1qz7jkb6S4Z6a0pvMBYoQrYKEykMEaHrsSCOlazPwC0S0V03B4kG2CJC92sgDGizzgLM_CKmtmPnI5EKw-gwtjYEYCDDBAwjOm6CJrg8FcTi8EKy4TJlx9ycJDdtZbWsH37H60NxyTKYcq8VnR5JkFU0pmg-hVXTXVxL1VJOl6UKLm6GMH-VFDtt2pJdX9unAmzvbJp7GGHREVYPKkRE9pPvYJYDtKFnu0P2_7p9upQyuJeqjDMOKW6wpTX5qi2he6OxfrwVvPEi11AG2YzcdSaNXZbTIQtftAcElOObKhCBdEf7cQPkpiEEksUtz0mOHQ5x_Y4sCXpEYwXWVrTNwXlJzpGy2WJxXy9TBWH_DP4eGSkqew1EgfI1mYqJ8Gd97ZHyBL34VDBZdlhbJBIvqnrAZCVmD7Mftyg==",
  "id": "rs_0ab12ab633e9bd85016aacbeb8060c87d085b6c2204843270e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper reached the requested partial opening without a firm stop. I’m checking with a full close to distinguish a secure grasp from empty space.\"}",
  "call_id": "call_DAwyiZLs1EL2D4dzXYL6T6w6",
  "id": "fc_0ab12ab633e9bd85016aacbeb88ab887d0a435aced8a1279bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DAwyiZLs1EL2D4dzXYL6T6w6",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3435, 0.013]\nstate[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0487 right_pitch=-0.0958 right_roll=-0.0671 right_gripper=0.013\nstate[joint_eff]: [-0.1162, -1.347, 6.8581, 1.6532, -0.149, -0.0659, -0.0073, -0.4855, -10.2359, 9.0188, 1.6484, 0.1929, 0.0464, 0.696]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02aad66d01b77217e3d508628d7a48e0c8e23534a28297eab7a0e2ed963b83f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6a622537b8a43591ef471c241c65ddf3e362a5bad4c5d6b01dc45de17b59243",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3102569f7bd5a749372422a50448c55b408922ec57d8441d5f367e9408ea187b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.438 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3439, 0.2052]\nstate[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0485 right_pitch=-0.0958 right_roll=-0.0668 right_gripper=0.2052\nstate[joint_eff]: [-0.1299, -1.2786, 6.8308, 1.6825, -0.1978, -0.0708, -0.0122, -0.4991, -10.1402, 9.1829, 1.6532, 0.2271, 0.0073, 0.1978]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL6-3B1GcGwuBNZmD0HuNkUmaMRxYN1wplrXHJkjz0UQkZtABNbikxz7YYA4BQIIqgFH9q05ijBQW5u4etX0pdn_5erLUSQYvYUpmLV6e5WGlNy8BrioRHFY6OQKXmcDS0kLsvdZxGhJHu-agOf1HhuuAECnHvagaltAEjw5mSUDVHg3j8fCMp_TyT7P9v5pcI-3Afal9ZSQr9FsZVTND2MYinXGxG1wXZu1imrX7Q2A3JcRDiSGu1oInKbIcIuIhj4WjY88AcLGeAZ6ODt3IyqPF260iaucXbjxBduxFtrzdrvOIGKRZkrD00KHA1H4FlBReA-LxeJ2wZvV7WgUIThm42Z__hl77OXM2iYupaAudViwsgkm6jfTzzXApJPMr2M7ZeCHC80rCLkJmphosIZ_BfD6fl7ZMTi3D_TjlZzcM9EaPiwyVsbrdJJEJHyHwHgAWjucfXkMGu8VnYrLU8D6zqfUit9iSKbax0ps94hdOjPHDaMOwwaW6GUHmjdo0lQuQ2kdw0bZjsgdZFLIrlJSbL8hpgOkZK90GTcSMbdLU4IEhaAC3aoZMpsPlhdc1RoMYSE5UxlvONuYLaDaZKnCgjZufn8pHmGK0myVLhQm_bdexi_jrvn_vr2x63uSK9xQNEeMkQGfDpLXP1Gh39tHn3FGUhs-8i2A_Op5jsplL12mwag8TlL4-_r0tDl1EmsuCxU-Mb3lxbq_ipiTaMcE7ZGsiXg6KHIGPBKDAPKOs42QcFygk6w_ufXbj4pVmcbhj4C10mqVASAXfjfYdPrTpXJpJhU33rU2ZAEOcGnhJw7TFG9dYZsl8n4NIcxkXM6mNqp6NquJSqRp2iJMldCtx2StaFcFJWOPRj_WdCyk8OWTy3u8ikoZb4BW8VOxOajqiN8ILGGFIWDyEhdTIeXrqrVrhBzyQupRjClcoX5cWPIN7iiC732lhxjc1abzOarFBPI_Q3oZFzxXoStDgyF0wv0kiHZLJNVsYyfEdZiuGqPmA6NHTdXgR6EqqTD-M5-LUq6tr0jODvlc0aq53a73aHiyWwifOIdKXzjsc3euYCTEXG3h8N9AE-RNzIjfn18FRfrdg-XsbdxqyFB6c4iimY1SGBKurioq8OW4pFOD1hHBN8oO-kKJI7TuV-CcqrNGO50WyVMbJruxP-KXSXGIpzqwiJi22imb7GmbeKyRcxK_06t9wKE2i6jMQXRwiW6q2PR_99pQ5C-nRUoRpC-DlA5SVcvcTvKVDAi37OCjVEUeE41qGd9_Z4mkEEgWFVFmvoHqa10YcJ5zZh59mbGzWRsKzfuBY_nzYtK6FfrCj-ozZedoCHHu1qj8CwunmUs5CCkcHeoqo_cr3RggPY7Y2vIqMS-vKgrvx45YLXXWegPb0MyyuLCNaOyqQe6Fav27",
  "id": "rs_0ab12ab633e9bd85016aacbebb79a487d09f14fc65b2be88d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.455,\"right_y\":0.225,\"right_z\":0.18},\"note\":\"The close was empty; the wrist view shows the container still beyond the fingertips. I’m reopening and approaching higher on the body, using the successful upper-body approach from the left container.\"}",
  "call_id": "call_1f5kdxvFBad2I1nOAyDlz0Qz",
  "id": "fc_0ab12ab633e9bd85016aacbebc880487d0865bae8c139c4176",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1f5kdxvFBad2I1nOAyDlz0Qz",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.6182, 1.8126, 1.4063, -0.3641, 0.4618, 0.3, 0.9951]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4476 right_y=0.2262 right_z=0.1678 right_yaw=0.0658 right_pitch=-0.1159 right_roll=-0.0783 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.4154, 6.8991, 1.6532, -0.1538, -0.0757, -0.0073, -0.9094, -8.6222, 9.8803, 1.3944, 0.2271, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa209798761a879dc91e2cb6fd22f41dd4a1684af4c8e3cd19a7e783ffed2de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc6296278fcdcacb5cfde8ab9a5bc10c3f869b00fbb69d65615411e41a334a6e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7a64543d3f06452c8f78798949b611d4948e0fde5e4cb9987e1672d71141d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.409 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3397, -0.2623, 0.9968, 0.6571, 1.7676, 1.182, -0.1822, 0.5041, 0.3435, 0.013]\nstate[eef_state]: left_x=0.2957 left_y=-0.0024 left_z=0.2303 left_yaw=0.1906 left_pitch=0.004 left_roll=-0.0243 left_gripper=0.9968 right_x=0.4227 right_y=0.2228 right_z=0.1296 right_yaw=0.0487 right_pitch=-0.0958 right_roll=-0.0671 right_gripper=0.013\nstate[joint_eff]: [-0.1162, -1.347, 6.8581, 1.6532, -0.149, -0.0659, -0.0073, -0.4855, -10.2359, 9.0188, 1.6484, 0.1929, 0.0464, 0.696]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7FMLWtx5MntznOLW75zletq0ki0_CxcxX_nqPtuq1mmrHmfw0CVqcb--2CfUTj5v0eKlqQEAR8DtkRf_wdoFxTZanGn6A0oV1tOC1UdeBwBWiKj9_-m-z0vzAJvCXLCXRGCZIAD21LEnyHup62K7y2s0tlOAKU6785SCIyMRQWuLsnp6Mpn_lXahRuEsENgFA1MEIsITrxPjdW-hSH64zuGOLC67ukt6Fmg6Jw0mCvChjeGb2Xe9RlF8dAMkMp6frFhluhtBezIGzge92QaZTeeVbi6iyynR_nrHcttJ1p_CHMH-c4q2vGqvfZqwqtYF5qnh0iSUICjo5c6EeCd53-Hp9zFqJYQM5FVaQJnydVGvfsbz5heRrC5u3XGIh5TZfHp6u7b3ZGfP0QB5C7TVhlwYuGnMMYAluOY3ifSCOUEmJn0vMjRNYJp9Dmdd9hiIYQBt3xvlMfzU1HB16qlOGr6rbjFPcBhIfYbgWv0KcBN_LOBYsmluFNCta8NyVH6knmZRX1n8hnclRCNZEbja6h3jSvuuahIuj79E4vkLe3SGkR5YcZGAuH7wo8nIAXe4zuzNLOD8HG03dO8KF7cUogWeb0Ybr4CMcLopXiilZdOcq9gdm6cmTNPh-cVPHNbFHMtZtJ38hyuicx8_8Xzyc2gDbFXLiMQd_AIUYcRBEVjEgsoi1M-blO7zYm3mXgiyQq9KRzkoY2EqKCLBIN0-hE8h9-AMBZy3qUqcJy1wjnvyGSXHPi5EMzw2TUlQgapRyH9xSskVppn107UROmTJzgSxeDZjoedGtQy_mu_vtRs97DD2q2BVzZLPXyXrVbxWU-l7yl6lJ2ffTkatQ9XQKk_DguIQXz38B5M63g1IpRTl1OOspuzw86gFqz1XBgIyLmAfV325RTMByMnhUbSCNiIBrYFosmiOrumiGNqJpWq3T7SRvPB2kbE1VIlqcn3UZapp4VlIkrxBdNT3OnrPBHYFDrzziA5WHviDME1ZuaiQyeE4wNssbkvYHcymNbarDgXkIQBTeFDcu84_h1lOY8Fbvtjq2goqbAjKg4LiTZuV3_1_cT2SEAA6Mn8p9lFanwiS8a93iIV7ll5SwGt_R_gr8ayvMQmNv0_5QnzZ9duOXI8an1Bn9ixQKINYPLedHdzLrGqO8qyOvZU4Yq-nOff6tAiwLYwhaH3iIy3HQOi92YL0P48VDk8HbwNWebJqwtcsBc-3ggCH1Kac25aV6YUg==",
  "id": "rs_0ab12ab633e9bd85016aacbec3b9e087d08faa3e4de47d5533",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.225,\"right_z\":0.175,\"right_pitch\":0.12},\"note\":\"The right container remains centered but still sits ahead of the fingertip line. I’m moving forward another few centimeters to straddle its upper body before closing again.\"}",
