adhoc

completed
2026-09-18T03:36:10.915530+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
333.2 s
total steps
404
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

done

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 upright containers in front of the cups, with the red cup behind the left container. I’m bringing the left gripper above the left container to align a secure grasp before pouring.
move_to
left_x0.4000left_y-0.2400left_z0.2400left_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, -0.3794, -0.0219, -0.0223, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.6496, -1.6479, 9.2923, 1.7802, -0.0171, 0.0708, -0.0611, -0.7726, -1.2786, 9.7846, 1.7363, -0.1245, 0.0366, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.24,"left_z":0.24,"left_gripper":1},"note":"I see two upright containers in front of the cups, with the red cup behind the left container. I’m bringing the left gripper above the left container to align a secure grasp before pouring."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe left container is just left of the wrist-camera jaw column, and its neck is clearly visible. I’m shifting toward its center and lowering the open jaws around its upper body.
move_to
left_x0.4200left_y-0.2100left_z0.1450
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, 1.6535, 1.4036, -0.5236, -0.6292, -0.5167, 0.9996, -0.0143, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.3942 left_y=-0.2355 left_z=0.2241 left_yaw=0.0049 left_pitch=-0.0395 left_roll=0.0108 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1813 right_yaw=0.0012 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9997 state[joint_eff]: [-0.3487, -7.9658, 9.5658, 1.6288, -0.4176, 0.1832, -0.0562, -0.2256, -1.1829, 7.2547, 1.7411, -0.0659, -0.0806, -0.0171] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.21,"left_z":0.145},"note":"The left container is just left of the wrist-camera jaw column, and its neck is clearly visible. I’m shifting toward its center and lowering the open jaws around its upper body."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe container’s body is centered between the open jaws at the current height. I’m closing the left gripper, then I’ll check the opening and do a short test lift.
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]: [-0.6685, 1.702, 1.1347, -0.1825, -0.5571, -0.4423, 0.9996, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.4168 left_y=-0.2056 left_z=0.1429 left_yaw=0.017 left_pitch=-0.0562 left_roll=0.019 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997 state[joint_eff]: [-0.335, -7.9795, 6.8034, 1.7607, -0.2271, 0.0415, -0.0171, -0.1162, -1.1829, 7.0359, 1.7607, -0.0415, -0.0562, -0.0073] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The container’s body is centered between the open jaws at the current height. I’m closing the left gripper, then I’ll check the opening and do a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper stopped at a 2.4 cm opening, indicating it has caught part of the container rather than closing empty. I’m lifting about 5 cm to confirm the container follows securely.
move_to
left_z0.2050
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]: [-0.6689, 1.702, 1.1343, -0.1814, -0.561, -0.45, 0.2497, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.4169 left_y=-0.2052 left_z=0.1432 left_yaw=0.0236 left_pitch=-0.0539 left_roll=0.0143 left_gripper=0.2497 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997 state[joint_eff]: [-0.1026, -8.5265, 6.5983, 1.4969, -0.2466, 0.0464, 1.0281, -0.0342, -1.1282, 7.0359, 1.7411, -0.0513, -0.0757, -0.0073] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.205},"note":"The gripper stopped at a 2.4 cm opening, indicating it has caught part of the container rather than closing empty. I’m lifting about 5 cm to confirm the container follows securely."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe left container moved with the gripper, and the grasp remains stable. I’m raising it clear of the table and bringing its mouth toward the red cup while keeping it upright.
move_to
left_x0.4650left_y-0.2000left_z0.3000
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]: [-0.6685, 1.6897, 1.2991, -0.4408, -0.5537, -0.4679, 0.2535, -0.0143, 0.7986, 0.6086, -0.3786, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.4123 left_y=-0.2027 left_z=0.1737 left_yaw=0.0327 left_pitch=-0.12 left_roll=0.0491 left_gripper=0.2535 right_x=0.2958 right_y=0.0015 right_z=0.1811 right_yaw=0.0012 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9997 state[joint_eff]: [-0.0342, -11.3026, 9.4427, 1.5214, -0.3687, 0.1245, 1.033, -0.0068, -1.1282, 7.0769, 1.7558, -0.0513, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.20,"left_z":0.30},"note":"The left container moved with the gripper, and the grasp remains stable. I’m raising it clear of the table and bringing its mouth toward the red cup while keeping it upright."})
tool
executing move_to over 9 steps (0.9s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe left container is now above the red-cup area, with the right container still untouched. I’m beginning a controlled tilt toward the red cup, checking the mouth alignment before increasing the angle.