  "call_id": "call_cHqX1v8DHXTPzignrnD0nIhP",
  "id": "fc_0ab12ab633e9bd85016aacbec441c087d0af73dca62beaef66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cHqX1v8DHXTPzignrnD0nIhP",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5911, 1.8561, 1.3045, -0.0296, 0.4847, 0.1799, 0.9963]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4788 right_y=0.2265 right_z=0.1639 right_yaw=0.0874 right_pitch=0.0493 right_roll=-0.0951 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6777, -0.1343, -0.0757, -0.0073, -0.8547, -9.0735, 6.8308, 2.0244, 0.2906, 0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9698eaad0fc9d4c398593e9ff4943b55d40a94178fe5ea202d099a0d4e9f4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a7d3405cbc5c5d91d50f4d4d1d7fef84b6240d25772a9d0a65bfcd4a824cddb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8e0f42171093ac1372b4747ce06bd88ea037dcc4cfd607246b1cf237fb1a49",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 7.337 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.6182, 1.8126, 1.4063, -0.3641, 0.4618, 0.3, 0.9951]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4476 right_y=0.2262 right_z=0.1678 right_yaw=0.0658 right_pitch=-0.1159 right_roll=-0.0783 right_gripper=0.9951\nstate[joint_eff]: [-0.0479, -1.4154, 6.8991, 1.6532, -0.1538, -0.0757, -0.0073, -0.9094, -8.6222, 9.8803, 1.3944, 0.2271, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7KDyGJTK2Jav8nmc1MqoS56bQGK8-RIcAEHyANLqNDgp7i-Whs6S2lQEyZ0VPlvwGJ0oKhh5nVvl28X2bUxG2GPAYb94uB6k4hIykU4H88-hvgAEB8s1LjXP1lSt-5a4QKF4hyrLq9HBx_vZtay6MAaOt5qdTza5kPlFJDHYuHuZrOFY7rWjD564NSewhuBmLiZYo5kErpT7OdjORixyumy7IEWGRzwACekoSTRF0KVboVgKIbPjsExIoQ3s-g5_dOF56_hTnx8PtO4_swx-N8gmesROtd5lhVv0JMdtzXRAy_ZojNAACTrAqCpq7cWdP4q9nxjn4c_0HGL5uYvQX28959esnlcPHzOLPYvru7Mxe0eQMcwJ1c8zVi1QGOX0pSr-eSrvDpjpxCp-iM2DsYb-upkCCRe19kPDbNuDwElIyUx5xI2dI_fjvWsePjnAA8MuU0GWYtbYvEGdzJ8Fhifl1P8KhXDzj8UY2LTbH6E8f8RFziOPIaPUX5_lLoyRbdwSdcoqmDhBjXHZzXh3gQ_yWkqBBRo9IWfEBrs1qjgDCw_sgKw9bBtHn6sIuHzJB-0GxZl0ShtUABx_wN40Au_6Cqel1TU5bodly2pekDLghQZYjFZqLjgZnx0QrspxEw7f0wqljZ1b5881cuyQkAfpxmLl9w2iUbOyFuJ35IoCPaaX6JQDiHLdbFs6sO9oF-Qi68r9fdiPOAw9ud7RqgKDkcpBEbxKrK6LBmkZWyfyyXRUWkBnybiws8ObkDcbWN-s2GpCJEtCyF2Q4SgLXXRtY1Sl1YWCrXOoJmDVtb8YUgpfuDZtAI-RnO8ql8lEafyuxXRU7Uu0V5KsNHVtCq3YnwKa4CQS2A0t6Bq0-qE8kJH3CX2RA-o02QBkF3fwHknfWjxbuaHk0FMo3u1njRNf5-S3Yexuo0dpG2cSMX4YGs8rWJ7BkJbr4od2F1-6qoKHWNGANZ6zQvultafU9qYKEvCMswx9dDPmHuQPMvvTRlaQfDOg0unig36pwY6CI-6alo5VacbHWZoYKh-c1h2ps2M9q6LceNj5UVTnTiNchT6f-oHJd33Kvz7H09ChpH-juOey-XIsSJ7I5vNy9sL0hFTsruO-R41TJSTEP4Xq3D-pwWe8KTYUPQ28RwQRF1wx-pNJDI_yi2Ans8UZ4Ct-_kdW9kf1UBwaYz6osZVNNCSOUS3XCWXdSZ0q1BCzVXLFewpGcHGGw98sYCFzBsyPWgduV_MmhwSTG2D4BG1OR56r5N0QwkzYdbtQm-OZNIpqmA8NASyM9NfLO1EjIIPnnKuZQjXXRtsxqRX-M4pROBtfpq5eAc9Ibmj2dB1A0d_6IfSfGymy9Q6nppEAl2zNY-hqJetaonNuaxrbT9MEtTgt4z_TlKHscGdl5Q8S5RiTgHmH83B0lVeqy7t5JD0t09pubmKkkDGbFfU7fUixpGcaTgFGa-o3DHZdRUqAcPPtp-OnxSlZbBP2Zg7vVcvhkegM-tj_hhNWMXPiB_JyhJ7-mFMT7VYHQet0x-E6oIv-IgXkddPQnQ5jSMrq-fhQ==",
  "id": "rs_0ab12ab633e9bd85016aacbec7f62887d08de81eac97a94433",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.1},\"note\":\"The container now extends down into the finger opening. I’m closing around this higher section and checking for a firm stop.\"}",
  "call_id": "call_Vh2uIOCZOFiseZ6Mptk6opjU",
  "id": "fc_0ab12ab633e9bd85016aacbec9c12887d08c29896209f2069a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vh2uIOCZOFiseZ6Mptk6opjU",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5896, 1.8648, 1.3003, -0.0326, 0.477, 0.1722, 0.1056]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.4782 right_y=0.2266 right_z=0.1568 right_yaw=0.0964 right_pitch=0.0328 right_roll=-0.1057 right_gripper=0.1056\nstate[joint_eff]: [-0.1573, -1.4154, 6.8855, 1.6777, -0.1587, -0.0415, -0.0073, 0.0615, -10.865, 7.1043, 1.7216, 0.2369, 0.0562, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4078f3a5b9e1cd1cd83c4c3eda0705368c8cc5f72ba1a1e03783c42176abdf45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2e849d860706ca47cb3d855e7a39c019148e9af0d6d59f4700ab557e486981",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726577f01dca71acd6ea392a695c8f7a9efc4d94e6ec7a6decee3357684a26c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 6.147 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5911, 1.8561, 1.3045, -0.0296, 0.4847, 0.1799, 0.9963]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9968 right_x=0.4788 right_y=0.2265 right_z=0.1639 right_yaw=0.0874 right_pitch=0.0493 right_roll=-0.0951 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -1.4154, 7.0496, 1.6777, -0.1343, -0.0757, -0.0073, -0.8547, -9.0735, 6.8308, 2.0244, 0.2906, 0.0904, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7Sb8_SSlQjmBfIHGw9utkfJIXEOc8Cm5fVS3VoH-aMz4Dt0hkjWB-ZFmI_xhXcnBSWaR3UFA-WdN7IOe0Xa1CilhuUBSgZ4xr35ebMcDVrA_RQF9Wy8k-AXDbj-dB1I7J_RdqbrHn9KuOcVNKKoOhOp5yOkQ2JRKlSsYDTMwn_roA_3wuZUmZQe2ogQD3rufinpeEYLmSOIOVKMNhwtZAxO8u_Jde6MbHHN-W_o6_RWxFoA77FLrA0OLfFTerlzKrnGlyMlvJ4VkOJ_y4f0fVcS_qcFutndzakHZtK1I2f6nViyRl_7dg7t7ofZo69JOGywHDz86u5plO--N_i1Yzxpx0BcOyjl7h3PwA2JcDnhbGAr7Vj4CwzR_AUnD6HpOUXuJ9M1uABpPpEabmqD2pMRBFD5GJCOJBoOA5rDYm9XUZi9JAAcVkmOLUATWEuv8Q7NShJc3l0Y3NGkd_0f4UGna2EGEEEDDF1MfxNWZa0Q8Z-TMQ8bvVNhzlB0O5beFFqkrgjV1XuR9-yI6Ujg530jqSPBB_-fQaeIhAXPcDmbg1vdIlDLiGOrZMJ1POu9liReSOAfYfV9WtRFXyGQ_c9prm9JivGLmF-_OKenzVC3NfCxxpR1Cgjk5VLOOcfHPepxROtTAttabSbTBbEXv4dnckxVrgGdag-AwtFgu6A6A6OxkSIvv79nC925fqLLzRsTp_aH57gikscL7RYnE9CuLnXi9miN_YEut-3RH8ApipqaQT68WZDiWywNNWmPOywR-ToyAswMdKZakojzykSLchKH_L1oAdjUfw2RFI1UC3PuitVlN12-Ns8MH0hRIb-2pRcCe7Ar9ybAEcqpdX4-tAWivZHfnsKdZ-469T6bBWa1wmRFqu71t47wXS7kw2ynwJMoV4F1oCQJ9w0W4du7A1LbbW5RJ0ZTAwZDVWM5e8NC3EkJaWZ7RFIvZQ51jyhcGgPgKBOCB2KXn8am7ADchIfffwYQiaVmSutSu-SoOjDkpfchRx8VYGgsnryqRS9uXg2u3K1Rt4DnzXJXVOxcw0JzMgglQvqOCGPaGhSKgLldLTOvWndJlRbzhG19FYB7hq4vP35nwuj6CQ_Ljb51vFEMg5qi6v7ovMpiIpSz_w9uWISAy3ZUW5-1zPssm80c_qNJs_B5xNc9a1dt-fx3oJZ8Q2nBOs6GrdmjlyqMOqIQEvvs3ORrJFzvdliW55zXP7Q9h92w2s5DC8W7xw8C-unmrsyV5pXsYtcCmIv6q1LH_FwK7-ZJuCZqaNd7CSDPlVv_-qIU-5bBj1yZhqDESQVzbMcqgD8Tdn2FE9xM-LpeOFnot4dNhqSy9xie86QAyOd0JfWckOARm-1wKpDOZ0W8FdTVGHXYO6W_GSe4TSNietDryNk7rKYuYdzhI7F27vz8Y0s6ztot79iedD9hB6soaaYVuOAjTN5lgeOWTIekVEtOXCxI8ZX2dh1HsGVPtlESdgSovwFhunJ06HpxVRcZlS13t5WXMUvKI7mRz0V9_FpAN5FeYzlLU0o88we_yoO3QZb55OsNMCwYEc2AVsHN-Ce9JHVETJQuIDdOkkKCVB-49WrZgiP2VCYicr-UddCRcd9n2g2uW4mSDkugouBvC0kzl1pTJ8VHa199MmjTrg83g1KYjgwqQ2vVg1cG1wOwK9qimcAni18QWc_tZjvVY0xItgZxbP3FBwch6LQRvXgM04_5K5Mtv-_oXMj4sFMPOeLNVU7Z7HPdOVtGgbliCGwbWZbvhcY9XN03b4cKBwDsEOdr4fz1j-uz0cgc_4SyHAvJ-K83SNd0OKQnALOoiEXeC7M3zHjd2pTK6Rqj37AdHJ-0BOffGH9hFVdSakI3sVSIStHlewKgWAUwhCSrQ9K4Ynjg-uu9wiA-qLv0yzDdv6X6WiHcse5oFu2KV0PThN-vyMWWwmV3PwBTSrvr1NiqSVh_a6yOsOzQn82NdHI7AdIiX50EOOxsyzb",
  "id": "rs_0ab12ab633e9bd85016aacbecd37a087d096eb8a24a3178efd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.51,\"right_y\":0.225,\"right_z\":0.25,\"right_gripper\":1,\"right_pitch\":0.2},\"note\":\"The second attempt did not stop the jaws, and the overhead view shows the container slid farther toward the back. I’m opening and lifting clear so I can approach its now-visible shoulder without pushing its base again.\"}",
  "call_id": "call_XUodCimT7eJq98K4sfzZQK4D",
  "id": "fc_0ab12ab633e9bd85016aacbed03d6487d092ed0948a5da724f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XUodCimT7eJq98K4sfzZQK4D",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5659, 1.8645, 1.4597, -0.0738, 0.4702, 0.0811, 0.995]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.5031 right_y=0.229 right_z=0.2188 right_yaw=0.1223 right_pitch=0.1314 right_roll=-0.13 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4154, 6.9949, 1.6777, -0.1343, -0.0757, -0.0171, -0.8821, -11.4667, 10.0718, 1.8486, 0.188, 0.0659, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:946fdedea350e3e032d5a3c407909f3381ea7aa87bd28b7bc8dc5af3562197dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c0cb38cec8063a6d9c47b16d33bf847b686baf6475044a622ab55e15fae2942",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab929597ef6a454227257d92fc9185e0fa50252a87f9b69839940e9ddc622736",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 2.707 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5896, 1.8648, 1.3003, -0.0326, 0.477, 0.1722, 0.1056]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.4782 right_y=0.2266 right_z=0.1568 right_yaw=0.0964 right_pitch=0.0328 right_roll=-0.1057 right_gripper=0.1056\nstate[joint_eff]: [-0.1573, -1.4154, 6.8855, 1.6777, -0.1587, -0.0415, -0.0073, 0.0615, -10.865, 7.1043, 1.7216, 0.2369, 0.0562, 0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7Z2XVur2hfsxypEGL9MAuc3e7ktARZ2yoHTO_Iht8CHIyfXR61KEP1AWrfuiaKIkKkQsDYo-qDfQE_tzOlrMsQb_UMZtXj1EOVJXRlqMh9r5ZjBWsfSNhDDSouHYRb2w11cHLPOc_M9vtCnc29Jzdn88qHgwohPhqb9jXOKwN9Y8q7NqYHSAzLEVObwifims0e2C6GUglVQCRyTrXQwFbCM1aFHQxqEgON9vhI71wGuWjio4idLSYeYWbkHCMcru5QSMLhRM9Xy3KGbfwNhl-9_esTmmd5QXv9l1Yo-olyygJBVLKo-0FaPMuRQAMtWfG2CEJIU5zlCp347sJ3XtWWvTJaGfxVsFFf6CgfO8rnOa9W8zGOf5cJnz-VXwPz2s-ebNVoDvSClU4bLyh705y0P6i9CeROVTXsIEvUZKZzP64uf4-Nmz3wsL2hHVMjL2edw6_aPxkvnExgdYMHsIT8GljLfKUM5anWTbj1leM_zopEqkmbSW_hzEURfnvxM35p9l_bFtsvFgyUonPOLy9POjMoYFN7RnR04yAHMgeK_ips7DwnPZcmgSIxb9JcMMgaEDIgbfw9BGhp4mTrw3KsbX2jr5fhzINcYcRObz5C6p9Bf9KxOLlTRHoi7Z5hiHluBvKBbs-uo4s4d22Z9dDYxJvHOZ36eP7lz264Qwv2FjmbGJ7L969tLSSUkSEJhKg3ooKDvAbP03tKLsJMZxBixtrbXCUJinzdp4B9507SLHKMb1qYMUAEyEQTbnNpwYLwLG-7xeO2bVYBL9usuViP6Hhlk2H-_vJ3A_IN3fo5Fjre7au-15mxjMVVI9EKKwUoLXmCdlElDds_J8zM0FRz8ewXoik9_w00PcdUgtDSnO9PimjWn0xNrPvvgLAac3cJwhudG66f05Yrd8C2neF6gz3YX2pvQXR35hq1RqnnkB5nykAywVdoie_YpIcA6Lm9fBPCYb0xd2RlODotHxgNxRpgwFPg16o4JA4BuE2Put2b8CxTWaI7O1Ak2fBNTIAxfDAbw-uVo6aqN33Ara1oy8qTYgSxS0qixhYrU6TrmKrzYz_vbvwHGlIO_jABkmHtesQFVVz4A51SWxkYwK6erz7rEdS29SlFoEaQ49gZnG8r89UOoLtgoPzxzb-hbW2PqepSmqJnZ_OfN3yqZGazYqoQRYvgt6PtpmY8SMQ-IZz7N8f0hoamd3STCp2ZrJG4HeyyeCAgjmsJsWb2pn4dZKow_gbcaFqLBS6CMhaCfL3WS8WzNTztFkXkiLZc7S4XGSbk1aVbVkZzkS0BW-sBpNu2K9D5MCjmw1RKWsfIu-dTuBFtAJXDBjm1WB8rjidNLIvLrsvJ1XZZ1vqWVFuWpgkSH7LCW3FsZaNH8q35ne3bJmhNCiwVjoVvPGYsgsTcXF8ZCi0atrI1WdUue2nO5TlZtqjMe5OQJ7bNIyhSF4Ff46YLgAHlJ8XTGG_icHvrjQyEbXPRCftLR2NKYkmyvpByxjl93-Qa_7fDo84k0SJOJt3YbJS5NP0mVTzUP7c5NAtlOu8stLXO1D3MdYQ7cE-EwiqErgeW_IyJt4j8yGC-QhDaD8eXA-Yc2S-rGYmTM-iRPIUv2DZx3Sr5Z_nU7gud7AI1Pqqx77g_4GSzb7YIjHyx05NTmOWuTAeLoO4XH9f2WvVRWO2t-sbiKiQAwlsB6jtczqTFMxw63YFO9CVCuI12vz2Up1GFmXxZhBRm",
  "id": "rs_0ab12ab633e9bd85016aacbed55e5487d09d4e9d3777828060",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.23,\"right_z\":0.205,\"right_pitch\":0.2},\"note\":\"The mouth and shoulder are now clearly visible, and the container is aligned with the jaw column. I’m advancing to its shoulder while staying above the wider base.\"}",
  "call_id": "call_xPEACNORIyDbptNTa6lffOPE",
  "id": "fc_0ab12ab633e9bd85016aacbed80a6887d09b8bf3b34b6899b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xPEACNORIyDbptNTa6lffOPE",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5274, 2.0075, 1.4986, 0.0181, 0.4328, 0.0395, 0.9963]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5352 right_y=0.2301 right_z=0.1758 right_yaw=0.1375 right_pitch=0.11 right_roll=-0.1569 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4974, 6.9675, 1.6484, -0.1685, -0.0562, -0.0171, -0.841, -12.2872, 10.6735, 2.0781, 0.3101, -0.0904, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b5122b100c858b9e65ac8bd4d4c32da10e94f73556184e76eb64d59e973254e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da25cdfbeb5f2a62c330b760282adf3c9195db9c0429c5315cbfac7153f6257b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a5a43dd6b564ddc150c95107ef03049c48523e411c17b0c98705594f53601f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.93 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8509, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5659, 1.8645, 1.4597, -0.0738, 0.4702, 0.0811, 0.995]\nstate[eef_state]: left_x=0.2957 left_y=-0.0025 left_z=0.2303 left_yaw=0.1902 left_pitch=0.0039 left_roll=-0.0245 left_gripper=0.9969 right_x=0.5031 right_y=0.229 right_z=0.2188 right_yaw=0.1223 right_pitch=0.1314 right_roll=-0.13 right_gripper=0.995\nstate[joint_eff]: [-0.0205, -1.4154, 6.9949, 1.6777, -0.1343, -0.0757, -0.0171, -0.8821, -11.4667, 10.0718, 1.8486, 0.188, 0.0659, -0.1197]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7cpes-L9iTm8WX_ezSyHxljBL3Yd_mZJLWoK-cDHx5axfEkt2NdnYC72iCFqJ6Bb4LUw26Q33tMNU6lJXgkFvftxy_EYjjyM0Ds41XkH6PXeh5jj-o8wqvNTuIv2oY0xlSqjHLNW0-ISL1Q0AjCnPQqQ7fX8Pb-K1gM2pGWqJt3I6-ZkBmbvpYGXga05chj22djUvAshuHPr8LLz8HKxq9DJuCQGM43A6cMgH7hCUq6Lc8i7z6gaQT1YVXAMKMZ0NZYiH7DyZPXgabHsWM2Lfs2MBJO-wUNY5ieA_J7IkBmm2m2GzQs4u_S8jSmLqO4cR_G1hmQTLDmbqlkn0_6MP2nrifInZw6x8NFP09Y6kODHi_Nq5Xo7PVmSCL2Cwpx0k15EK3ZAwMX3VKbCYdS7ByLue1RkWbt5mFn0w4hbLZLDv91D9ZmntkYrs7nGJNZ86SR6HR-_6IctUvSHVJ3mbLaZVsI678uTShMH15yPHvtKTjmFPsg0T_yIhnzldy8zgTwiKuPZgCspJF2eHmw47jjghi5ZdRsmjKThLyQS_aqQd98GJ0zoiO0-REOED0eMtWsYdEqudlH3MQwWzTlQIBp5PgVsKqlHXW1zHJemcgG7s2Xe9Hpat0b5v4-p5VjdAcdgE0JMgajB-H_RwIApPvV9-X6xsrEbVLh2XpShocS-HieCXQ6Y4a6HLtB8Tjcq6G12yGlxWjxCkxg_loT29fi4DHWxZfoBjDfV0FAY_GzzmyhuDura4EaGzk-uNvpAPiakVw9M_v8M7y1b4E1YnEcnk7gw0w8pZELcls4smeZ46KxIOv38w8ZFUkJCdrkdGU13eKj0GM5v0BRwudwYd12tRBkrh7T--UmyFAROTMYAuOycSB6LpMJ2rvYXaB_KadP1GbT-a95c4T1VmbpGNVQ7ef-rwd0sh9_BiUE9lSuxgCjrOc4iARtr7Nq_ICrDBxJOI8Id9Bd5KDci9nD4cFJHJYDTzJlD-exSUG-lbD1JNw-kt3JgJOhMVlYvTiuoSCO__8swMTMlg9OrWD-4bPVs4eRlgNoa3buM_u1Ec9jdfQHMKaomDWN-fVufCwbJhyi2bukd9MxpLgSSL5GMPdOykATrQRvySxisraTlnrbDorPsyIyG-7fGdHVf8GM03BeesQnMCkhA3KM2w3aIzBzIHgrM27xaW36hStTyJjmFPJ7dDyPxuh2s5xBzWkHl5ojAewbXr07SqFTh8I1bXdOw==",
  "id": "rs_0ab12ab633e9bd85016aacbedbb3d887d0a5173a5d94f4fab5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The container’s body now fills the opening at the fingertips rather than sitting beyond them. I’m closing to establish a secure grasp at this corrected position.\"}",