move_to
left_z0.2650left_roll-0.7500
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]: [-0.5808, 1.9072, 2.0098, -0.9264, -0.4927, -0.4442, 0.2538, -0.0143, 0.7986, 0.6083, -0.3843, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.4643 left_y=-0.2005 left_z=0.2805 left_yaw=0.0612 left_pitch=-0.1426 left_roll=0.0272 left_gripper=0.2538 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0009 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0068, -10.3726, 8.5538, 1.4188, -0.2808, 0.4274, 0.9255, -0.0615, -1.0051, 7.2274, 1.7949, -0.0317, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.265,"left_roll":-0.75},"note":"The left container is now above the red-cup area, with the right container still untouched. I’m beginning a controlled tilt toward the red cup, checking the mouth alignment before increasing the angle."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe partial tilt shows the container’s mouth moving to the left rather than toward the red cup. I’m returning it upright and adjusting the wrist before tilting in the opposite direction.
move_to
left_roll0.0000left_pitch0.1500left_z0.2800
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]: [-0.4381, 1.6958, 1.4899, -0.4595, -0.1059, -0.8776, 0.2538, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4608 left_y=-0.1913 left_z=0.231 left_yaw=0.0867 left_pitch=-0.2212 left_roll=-0.6116 left_gripper=0.2538 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.0205, -11.6991, 7.6786, 2.1612, -0.0464, -0.0904, 0.735, -0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0708, -0.0171] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0,"left_pitch":0.15,"left_z":0.28},"note":"The partial tilt shows the container’s mouth moving to the left rather than toward the red cup. I’m returning it upright and adjusting the wrist before tilting in the opposite direction."})
tool
executing move_to over 13 steps (1.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe container is upright again, with its mouth to the left of the red cup. I’m tilting it toward the cup from this side, keeping a firm handle grasp.
move_to
left_roll0.8000left_z0.2500left_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]: [-0.6064, 1.6943, 1.4734, -0.3973, -0.5781, -0.4221, 0.255, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4536 left_y=-0.1927 left_z=0.2527 left_yaw=0.0846 left_pitch=0.0539 left_roll=-0.0372 left_gripper=0.255 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3624, -9.3333, 8.5538, 2.1123, -0.3297, 0.3346, 0.8132, 0.0068, -1.2923, 7.0359, 1.746, -0.0269, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0.8,"left_z":0.25,"left_pitch":0.15},"note":"The container is upright again, with its mouth to the left of the red cup. I’m tilting it toward the cup from this side, keeping a firm handle grasp."})
tool
executing move_to over 11 steps (1.1s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe container is now tipping toward the red cup, which is visible beside its mouth in the wrist view. I’m moving slightly forward and increasing the tilt to a pouring angle.
move_to
left_x0.5050left_roll1.5000left_z0.2500left_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]: [-0.7395, 1.8801, 1.5043, -0.3607, -1.0863, 0.0902, 0.2566, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.45 left_y=-0.1941 left_z=0.2272 left_yaw=0.0711 left_pitch=0.0915 left_roll=0.7314 left_gripper=0.2566 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.4855, -9.894, 8.5402, 1.8095, -0.7009, 0.3785, 0.8278, -0.0615, -1.2239, 7.2137, 1.7705, -0.022, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_roll":1.5,"left_z":0.25,"left_pitch":0.15},"note":"The container is now tipping toward the red cup, which is visible beside its mouth in the wrist view. I’m moving slightly forward and increasing the tilt to a pouring angle."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe left container is nearly horizontal above the red cup. I’m making a small mouth-position correction and holding a steeper pouring posture so its contents can drain into the cup.
move_to
left_y-0.1800left_roll1.5710left_pitch0.4000left_z0.2500
assistant
agent noteThe wrist-roll limit is slightly below the rounded value I requested. I’m using the valid limit for the final pouring tilt, with the same small alignment correction.