  "call_id": "call_ZU8wkQWRany8t0qHjhCIpeje",
  "id": "fc_0ab12ab633e9bd85016aacbedbfb6887d0acce9d99a453b6c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZU8wkQWRany8t0qHjhCIpeje",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5175, 2.0285, 1.5131, 0.0582, 0.4324, 0.0208, 0.013]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5445 right_y=0.2289 right_z=0.1787 right_yaw=0.1362 right_pitch=0.1394 right_roll=-0.161 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.4564, 6.8308, 1.6581, -0.149, -0.0513, -0.0073, -0.4171, -12.6701, 9.4974, 1.9121, 0.0952, 0.0806, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41361cf27c2ce7b88f637c78177a40a451e6d6bc8841fbdab2a67ead6d852a64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01898653db113ae933d5d670d50dd8b4b623ccfc8b069a0a31d9b6f16026a93e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce70b1ca512f47434a64b65f1b38fe02e4f7af4a04e001069ac88ba58338c188",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 4.456 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5274, 2.0075, 1.4986, 0.0181, 0.4328, 0.0395, 0.9963]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5352 right_y=0.2301 right_z=0.1758 right_yaw=0.1375 right_pitch=0.11 right_roll=-0.1569 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.4974, 6.9675, 1.6484, -0.1685, -0.0562, -0.0171, -0.841, -12.2872, 10.6735, 2.0781, 0.3101, -0.0904, 0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7mkWP-q8zXyf9kcrX7iSV6_4v5bVRpf3_5x3JSI6ihUHcLn8ZeUf1SsG1bRtaT2d4QjxD1ZZ9i_6FTOzF7FnbsloKCGuqALkEwb8He5LOeNkRbP9j6HZQykuV8Rxo-cbe25RBViZg5Ti4HfX-ssAspGueGfGqYXvOI-u2QKI72bs8cyObc8XmZrtQYHuK-db-B_MR4wFrLzqhP5Sw5DbXKa2wc7tL9GeuF5xzCjIS7J5VscL4mqIMwuorqhKCIi-UD1EfWtbSYWveJHgmvakn1Ehv6WSaQ6lAGRVC-ikevgbtyRKHcp3ufvAzDzxRys20YvV5EptOYIej3bj206fClieYZlLPBo6cjc4FKLjlD-VRI8NwckRQvAw_aJkz_CGRQFpHFLqWxGXVaIoPjxNrZ2160SDcTeu_CFRzZ-YGuwyrTHrZUlnXGrW5TXYiWbKC6KaubGwEbzSGzPQjJCV0FvEGmam0189Q16WrBsrE5D1Jv02VDM8XkRSP4eCjPxdSN_uFnugPNTjwXDEJmzjUJLQZHBuxsgmum44jHJkc83xAsZPc11h3eIyo2b41AE5aQR-WyFqZgqUuRMoiZ8Rpg9XKgg9dJD95JusNJFfJwIyme7hevq-sGcfaUR8UeguEV-K8HovDIa0CjEKxjvEKchUg0QxfTL5z4kiBSc_HFZ_H_Eozbl3HEwSmruJAevnN9NFLMeYdgvpfIWQ_cRcv9p4dUDujs99Cb6ML56FAze9rCS4UX4hsH-5RlB0DT14zUhmw5c6-6GekXaTm9Db6-Fwrgf7TOxdhDtKM_YrpnHRdHuHXBBndZ21mNw2eeo9S3QXI6peO8oy3YYK7oDQjGG9cJZRSIJeOtYoSfcUu6lUgMpQi3JjL2n_2cl_knuQg5vYnCKedhev5B0Tqp4QRyu3sijA9VEXAzfRjC_NSzOsPYNXDHCVD7cL9tLW-sAENF5VBK4tv4Uos49JrE8w9yaYEDTSF2TX4DApwK_uIQlewCw83lV34Ad_xtfCy6xCkk7TgmTeo0czPJJiDEnzCzWSoJAMeYy460chF0bT1TxUWO-YeHfK8Z9TIqcagD0FXRay8iYmUbd_zruDw1QbQyrEG5QlAOmWEYxQkxro8uL5L-rXD8_4NVnrRVAsGE-xlrjwCI6-R2V7XBHZHNTHmxpISjri5VEQ0C6pWqYCZmHebBNj7kDJDe8-sP_A6P1xjOQ7TA3MiQ4ij9RPcjkJAZSdtdv38wxWWu-00P951hd9acp0OrwrCuBRpOX7IEAJrkS1ZTBIUQPvHaQBA1wtsAe3NKFG0H6E45f1qIFNQ3VGgydCUTrRpY5khms-EpKvjBxjEzEUXStm8Y6e_zszY8Yc1aabyrmgR5duKGToHmvf64kLY7f_1zk72LJEnqPRWIcECN4ZziPrl8aAq2zCVqF34RIKEhwdvQ6ONUVUUtT2_Sx_kyZHICabWpv9G8mLX9JRQCiS-cIK_GtCzpT9GmIb9euKhQWwJv5PVL19SXIZ2N6_YY_ec1p0E2M9qac4FSMeuRU7F07t29Exw63tYhXsn_EziByxHurmC0oKiaoV2sOHjfBzdM_nB9MyRSFsdD_xfU8G6lYEFstMgh6PtWdgDHkSVV44cWb-mMVh6IXl0NZhXJJTWCKuk_pVLV2_Ku45AEzvj4FwIdqwQFSdBZ2J77i7tBI-dY6TpwukzRncC-3VWdA636p034zmYOVSSbHRndZ87jyGk1tP6uJh0XPi5KaY9TChPcaTHlbWabD-cpi6lZiqU7IxHo3FH6TSItplZDPWgBWwD9ENl7GrWZAYMQhVNNtPGPOlnDr45ViPEHohZy-_osRxUALcLhI_6_Wizj6z8RE8iidk86xKd4GsYqJg7mCmgOiszeH89lyhcqV7ytHCv1ytIKrIfs1tCJaAmURBY_w0lLkHXF6tsmcRnnvQixN9JlEUixdBlOjYf06yi9MIpg0mgjEQqCSQXLulLT1KSELVN8WLNurf4bWiK5HWK1CEjUfjJkrTpUVzKfCZ2vyowBSNaZFc3K9mc2GENREOsnOq2oT4QDHnaLcgtzkKpkkBLD-4n4d8PPu2_Ip0FXSzsWBT7PDCXRgoxDFZ17HC1ZNDlYSkfhp1kvHdaGjos9KR9RSYZgj5rTGH8d5zo2kr5xC7VvFtzRQ4QxZSw-uFNksinCEI0Uvj-aEUK0v5UO0H4e1lbHqB_7GLM=",
  "id": "rs_0ab12ab633e9bd85016aacbedf8e8887d0b075446fb720d564",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.55,\"right_y\":0.23,\"right_z\":0.32,\"right_pitch\":0.4},\"note\":\"The close was empty and the container moved forward again. I’m lifting away from its side to approach from above; it is now near the forward reach limit, so I’ll avoid further low pushes.\"}",
  "call_id": "call_Kezw1bCoudqDEeb78vVkMcG8",
  "id": "fc_0ab12ab633e9bd85016aacbee4defc87d0b08da6c38fe91033",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kezw1bCoudqDEeb78vVkMcG8",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5175, 1.9877, 1.652, 0.0425, 0.4446, -0.0769, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9969 right_x=0.5555 right_y=0.2329 right_z=0.2632 right_yaw=0.1653 right_pitch=0.2849 right_roll=-0.199 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.3744, 6.9949, 1.6581, -0.1587, -0.022, -0.0073, 0.3077, -15.4735, 10.3179, 2.1123, 0.3492, -0.0366, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b706cc8033116e643b1fb9455d98171a16e5dc87a020736e98923491cf5623d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be9ecacec2c1c57d8ca61cb5e9042568e1b5953bffde4f8d9b1d07cb898e651d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36486d1bb3f394681a667169db05a71dbbab8bae52dd0b64b922893decb93a9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 11.1 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 117 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.5175, 2.0285, 1.5131, 0.0582, 0.4324, 0.0208, 0.013]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9968 right_x=0.5445 right_y=0.2289 right_z=0.1787 right_yaw=0.1362 right_pitch=0.1394 right_roll=-0.161 right_gripper=0.013\nstate[joint_eff]: [-0.1573, -1.4564, 6.8308, 1.6581, -0.149, -0.0513, -0.0073, -0.4171, -12.6701, 9.4974, 1.9121, 0.0952, 0.0806, 0.5641]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL7spP0m-nNy655NW0drE5IL9yYPuSkti4pVb4ATiMc0uP-L7Bx0_vvToYmLlIckvWWsvrbJzn-UsgDUrnygxa8ShxxZwAzLMyNWqJ2RBDRXrqY59hhtY8TkUJjiVGc3x1HxG7z5XmBXdearj5AcAiSz193rMgEsGcE9wHs-V-8IXVda2BiXQc_SJEHpHST0xSTA2Pguuq4QsA6Usg132kZZnYAwzHZXxaA44KpEFqPF9wtuWZuKDEg5z1zAbmvsqsCYfnYCM9TedYJRBaqh14mt2_VQDqdkhu1c1rjOS6b9oW9tpJWTvfx19SLrWNL6cdCF--n4E1KGzUL8CaTMm1Oa9CU5nV1WwPWMs4igXdt38DFAZ_ZRBJYOkfjcYI5YbSbEHiKDinC4e_KDougw4BXuVk8FZbl__eGEgxP2zZfC6wKFA5ddl83pOD6U7oXyvP5pClP3xFwBGizj1fg90_VYGDqk_b56JNTD9HS8hj8RhaeAqNrKRKkHuB_o7ZvnV67nxS9baYRbept8hNYD6FnW79VJPYkw9wm2uq1_SNtZSE1zHF5mIJEhBxvs2coN9bsLxOI4bRMz1NlmxCrygw8Fwu4y9aX6NP42upDOO9GlGPFdhvQBsqhSpS7zH369weSMlV_WM3EXdE-OGv4u16uf_HdChO6CRPs5U0ZzZHygKiCQ6FyCffUP2GXN0Au3kmGBxK886B8Hwpfi2AMYgB3S1exy8WjJUIEGODFqbCy07WY_0qAKIlr12SLFCu-vTpOc-awFi_BJOQL-lMDr32VXj8sDAb0LURpYntaMDwKkYSVKtGMX3eZeEMm2ETICbZ9CyYiPtZonXEm7X_nd3d-ymO7axd-5KoNAe-y55OTDMTdod61hh-upH7CZZJALv7uh8hEUKKusxAMsV6bbSHyG-Trz_GjFTJbqTtnJyK7s43vDJFqnGp2RcxWyHkbXH272r6vb9-IgLZZQp8B09S-l4aqIj5IohMzI-4ZnT9klHC3WmU2XS4s1cG0nrhn8vOrV8EdFwu55EN-knP2xINot9tVqVC65KDudX4SR_BPYTVr-2C1O8sc1KDIVcDZL1qZd6xnEdvEujZPTcBL0gVJz-Fr20G01KS6qjAeune4zEyWML_pxlo1MwcyTVNHGCglJlQmZVy3jodxEA5n2HO8SXRczoAhpQ_Mmo_lO8Tv9vEw1QAN6GyEOSP5qHYOKsB-Y1OFGt6hIMSUJb4l6RBZ82y1kbvpjSObGxYlufWzah_rYhp3671af6bESAp6gUlm_",
  "id": "rs_0ab12ab633e9bd85016aacbee9d66887d0a337d4d3bff57e9b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.595,\"right_y\":0.225,\"right_z\":0.255,\"right_pitch\":0.4},\"note\":\"The container’s open neck is visible below the wrist camera, near the far end of the workspace. I’m making one high, forward approach to grasp it without contacting the lower body.\"}",
  "call_id": "call_ubfemGkcfNpiTcIG2PhLuFKx",
  "id": "fc_0ab12ab633e9bd85016aacbeea56dc87d0a5549944b6eab073",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ubfemGkcfNpiTcIG2PhLuFKx",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2619, 0.9968, 0.4747, 2.0979, 1.6676, 0.1753, 0.4057, -0.1204, 0.9967]\nstate[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.19 left_pitch=-0.0014 left_roll=-0.0219 left_gripper=0.9968 right_x=0.5867 right_y=0.2272 right_z=0.2341 right_yaw=0.1768 right_pitch=0.3128 right_roll=-0.2196 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.7299, 6.8308, 1.6532, -0.1441, -0.0513, -0.0171, -0.5538, -13.0803, 8.2256, 2.3858, 0.0513, 0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcd2cb975fc535cafffaefb655538f1284b429234f70d3c349b32cbc5ba1c3f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf70216fe1f8f2465b047e079d210b5d926de93d5d9c4e899b61ca9d5061076",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf5d0285cacbfdcca8488605bc9ddf6dc880b68556cc4f25a93a2765d1dc57ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 3.515 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.852, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.5175, 1.9877, 1.652, 0.0425, 0.4446, -0.0769, 0.9956]\nstate[eef_state]: left_x=0.2958 left_y=-0.0025 left_z=0.23 left_yaw=0.1902 left_pitch=0.0028 left_roll=-0.024 left_gripper=0.9969 right_x=0.5555 right_y=0.2329 right_z=0.2632 right_yaw=0.1653 right_pitch=0.2849 right_roll=-0.199 right_gripper=0.9956\nstate[joint_eff]: [-0.1162, -1.3744, 6.9949, 1.6581, -0.1587, -0.022, -0.0073, 0.3077, -15.4735, 10.3179, 2.1123, 0.3492, -0.0366, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL73PjHsh4v5yKbyT19W8xu1-xJDjwQGJPddyMoMYRb7dZr1KgebbNbR7_O6ycbpvBfqp3btnkJqEEKN7wB3NNRVwkV8jDxV-oDB3DaJM2iix7T4zy_lzLPKcKLWV-uelLM6Yn5i7SmbcH-7N4l4xmYrz2pRh7BTvNYmEZHbePRaQqfzvwurBuBDRmB3VeEfcGBLDfi6T-0FXLmZ_uZxTWRush4nW0xreyPVzhm-cBrgThZzJtorQcuP-6V_sPgVyH1npXRl6UFBxd0yVYKo0rJRzV1JlCqHtFWRm-R9XpXSWtZAA7AaCH7kCW8tMEw8krTkb_G5vA21ffsV9qVwd9BdzP3a0hdO7BquPh-zLuRyIOEFCZc9QLzOnQHtb6Qj3RHn3Wvh1wxqGWru8woF-fpmrdA3qtZVLiQQDWBJQTlb8EFqsEMYWiauiUfC4qPai0XYrI_pPFjdLkMMplYHVz7C_uvkjqBXJbTRdmHbNGvVodftwgJA8lP4WGNxnyhKVhu30nuHt5c7AdyV5j2rX9xtR4QXyFRjy3TdXvwiN3cuVlztgpZlO4S2Gf3b_whiDp481B2Lkvzz7gKPRfwO8EBp383xsxa55u5oAbw9OeQAmd1ifsUs0bMfRwIdU4QrRD6Oe1BEedvNHovbqLjGhlE1ZaHr0F8XMIXVf2xcODJUlHYQyElrGlfh-WzsQvHhWIe3pngd9dVmhLY4x_9z9VEXde9y6F7akzE4yZIhNWT2NLotnouShQcmea5sxsP9wMnX7Yqi5ecn7fkxMmJPW9PnOjQ45l-B0NUbB1Szn3ur1Al3Xz6kOxnIn-9VO8iSV3K9l_2PSdV-hLODQGOviZcnD8PvHFVDHg56NbTiYgHLL4AI__lhbgsVT5LUtdCuU0F_FRujytO7OdkMAdtOWumSVbiq_sFdvMQVI9aHIJ68rGW2npzlCVMjYx7c1I0WMAqU8itbUnCGjXFWErDilXLCYJwfjfu5RdhOmLeJXxQQELRNF6trMJM4jGOHiVayWeh9-PHjihGxpuY3I7AnWbA7F1sLvIriasALhxKBhy7pdvBl4u1zntJhtIDwOmCtHYdZjvN0KdGIZXvJZkA3mfLgJSpXc99Us85h33e_g5jyBI3V6jofS93a6JkfyJfFZ3QjhaHMSYjZZnrMzcLDx6msRiVNKOEC8Q51NJXLhvprw2ZsBleJiB2VEWSfNLeDW7uOlhlbZ1_iuv5yP0EtghnplcLH3pNuNn1J8j_itNqi1g7SqRCxfhW-aQvtXajcZ30BS0bhJeNkN-btJ-xOMNlXoDYjcQt78vxz4Z_FGtW2hdrui_DvI0cl2nhNQ697MKTPsctmOgWFfKMae8RCCYXPQuH8UI6OsyGD4VZEHVqTIoB_R7m5WtHGHLj0tmHOizBdYRyPsuwIeasOWIWFj3mK9zf3MHuRfUWp95fkO4FQGMhZNtbTGmnTXpdcnvHFq7u0BAhyqcsoLffT9eyTH9vq7EHO1Rc2Zb0oVwmy0mbOvDBdsl-K8n5kIAuk-zu_REjsaRRwuS9WbgU-n6nj6zQYR_aWQ-_rjyLYxsChZfVXJ8TXn5QFPffcN4TkMnv5WQTrcIk0j_pyR0t4fmlDoKjMovsYBRxtxI0zz8QaJZhOoMaXKsdVbEwkhRnvG0XszAtzjMe7xxvCOAfz5jjMzD6Lqf62_Heyl0-oHP1poZFudjtaRW1jFtRvcBJ9qvFIrKYGoEcQorkynWVkCb73YnrBIk3Ov9AGselwEob1ycBdKkr9xXEWGFb7jE485y_zyDzl7u1GQREoKRUSYuKRn4SrFq3J18rQ_kLiamgGf-gVvCus7kSUbob2jHD-aZoIZfCN0C5hM6d-_AWmm70NtuHKgV8GibUFnw5QbEO8Li5ByeBbanQ-1-BX0WTEKvzj_dZN_ngwhTSjNdfHG0k0tWZ3I6AsevvwldmWSGRFNRefas8asth-0Bpyn2GGeD8J-7WCjgb_fTQD3Ky1No5UwaV9KMfmPD4AWEdRXkpum2VfxIlKRX0NSBrnR2xsBCftfLdf5E4Wu6LaIgWInMLX7xF17mv6ea-_hg-U3MOlOUK0mBhaYT8Vt2J736vDMwMxiuyoAa0BBK-Clxy_hcODnZL2Ueuk83kUynZDj7CzZlM1rwa_L9vMAbQbU9ORjdgyvQAZsIEzIo6FtMy0SY98fEF5_3P86l5FIFq16LWHfgjF2C11onSRG8mHaOoaQakr9SA6mmtydc4d9p6zCGGwpji1DWdbRmdmpBEnntszqWBZEdDHtd0f43rreLb846ulvvNqpsT58fPQaZIK19gyBjhq_VCowA2iN3y95i2aSZivy429JY0T-uRk-EjB8B7MNMHukuWWTpFEMsnR8G8rUbWz87WRMg1O-ra3IPBmvAYnxO6tjWGI2R0MUotmCn1P4sfrLAMNNk8dlQG7iyQWhzwYV5WY_s0dUF0589ZJN3LRoXiJRTFdoPc5JpM8NUTYw42ZAFpJKVHLH3NyQ153ttMAfze2jsOOXjKibi4dPbbArFzEGHgzAbu-VYX5BtsKNbSGgm6URJcJVo7M20_xY6-23P_28EADeS0guaAEFNM5uGpO9PeLoAhMUVC9_kjbvk97ss7FUUgNxSBnDEy-fzYlqAkphz5OU7CcvlLv0WsbLLYBT3zkNwpxlAtiV1fQIB1Nk2c7pM-CNoJpEG7TSBNkmw==",
  "id": "rs_0ab12ab633e9bd85016aacbeefb5f887d0a6a5c6cb08b20808",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.58,\"right_y\":0.225,\"right_z\":0.33,\"right_yaw\":1.4,\"right_pitch\":0.2},\"note\":\"The broad body is difficult to capture across its width at this reach. I’m rotating the open gripper above it so the jaws can approach along the container’s narrower front-to-back direction.\"}",
  "call_id": "call_2ghPgjpuKOeqa6xzw0DBL1uU",
  "id": "fc_0ab12ab633e9bd85016aacbef5efc487d0be6aa77bb6847df2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2ghPgjpuKOeqa6xzw0DBL1uU",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.4644, 2.1258, 1.6672, 0.2226, 0.3908, -0.1352, 0.9969]\nstate[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.1902 left_pitch=-0.0014 left_roll=-0.0222 left_gripper=0.9968 right_x=0.5941 right_y=0.2264 right_z=0.2274 right_yaw=0.1861 right_pitch=0.3284 right_roll=-0.2254 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.4017, 6.8308, 1.6581, -0.1587, -0.0659, -0.0122, -0.212, -14.0513, 8.212, 2.2051, 0.0806, -0.0122, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc7a52c902642d80484ea2ae563f58097ef6388aa87f8d415262ac8a7a58e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:985d523529137994c3ff3036efc67386e06d5c3a4251444424c197a245b8e254",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8efe4cab2ca3eab24691c4ef0b62e4e1cdc7cad560cf962b6a53cdffe84d6ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 13.93 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 125 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2619, 0.9968, 0.4747, 2.0979, 1.6676, 0.1753, 0.4057, -0.1204, 0.9967]\nstate[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.19 left_pitch=-0.0014 left_roll=-0.0219 left_gripper=0.9968 right_x=0.5867 right_y=0.2272 right_z=0.2341 right_yaw=0.1768 right_pitch=0.3128 right_roll=-0.2196 right_gripper=0.9967\nstate[joint_eff]: [-0.1846, -1.7299, 6.8308, 