move_to
left_y-0.1800left_roll1.5700left_pitch0.4000left_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]: [-0.696, 2.2044, 1.4799, 0.754, -1.3346, 1.3937, 0.2568, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.5047 left_y=-0.1932 left_z=0.2109 left_yaw=0.0851 left_pitch=0.1034 left_roll=1.4069 left_gripper=0.2568 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0205, -12.7248, 8.5402, 1.6288, 0.3101, 0.3248, 0.8181, -0.1162, -1.265, 7.2684, 1.7118, -0.0464, -0.0171, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.18,"left_roll":1.571,"left_pitch":0.4,"left_z":0.25},"note":"The left container is nearly horizontal above the red cup. I’m making a small mouth-position correction and holding a steeper pouring posture so its contents can drain into the cup."})
tool
target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]
assistant
move_to({"targets":{"left_y":-0.18,"left_roll":1.57,"left_pitch":0.4,"left_z":0.25},"note":"The wrist-roll limit is slightly below the rounded value I requested. I’m using the valid limit for the final pouring tilt, with the same small alignment correction."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe left container has been held at the pouring angle; the cup and mouth are partly hidden by the wrist, so I can’t measure the transferred amount. I’m bringing the container back upright before returning it to the table.
move_to
left_roll0.7500left_pitch0.0000left_z0.2900left_x0.4700left_y-0.2100
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]: [-0.6903, 2.2517, 1.4628, 1.0653, -1.3426, 1.6497, 0.2581, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5032 left_y=-0.1878 left_z=0.216 left_yaw=0.1025 left_pitch=0.142 left_roll=1.449 left_gripper=0.2581 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3624, -11.9453, 5.9692, 1.5116, 0.2857, 0.0659, 0.9011, -0.3077, -1.0872, 7.0359, 1.7314, -0.0855, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0.75,"left_pitch":0,"left_z":0.29,"left_x":0.47,"left_y":-0.21},"note":"The left container has been held at the pouring angle; the cup and mouth are partly hidden by the wrist, so I can’t measure the transferred amount. I’m bringing the container back upright before returning it to the table."})
tool
executing move_to over 9 steps (0.9s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe wrist moved higher than requested while recovering from the tilt. The container is still gripped; I’m bringing the arm inward to a simpler upright pose before lowering it.
move_to
left_x0.4200left_y-0.2100left_z0.3200left_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]: [-0.728, 2.0964, 2.1063, 0.1528, -1.1709, 0.659, 0.2597, -0.0143, 0.8024, 0.6079, -0.3847, -0.0116, -0.0235, 0.9997] state[eef_state]: left_x=0.5094 left_y=-0.2313 left_z=0.4256 left_yaw=0.129 left_pitch=0.5366 left_roll=0.617 left_gripper=0.2597 right_x=0.2952 right_y=0.0014 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9997 state[joint_eff]: [-0.1573, -11.0017, 9.0325, 1.4237, 0.5201, 0.2466, 0.7106, -0.0615, -1.2786, 7.1316, 1.7558, -0.0317, -0.0611, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.21,"left_z":0.32,"left_roll":0,"left_pitch":0},"note":"The wrist moved higher than requested while recovering from the tilt. The container is still gripped; I’m bringing the arm inward to a simpler upright pose before lowering it."})
tool
executing move_to over 18 steps (1.8s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe left container is upright again. I’m lowering it to its original spot and refreshing the idle arm’s parked height before switching to the right container.
move_to
left_x0.4200left_y-0.2100left_z0.1600left_yaw0.0000left_roll0.0000left_pitch0.0000right_x0.2966right_y0.0011right_z0.1850
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]: [-0.7147, 1.8172, 1.8946, -0.8753, -0.7212, -0.5091, 0.261, -0.0143, 0.8078, 0.6067, -0.392, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.4305 left_y=-0.2144 left_z=0.3018 left_yaw=0.1277 left_pitch=-0.0094 left_roll=0.0796 left_gripper=0.261 right_x=0.2944 right_y=0.0015 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997 state[joint_eff]: [0.0479, -13.7778, 7.0085, 1.7265, -0.3004, -0.0171, 0.4225, -0.1983, -1.7162, 7.1863, 1.8242, -0.0562, -0.0659, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.21,"left_z":0.16,"left_yaw":0,"left_roll":0,"left_pitch":0,"right_x":0.2966,"right_y":0.0011,"right_z":0.185},"note":"The left container is upright again. I’m lowering it to its original spot and refreshing the idle arm’s parked height before switching to the right container."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe left container is back at table height in its original area. I’m releasing its handle before moving the left arm clear.