1.6532, -0.1441, -0.0513, -0.0171, -0.5538, -13.0803, 8.2256, 2.3858, 0.0513, 0.0122, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL771qzrqy7Ard__hrMKUmYtGaStOKZHCnirPTdViFx6TSofBrcNIvhhzrb2mkmVcTQUkU0ptb2uMtFQzb3IUF3myA26btNaVDFHNMZSzMAk5ztffIEgdcM7jMF50aRRk0WI83f8ujmGZUDypfTUSsbfIPzeNMLbWCPYykQL0jdGWwwwmhsHjVo-S0dclOcNVPu1HbsKQIKPDMsViMVJ-XQsBu3-RcXBTnfl7lPWYZpUomH-RF87i2J9uG5ywQBQkweca0z-6qFo9FGFvc3vAMWrHXsiSJ7Lf7Y9tJ9IhEwQ55eURYT7UjD_PPK-VRMgafLxEZ8gMRKHWS4u2T_l0ZEHe92WMNTd2xa445AV5A92jZ7gAZUzfp_wrzYmBhEpXw7TeCHsg-2eRVYpuhNxX9eM8a47Za-g9P8bDQe3Sb9Bb1NdbZvKX41zQDSO_nZtjYhyv6M8v_QoHb4MF6uoRYol71AoeUsVoBwfQVl7ni0jAOAw_Z9jla0FR7XG9WavNACCnc4jVX9uT5IHkhZQbjupAgnem71cb945J5KR2E9mt1x9NgjY9Y2LSHmntbAGqEZSURYuP331w4_Glppz3m5iQbbdi_ci-FimYOMPI9ZcqD1NHnKbY9zhceIP3l87fyhiB00MpGI5Pqjw4IRrGBsY0foMy-_9UYxQYJBrgYzxSZR6Xd_s9pviddgjD_hhYBqDBcdOaiis254OFuy4t2cCTlXNPV9L7aS8KJO6UVjHGGDvgPHTTSBE5I7yqK6qVRURZjb5eqENdjL45xCI0c-25p9DfGCBpMZPy-sI7TryxjN429pVb-19ooTsOI9fNjPcqTtmRbsM4DKmFhlPxJ-VZJQqqxtPXx4yWBQTDOBPyCAVkkjtM__dOG6GDnm50YTlCNYj9A3TJeSNLOTe1pA9yEF7QeVBuCoFGHuhKBVVhayuAG2ASQMsYOPtI3KQDGlg3nxWD9Zl3pF2y4CLCg33jnHo6QoJv4vAPCIChHvzeFxTXKBNaEPX9pfpCV9p2wn0GnWsKDhs1xGMA6A2mtzxYv0Hg3RObWMel_gMTxm-vUz6W5LVfwVqDK0X7QYuF_ojllqBiqFocEGOJRZZFYnet4O3f2OHo-tRO8YTvVKQ7iMGntEXC1FwyBV95Z3eJWNb01TcFc8yqnDqkOol7ZbGWJBNZ8yn0dVKCKq5EJ8mwxr5i1UR_w88AxioowaYq-_cFDTG0BNqHBvkyxdyVO3AitmGrO-TSrEpamiCZwxCXnLPRvCLlpD7_tDgXgY4bepp",
  "id": "rs_0ab12ab633e9bd85016aacbefa0aac87d0ae1a9390517b57e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_y\":0.22,\"right_z\":0.32,\"right_yaw\":1.4,\"right_pitch\":0},\"note\":\"The arm did not track the rotation at its extended reach. I’m retracting to a less stretched pose before rotating, rather than forcing the same target.\"}",
  "call_id": "call_eFljfb3wKONeStmyCEK1Bg0k",
  "id": "fc_0ab12ab633e9bd85016aacbefa659887d0aba950ff315152ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eFljfb3wKONeStmyCEK1Bg0k",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8619, 0.8185, -0.5613, -0.3393, -0.2619, 0.9969, 0.178, 2.2192, 2.4664, -0.8936, -0.7528, -0.8917, 0.9969]\nstate[eef_state]: left_x=0.2969 left_y=-0.0028 left_z=0.2273 left_yaw=0.19 left_pitch=-0.0063 left_roll=-0.0198 left_gripper=0.9969 right_x=0.5304 right_y=0.2218 right_z=0.3208 right_yaw=1.256 right_pitch=0.0649 right_roll=-0.3643 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.8393, 6.8308, 1.6435, -0.1538, -0.0122, -0.0073, -0.6632, -8.5128, 3.5624, 0.0757, -0.525, -0.0415, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2907d70aa82a42a38dc116078ee01cc9eecd775dc4510cd58dd72e7faab3613a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74eeee3d565fbbdff2f48710fb3fac163fce219dcc1bb1745e7ae56e3a9643d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4d9587edb09d7b320e0c8cdc6d497b59e50082fec090957f47f93513f873ae7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 8.54 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 129 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8566, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.4644, 2.1258, 1.6672, 0.2226, 0.3908, -0.1352, 0.9969]\nstate[eef_state]: left_x=0.2963 left_y=-0.0027 left_z=0.2287 left_yaw=0.1902 left_pitch=-0.0014 left_roll=-0.0222 left_gripper=0.9968 right_x=0.5941 right_y=0.2264 right_z=0.2274 right_yaw=0.1861 right_pitch=0.3284 right_roll=-0.2254 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -1.4017, 6.8308, 1.6581, -0.1587, -0.0659, -0.0122, -0.212, -14.0513, 8.212, 2.2051, 0.0806, -0.0122, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL8KTxh0lOE9Pc0uJMWguu64Qn8qnut8G45OXpwmfcFEujoSnCUErikDcuc4pR_lkLc0t4E6_MMfLvCix4rvSnxdgfdDw0YkkYOX__g2xTtXpAs2kcVVH5CkGF7sVnLp5mPoofYiqK7kXUZ59cVBU3bS7bSBZklfman7Stp5JFyVY8UHusgsnT6g15w_AWc_LouUzwZ67Pc4CZd3Z-2w3OtUPKONihfKDmY8h-qxtsRXrJ-2onqYCmC6xXIUHSX38SnsmuHm8K50QdSkfQgDAFxZ0AB8y9bi3Ypr8qd4J09e9qXx86Mee9gAIgZs4CjUf_Jg6jt0KcqLGlURrZWbHcs7A6ZsNMDdJhuuGsZ0R-hOUE9jJ9cyqN6wnKSSRyXuDmHE8V6nZnZx_RQd3YsffPW9whvnWW9Oexe0eRVqXQbPQoxZRsH4OV2uXIzWNSrhyicyjEmEzBhW1vHaZm46K3LND1LCKE2BtchtkQ-1aV6YktTl8xNdrAPyW4qmc9KX-_e1MGh0dFB2CTiE3_vMvlOgyom7LQMv3TCP-yB-0LWk8erUv7ozUfeEaEIBLbNmtbnEy1S7KvuK2IqQ2GCvjWE2R_JbsqA4zD4iLLGXrdvbwVRB-kzd8Uefla5TwffXQSbhkgWz600Wo0E1rL3knybvfVIdZtMYrMSijouja4RkwzWiE9kGat6F2SEsg5Wdf8RqUyivDJ_T5F06J6EqIWQAU7BTH7dNrk53uv0o-AQZB30f0VNR4puxbWoV9OKSp7bwJkb9igQaSYnolCYPL4FcBAZLnyJn5H51dBCJuWKuLbsu5ZGaq9WMgqnYsaPHeO_YLpx6P_j6sf6UxZ3Q6LUO30G4KctD7Ec68BJag268znM9Av7gqHpVex-OglU6oELflVRRhHIhJX124251HDLCmfgm2nE2CaK_fNIamzVyHUSFu_I-pZjty8B1o5O5x4d-VbwMFwT2E8pJGLt7qdMBDoQcFXYRHaTkqjyh6lD1QVx6ljS05JHRpI-N6v23CPh7uWZUH7JYPDYzzmTJbWObw1rLoSHzdYZmqXDD8XaNqsAbhFF0OCnfzhBmAYxxeakleSkt4fFOKK3-kzrUPudLQ7AmrOLn69yeIuVfyAGDJIR7KyMDqCJf0srmsMuiT8m7Zq9hp7RYas5g87k6FMSrV83BGCSfePPBjZRyXpAJfY18MKXzdMTZxt2bRh_huO6NxM8VjU8Lq9PpmPanOu5Lg6TW-PjcMoKrGdbN9OfUKpfWyXwfrEYxNeVkOrGix89LyzOVek7IElhuK989IEUtWlGrdZjUZxK5X7Tzk7cFZJKjkFSIBbmJui2UyOT-upcbZc3stqr-7j8rCCBVoOebijzJOxOj0elOOADds_WY0F91Rt-H889-rblp_dBGegb-mkdefrCUfgHropXBCWTuM09SMYzx8ceAhQGGUCn1C12fgwGg4rCExgYnL0oIYq5wEjyPiFOi9Dt-IV5oGweD5KaoKWjLnzh3_BlzsDVfhO_mMCWBoRt_l21dor62eKzOnftpPm8oY0zvIyoZTMiQVtY-eG89uV-ypqjh26AJE_JcZsMeQKsBsDqgE4PnrtcHUCi8SmcOtba8MxC1CxSaZZSsNSy9S3cX6OJyHwXCOwjVFhxTJ7u7T8XonjR0aVtyvAv1kWKC0r3NvZYvv8om3dtFyBwpkKfgm7u0sMGFRTd3wEzDyHoGya-D9ktcCgeLxQjVej40bP79oWj8YXB606swphqb1dBWdu7RJcqC7sOQwTXhzlz-oXbNMxhltbeLS9CLwMbKNNfDx_jBgXpDXCtwlYzjsdNkagP2aJUYyupkNUnTxVByTJ9QkWpPIpP7J633pD_LHPPvILfoJZ5u3gxlmAzK9Vnztk4KrrYlBXmRMn1qq0fma2WC7O5lB5yNQ5uqWZQ1nUTjtuur3ZmE1t4iN3gg6lmbqesDrhx9uCTNXLgudmoxztUvt384IOPvwZioQkliVyaW2GErsi5FEuxJFwQ3nkrS9H2UREGf9TKEmOlfZ7HwioMTLfVuif5JW63iaihEM6AvxgIo8Ly60aPgUxKX_RTzzDEwoslhoMiNWs30tVYxMam5ABtmMn90QoqNiFypoQZK2RMzMHvc_jEaQV9__xBZhlf6v211yLgCK8tIQFuZl25tg9yxA2QUaoY5JZ85pjm5cpXQ7ukO3PKpzJkUnja-V42Y9o0Qg_-kHfu2I5uCfLQqQRTvTxDfH5FBw4fX8dGqQk44eS6MGUGTyrMNt6nHByUwIhSsOaZI6j75mDufEVTUBFQanTMwNMS_ZjW6DzPvkRvidJaF7yRew6OOuiL3K52EsAeewVByWVXTJ_I0R_5lflU9jafM4wdhhct8fNOjMK3BQBGn7tXTceJKDJIqgoDLLmP_SgG6QALW8QOZI30fYCE4Lnc58rW6OC1SWwFvmuyeB9xUr-i8H3Qh8zXfgRl6HaIUXmwDcREQpuAXKf7rqMI21rcrJiB6ASGflyh7fDPTtMGzvnXoFsvJJjD6d1BUz0Vx7Z41_5t-wGXqjTZbZsINBEbIMNndBN9bh8iTQbRINRw7tU1Pp2WkY4BNLOBa2fQchRCg9zI1Te35E3-hcWFxca0nJIGC17x_o9uyIKv4xmJe6E0zHiW6SjBXDduuP0prJg-iL2onER2hyW8mbTwfqLGy292TVMh6RjppegWobVJwQZAx5_M4nraUoo4svpY_ggXrA46PJSsbeqP4It7gFh3L8Zl6V2ZwpZBIyGk0R2gcjTfyiLxZaeYtL4clfn6LG6ZT95WI2TfXjGJamoJSdlUYCjtZo3nvQb6VJ-V1jgyrO_Sq-IbbNXBzaNJzL-M9Vy9Jzlk3-tAPlulmi2xb0MKS6_f9TiIKiY2n7bfRUgfq-8onQvwavzfTITgk4yJJKAH51wFpD_RPRDWSK7QfoOk0FPrD8ZP2oqEECQf1WEXbAqWR1C3-aNMpzqPA8iyzGcdpa_hAW4-f_PadDJXDY0fRwHNnZPY5r6Qc-Ni7TT9RsFHixz3Az8cNpstRfQBpyGkbhTfJ70Ub_CbMLIUZL8qkIS7xKemznfxdAuEtPPhJN7yWD8bxlXikz8Nq8wVjBynoX4UOAk6ezNb1OaLNjZE77Vy8q06yV9ofz4iW0xH5dRGgGxOJlYZB2TFC6TJ7i97KHkzvn4BBw695Md1jdhJJBAslY_xPXio1qt-CHzf_VqpyJNNCUgEgW_N-OwjZY6USF3DbK81Ip-ZfZueTilBqgbhPL6H1k7ePI9eMM7ILByIf6m2qwHDED7RxGPsNJEx2q-hI2mPN9HrKDCM2vvIMyKMQlbbOvTYx4S8FYAgKdNpSaywyxAy8qvY_mJGllpYA-6bMG29SR0w7anZnuzW30bs-kNtj9uJRw7NMPlRxIA9UbHpAqU3TTtxUFXEgJ12eA03SndHwTh797TBKV_te",
  "id": "rs_0ab12ab633e9bd85016aacbefeb2b887d0ac7181b761c4ec5a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.22,\"right_z\":0.2,\"right_yaw\":1.4,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The gripper has rotated and the container is fully visible again. I’m lowering the open jaws around its shoulder from above, with the jaw axis now aligned front to back.\"}",
  "call_id": "call_eNhY6Qj4887NxE9AxiMvwEsY",
  "id": "fc_0ab12ab633e9bd85016aacbf08e0f487d0bdee512cb883caab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eNhY6Qj4887NxE9AxiMvwEsY",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.168, 2.2387, 2.3489, -0.9035, -0.812, -0.9333, 0.9969]\nstate[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9969 right_x=0.5251 right_y=0.2227 right_z=0.2694 right_yaw=1.3048 right_pitch=0.0274 right_roll=-0.2516 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5248, 6.8308, 1.6435, -0.1392, -0.0611, -0.0171, -0.1299, -15.747, 6.5162, 1.453, -0.2906, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2026285d3fdd747921e4e7169265062e276f10a36fba21a82b523bb43f7ce1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df865995de35a18744304f855344dce2a387bcb06180ba8906d5e89cc261444d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd771be5d84cbb078aeb49c21eddf1f62aa20e551b76443f08efb0a95632234",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 4.889 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8619, 0.8185, -0.5613, -0.3393, -0.2619, 0.9969, 0.178, 2.2192, 2.4664, -0.8936, -0.7528, -0.8917, 0.9969]\nstate[eef_state]: left_x=0.2969 left_y=-0.0028 left_z=0.2273 left_yaw=0.19 left_pitch=-0.0063 left_roll=-0.0198 left_gripper=0.9969 right_x=0.5304 right_y=0.2218 right_z=0.3208 right_yaw=1.256 right_pitch=0.0649 right_roll=-0.3643 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.8393, 6.8308, 1.6435, -0.1538, -0.0122, -0.0073, -0.6632, -8.5128, 3.5624, 0.0757, -0.525, -0.0415, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL8U0MO1xV3G0M-M9U0xcLzYbhjFKLGWlWE38la0QThoXRD9A9PvuB1Kg_1WSi20G5RrQd4IH2bVLeL-iPR1vyZJ4vj0WZ1injSIJ64HWHYJ7EkibJtfz6HQMMP8Y9vhbkIX1Sl5nYjnmHDr5oQplkW5OQC6m5gC4iyvfRFGg6uU8er2ORyMJ1TrtR_Un3Hj_R0-Jyf55cjLFBc3GVXEUTBt0kea_4WNsPYn9kb5XNuHyEc7flrmugAeAdlvb7eVMsKxfTnicIH009sHoRGYHaps0oqmnGCjP3kQTrWKPBZ6GWyUH4r1xwGmLCq7TiXGD3-_Ul5jdn3Zo7zTRxWKHCQW9lzewDedyJTy9BpatFTzPESHEx55_lXy_3t3ImExBTeseUVmmSML1d8i0R-7lcZqyerCcKiBmqMd4fPMrJ4K49OZeIVpHUEUpNNhQAachVaaJnnKl_moEpNy1rctl7-vP3Gr2bmropRKtVLcjmwJq7AFMou8O_3bCe9AKWvXjtZnzpCjWwoOkcrWwghbLaK3xpL1NfajIXdenaspn8kZ4kgag8JT1k8fC0Y3LuuPdfpD7RXA6s-ZuQV2mjL9E9LjUuygyCJLapGpxsjUQa6Vq76f3sV5Gi15TmgqHCvPsa0l0awmRVOthoXn-66lkyRxyCzvG7FT9sgTQ9B0FjlDRugJI6nfVM9m6MvCWZOsG_e7SZ4HXMDN495Q7E1qCyJyEmUL6Cxij6ZVAvJwxBjLHZ6lGccp2Y3_rDFVSfmAjV9emwtEDnOEH5a8NzApUHCy3LqUUHFFP3m8S0HehxRKq08P7hfqBoV5-o8hfuNigkBzX07d7nShrbsijntD-b3Nt0svOU8Ab6XSm2zoZ5ZoVSq-RPOWEiBq9JbbzpGNpWrYR444dv4k2O6zGhFFQFSBUtV5JS_0W8418Z0hU6mjOHvK7NXbEv5N43Salol5zbYieTu2Ljw6NiVIiJf7marzOmG3ZIaKNp1UKMzysxDo4hF-jfwracOYPtimsrEAhLloU73aN5iDT1rLnc2Za-2RpxOqK06OMBK--4KWj967JrLD3pYwvFJB43VRbSwl4rlfOIWNW6Eghe9BEyowcTtEcsorThFHG7DYder4klj-bPR-yAJOM52y5ujIJvLGShEtbJlefrmnmTBYhY3KHQr8MTXHvnoy4EXW5q3qDvOlOqZ7EfeF3sBFR3EQa0kPPwHpWXysfxavxkNL7Lb1CiFyH7eDTCQYgNn4sEDmokxXIGNy4vGWupNLBOGagJD0KSqYK7lXnJ7QTEScWfuXDzEPfZnxQgOPMwmb4MJ0JcyTiCLqLcIJJg28D2GWnNi1G1OdzRmE6TWQ3ER-JbWFf4BOvxkE7P9SdfvECWTjeTQVSKOMZVlBf6y7r9WT9MP-jMYp-USMxGREMhXpuB2RT3aP2numcItxI4TJTa1-Fn6tGQlFJ9yrX0M8_SeSL-VPXUHX5QAyCxlwmqDBBPVc8VfFJm-bW9vP-rUCliVQnqsZtdbuTYgGhyTQHrYgQC2QjERxnhgLv7SPq7xFxCFf9Ebt5AiMb0l6VzCfmVivkd3j60hEaEKGkFgWBIA9bUcztnYzoXJqnlWXMTyAB4lZgpGqKRGx9USK3EYNfJ7__prcJmqXLcnjFMIthXeFpkU46VuuSFs1VzIb8y2NCyclxsvvo7AEbf8bxynR11cwXUv0N9ij-Obs3pvPnYstfj6gKz4flabXfVnF-wc23Qix8iZjsp_ZXZrhiMthg85qwkhTxGd-AEhSC4l5FRF7lUhJaF0fb_EajEIcU-G-v85tmjLUaYwL5lBgfGLpi5xuA-DhbuXs5qY1zEFj_YpRTYyoTnipWV128FiEXivLZCHv9OtpuMowQRGVf5YdmonUwdlgpZwfrCWGsjluDv36gmIAwWUuAX6u7hHoTwlU4PqGxe-HfGgbsyKiSGVJx9qEFhOVi5LPcP6AlUtcUeIfYddMWLeSq9xeiz54zx3gkBW7YN8dnOs2oTQ96xWHaqT5sXK7xVcVbFG6ayeFPvg-ZhvuJfP2HXoIao-dBOTXjZQaO1Ti0XEK3NgJOCOY7Ib5oQHlt6qa15jBbGdzxs5yGXpdKUDohO6y4UvWXMBOHer5q7Ir7lZzNYez4qSU1IZzRHFAB3iWnUFLGZyytQZdX3RkTmEI2jpdpTkJcJB11_hgcYaAroB_dX9HB9NzZoR0qNSRNt0pn_tpbfQAk7w1j7Xbb8VISAXBy4he1WQif2NOnLJJh-hrcIvNvWkR9dv63rcMyNHV_Vrz0W56czYVVfM7As4j4BQ0TlYIl0S6rEyP4S4U7e93vqRzsCPxYyW-n0LnPY_HiEijqjno83dqtgcAiELEUt0cF4ZQv-2tCGGa7Vep_o0bZBvf6HqawtfN4i_q0ywm3qgjKA2SRJzsGNwfemw6wsBRlDMEGD2bJ7vGYft1BcvMoYMQdYWUMXJoF3Gpwo5NuCY5lYYh40eib5X6asy5ivrBW5o-rOjqja7hJzCJXA==",
  "id": "rs_0ab12ab633e9bd85016aacbf0e082087d0978002dfa8247728",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped with the fingers surrounding the top of the right container. I’m closing here to test the shoulder grasp before attempting any further descent.\"}",
  "call_id": "call_pqx2umqV4wMASPlxmQrQgKDF",
  "id": "fc_0ab12ab633e9bd85016aacbf12ebb087d08fc4202a60ade18e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pqx2umqV4wMASPlxmQrQgKDF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.168, 2.2387, 2.3478, -0.9005, -0.8116, -0.9382, 0.0135]\nstate[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9968 right_x=0.5255 right_y=0.2227 right_z=0.2694 right_yaw=1.3072 right_pitch=0.0273 right_roll=-0.2578 right_gripper=0.0135\nstate[joint_eff]: [-0.0752, -1.5521, 6.8308, 1.6532, -0.1783, -0.0611, -0.0171, -0.0752, -12.6154, 6.3795, 1.3309, -0.315, 0.0171, 1.199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:036f6ca2af399144400d9614b6fe94e444f317232297c0bb6b41ca5aeb4e76eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d41f3a7127b53ddb9b34e7720e1905b25064999698936933f37d784ac82eebd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04145b47ff9abe0f7bcac58fbf2eda26057c6e32517c141d6a596c8066784ae5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 6.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 137 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9969, 0.168, 2.2387, 2.3489, -0.9035, -0.812, -0.9333, 0.9969]\nstate[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9969 right_x=0.5251 right_y=0.2227 right_z=0.2694 right_yaw=1.3048 right_pitch=0.0274 right_roll=-0.2516 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.5248, 6.8308, 1.6435, -0.1392, -0.0611, -0.0171, -0.1299, -15.747, 6.5162, 1.453, -0.2906, 0.2027, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL8Z5Qko5asQMg-WD_7wtZCXq9Z4HT-yS5h2Y0-mvVC1FMsHi1ey2AVQ37U8RUG2KlUyrW0dEzMVPn8Si4tEjgfM4re70h-wZ6Tc09ixtfRiQDqQ443dQdUXnzUs0pZ61o4dznz2Z6Kig3dr3cL-nYyWsZNq2mQxNPNYi3hrEbVKiqEsKo3bSJZHnnA23txkBeF2flWJ3YsFwFZmBB5-vPLCDdwNXnzT-PtDJZTs3QbmavuV5_d_DJUQ_Otv3rfDb7oYBrtc44XKqxPHhA7nmgVdgbZwUk3aRpT2PilZEvO0YpxuDZwrNvq-dzfIoo7ZhR-qYuYE4g00VupQZcj-CmWolv3hjalqAfa0QyJUJtl19yzVhfRf3S4WtuoG49J3hTP82s1HZ_t52Sq4ixukk-lZ2R7KDyjALtEu2VwohnbR8ZQn1-hJDAM2PNdd2r6KehXeS3AfPxrTK3yj8kuvmh59PBslx2Y34FZ6bYrKWgMwggtRRIZMDdes88zJdZ28Fmb4T5iEOqDOyN_UG2C5joVNZ21k1-zIms3aHttSOjMMrKAPxYZ96R3ovhUxsugUMjm3tnzFiazIevZ3PGuIwnoX4Foh5ODFbnU8_wsq7ypLebEgdddrMfa7zD36RZPhOM-BAQDubCdnP71V5F9Gji39wHIUd6X28pB3Id6-WiiKXXXB1O-CRgWIAKRVxBCaDHv10d9lHSHymnnjnVg-Ml9WI3ZFyPEsjm5WrfB9XScAANn3x9Fn19Ll4WtM6Nv3B3Be3sVFJlqbNBMi8NN0MZx9VeVij98dsWewB2L53ka_McXiyOHr6Fl6wGrHnNobDo7Wztg-cdK8_4GV1B9cMAb-FZ8xPsZTmhkreB2-UK25xrb48EuuMSUPp0vcZzIIPJmklGmUZ1kPwWyURmQ_gg3TrLDDG6uVe-QxKChTeliB1EXxaF_tOUpdjM8SipANqHkPGkGv0zlQBdHqApF4PFbDu_OyKz67V2iAbiA03g8HzOb1hZnfUVpWFk3smHVvvyiBcH6BD5vhL7KtrIBc8OsH_pDzAk_Fe_Lmhh32y_l7pxASqlj0mkZae5ilS_caeVxBsLKLhldY1R03_oR6MzwcyWKH0kitJOmkx-QR_JK4FwcQf_cy3jgdldQUmnLNM6LlYoKU9UN_P445fUHuqoZSVwyOHsfKz76D-_LBapgeahkR7iVAwZyMRHdcnWLgMP2UhdzUq8rBUsHPWkGA44kga-n3fuh_2QSHr3nXKgkJsYVX-z4AGBq3tnc2fYw_pV-WHro9OlJ1aw3yisniAcgSFzEXPQ0spqahf5xSJYMyfhX_7m5BWGplpEV5zu_thPJuLnP_c00ZUVm1K2ucvt5kWOpxaA1RWu9jNZK66ZHv_HQOMXSjFAn6Gcderrq1OKswwI2vYF5opiAP9m4stI1uySOkfyBRo3puuGYsSBysX2w=",
  "id": "rs_0ab12ab633e9bd85016aacbf16dcf487d08c7b023d563bb595",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.53,\"right_y\":0.22,\"right_z\":0.18,\"right_yaw\":0.7,\"right_pitch\":0.3,\"right_roll\":0},\"note\":\"The fingers closed above the container, so the stopped descent was a pose-tracking limit rather than a grasp. I’m reducing the rotation and using a forward tilt to reach the body at a lower height.\"}",
  "call_id": "call_SWWzHttzSS7oQPto6nZWNOPc",
  "id": "fc_0ab12ab633e9bd85016aacbf18274087d0adda182ada1df168",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SWWzHttzSS7oQPto6nZWNOPc",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8661, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.2558, 1.9892, 1.2827, 0.2653, -0.4839, -0.2161, 0.9949]\nstate[eef_state]: left_x=0.2974 left_y=-0.0029 left_z=0.2262 left_yaw=0.1903 left_pitch=-0.0101 left_roll=-0.0184 left_gripper=0.9968 right_x=0.5177 right_y=0.224 right_z=0.1433 right_yaw=0.7785 right_pitch=0.1718 right_roll=0.0079 right_gripper=0.9949\nstate[joint_eff]: [-0.1299, -1.6479, 6.8444, 1.663, -0.188, -0.0269, -0.0073, 0.212, -13.2855, 7.4598, 2.1807, -0.1294, 0.1734, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf68f183f958907c21850545cdd5345249f00b4ed30d6911e2f617e15d870ff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72935d7fb6380862f25e8ad08d51003add88b4f713e4ddf9b13a36e4143d6dd4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 338):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55caf5cd4ecba6e3e49bf3f36a72ee31af48912b8ff95dd2932a6682bb708e91",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /responses · status 200 · 6.064 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 141 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8631, 0.8185, -0.5613, -0.3393, -0.2623, 0.9968, 0.168, 2.2387, 2.3478, -0.9005, -0.8116, -0.9382, 0.0135]\nstate[eef_state]: left_x=0.2971 left_y=-0.0028 left_z=0.227 left_yaw=0.1903 left_pitch=-0.0073 left_roll=-0.0196 left_gripper=0.9968 right_x=0.5255 right_y=0.2227 right_z=0.2694 right_yaw=1.3072 right_pitch=0.0273 right_roll=-0.2578 right_gripper=0.0135\nstate[joint_eff]: [-0.0752, -1.5521, 6.8308, 1.6532, -0.1783, -0.0611, -0.0171, -0.0752, -12.6154, 6.3795, 1.3309, -0.315, 0.0171, 1.199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrL8hyk_3GrniQpCDseSLEZ6HzGOVWtc7OEyWtk7vtqL5IKZr9dJpmLg7fmAqj5wtPV56I0k42D-SBGejVNIwi6-3sz3IbBHBJj64eVNI3ijhruIBnnKoGJjOWfNrYzQUK8frrfNYk6G9BRtM6JJtPp6eefiWICdRlpedJPDgqeHTdKYldlFS0HN9JWK5Ljlz3-DqsWDmbfMMgrIrPWC3oKVE8qb2hvGXuH4OVCsIIhZbW84iUyPQ0R81H4b8dD4JH_-nsRhItaPKQhkZfZD015CKdApALQBpEEB87KVLdZwLjXWEIjFyPyx4L9E9Y1YgBv11W3tdSMF74HtCFXjoqB4GgHIbDC2vpzP3VR20yCMI8zNwqXgRNPMrK0GmkivpWzN01ioc_FwFgtsoLGWnevvevbv5QuHBo0rIFfwH28ilnMvKqVqy0yiS8JVVu1koz5Y65JnptKOUqTsJ-UUmeKoiDSrnFHOghNBm5TktIb_m7jAIHFWBwWnX161UNKjr8v9kA64KpIaeYdogrfCDZPNOXnZuSYuXRxV9_xO7ALk73Hgh1C9JQXHpkPtpepc7SawpB5hp1-Oef1-rICTVquqJupbkOiN2Nyiv42IV8jub8bhfn7bC-dYqtVMVnWqPgUtZ0DWz4ZPPSTqMQDAozDJNT71YTwgKuqsCgh0pc_iUeaG1UBaXXiVh1jxcMvwDHpX5lBtirVa-iwHSDv55XYNF1r4076E6uh72J67Uhv0mlYbpCU8G6ZgpP_DdZZQQptFddNVUi1ytLbSHgz9Yn28jTYSvTfITp9JVUn92Gm8t5qTFIexZ6LoUt_K9N_2YhtyjBXm_lzDQ70Vi9t6-ASQEHtpYX2vH2x3GkYw56VtsDo7kxoTQv9oNI_ba_IQRY6xBKBAoBgOdgpFvkcMyX_rzHByeEnIsZ2JBPyaztjcRF3LXF-iAWa5ZMC9FgGDxNO6Jv68FqmoNCoF2vI7fIuIFZRLuAr8qO6qdsU9vb9I6IBliCRgmLI0ewgc-sxE6_vRTmM6E21kRjY-bTTEnnsQxtErt0qZxMLwGGpI4VoMe3lnM4Ee2woQ7VlOVejgLaImtaYYGVVSdC2FSAGmwUBUJJqkfesmUCusVrXCj-pQwj5qV2ZclIoKbB8ylI-qhvrppljhTDjnpRwB_XSwVIRFLyzU40IE4ojHaTov5MfsuuF4oFXL9blZEY3wfbOAiq0rFMiaQf9DrDT7OSdPftUG-qX6djM-Fx6MYmhl8GvYMh8juIv4LcwmYueMp-2gAP7bwCFt0aucvQPkPUXuRUqU70RapX9xEFXtA34UQhRRRrDXxZZyoQz1quSWpv41hXMy2DSfjnf1c8WcufJRxXEv9E18UZjq2yuLacD0t9C3y86J2Fb06Dx5CXlvNQoOUYyDgr_0ExQ7Bh3gT4xG5BPl-EVqBjZnCKSNBBtM2ASISvbd50mur2MloZmXcVmw6RKsYnLjZc_qYdk7tb7pQsWTU4jvYYioBCo1GJbZaYbcLW3GQdyc6j7wj-qL9f-O3WExeX5J8hGaW-tKjzGe84V7FspaJie0p35686zR5hCRiSwvwyCNn0kKPy87eglIthJrO_d7xYkh7FensuEuT6r5CbSmjH1qps3oCIw-iy0L5HXydEdV5aYInmt5QbeHbXp6OzLbpY6S8CQhrQj9vieq1aRIvEPSt7H-T4pVaHIY_tOy52OO6nDs-G6DSlgFPEZ2FjqpSwz737yOl2ALXWe1KXIqh_dBcaOMpVhNGjS0DcHagdw6TaJPVUkGITLIJTYG2xvOStpLE-19V7cCOIK08sDPJ4FHDFp-FhGcJ_6dz1xDDcMC5pxvgTau1x56nWnTCIY6j8pZLynz_NXJ96l9sIg==",
  "id": "rs_0ab12ab633e9bd85016aacbf1cbfe087d0be4b053f7396d95a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.05,\"right_z\":0.28,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1},\"note\":\"The right container has slid to the far edge of the table, beyond a reliable grasp within this arm’s reach. I’m withdrawing the gripper to avoid pushing it farther or knocking it over.\"}",
  "call_id": "call_B0a2ztY5TeppT4WQchYsSLgd",
  "id": "fc_0ab12ab633e9bd85016aacbf1fdd5c87d0906a449eb13515fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B0a2ztY5TeppT4WQchYsSLgd",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2211, 0.8707, 0.8185, -0.561, -0.3393, -0.2619, 0.9968, 0.2237, 1.177, 1.0981, -0.4843, 0.1307, 0.0662, 0.9986]\nstate[eef_state]: left_x=0.298 left_y=-0.003 left_z=0.225 left_yaw=0.1901 left_pitch=-0.0139 left_roll=-0.0164 left_gripper=0.9968 right_x=0.3701 right_y=0.0643 right_z=0.2655 right_yaw=0.0743 right_pitch=0.0015 right_roll=-0.0063 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.812, 7.0906, 1.6972, -0.1392, -0.022, -0.0073, -0.4034, -5.1214, 9.9077, 1.6777, 0.1538, 0.1392, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af914c45c115982ccc05c2eb51d8af03b2a3f41360d80d86d9e5499519b1ff7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd130c1df77711845f3b52280a6ae4ebcb7a41df510b542ec28b800af11f5976",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec4280f1eb00cc87fb858deb3698e76fbbfca24e895973606fe2241f20ad1e7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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