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]: [-0.6788, 1.7042, 1.1542, -0.2199, -0.5835, -0.4335, 0.2617, -0.0151, 0.8211, 0.6117, -0.4129, -0.012, -0.0238, 0.9997] state[eef_state]: left_x=0.4148 left_y=-0.205 left_z=0.1455 left_yaw=0.0227 left_pitch=-0.0604 left_roll=0.0531 left_gripper=0.2617 right_x=0.2929 right_y=0.0013 right_z=0.1693 right_yaw=0.0007 right_pitch=-0.0626 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [0.4718, -10.359, 6.3111, 1.4139, -0.105, 0.1832, 0.6716, -0.4444, -1.388, 10.6051, 1.6093, -0.0562, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left container is back at table height in its original area. I’m releasing its handle before moving the left arm clear."})
tool
executing move_to over 8 steps (0.8s)
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 gripper is open and the container remains upright. I’m lifting clear of its handle before parking the arm to make room for the second pour.
move_to
left_z0.2900
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, 1.7008, 1.1332, -0.2192, -0.5758, -0.4385, 0.9954, -0.0151, 0.8211, 0.6132, -0.4183, -0.012, -0.0235, 0.9997] state[eef_state]: left_x=0.411 left_y=-0.2025 left_z=0.1382 left_yaw=0.0219 left_pitch=-0.0765 left_roll=0.0558 left_gripper=0.9954 right_x=0.2923 right_y=0.0013 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0664 right_roll=0.0002 right_gripper=0.9997 state[joint_eff]: [-0.4444, -8.2256, 8.253, 1.4383, -0.3394, 0.022, -0.0904, -0.253, -1.1829, 6.9402, 1.7167, -0.0317, -0.0562, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_z":0.29},"note":"The left gripper is open and the container remains upright. I’m lifting clear of its handle before parking the arm to make room for the second pour."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe left container is standing independently again, and the red cup is clear. I’m parking the left arm so the right arm can approach the remaining container without interference.
move_to
left_x0.2967left_y0.0017left_z0.2000
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]: [-0.6773, 1.6867, 1.6745, -0.7753, -0.5751, -0.4614, 0.9967, -0.0151, 0.8211, 0.6132, -0.4187, -0.0116, -0.0238, 0.9998] state[eef_state]: left_x=0.4134 left_y=-0.2046 left_z=0.2767 left_yaw=0.0335 left_pitch=-0.0768 left_roll=0.0374 left_gripper=0.9967 right_x=0.2923 right_y=0.0012 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0668 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.7333, 8.6496, 1.4921, -0.2857, 0.2369, 0.1294, -0.3624, -1.1829, 6.9675, 1.7118, -0.0122, -0.0806, -0.0073] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.2967,"left_y":0.0017,"left_z":0.2},"note":"The left container is standing independently again, and the red cup is clear. I’m parking the left arm so the right arm can approach the remaining container without interference."})
tool
executing move_to over 19 steps (1.9s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe first container has been returned, and I’m now approaching the right container. I’ll align around its upper body or handle, then lift-check the grasp before bringing it to the red cup.
move_to
right_x0.4200right_y0.2500right_z0.2400right_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]: [-0.0967, 0.889, 0.77, -0.5407, -0.1684, -0.0929, 0.9968, -0.0151, 0.8249, 0.6132, -0.4187, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.2989 left_y=0.0044 left_z=0.1979 left_yaw=0.0842 left_pitch=-0.0887 left_roll=0.0353 left_gripper=0.9968 right_x=0.2925 right_y=0.0013 right_z=0.1678 right_yaw=0.0007 right_pitch=-0.0706 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.1436, -2.2769, 7.2137, 1.7607, 0.0659, 0.0952, 0.0073, -0.1299, -1.7299, 6.9812, 1.6874, -0.0464, -0.0757, -0.0171] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.25,"right_z":0.24,"right_gripper":1},"note":"The first container has been returned, and I’m now approaching the right container. I’ll align around its upper body or handle, then lift-check the grasp before bringing it to the red cup."})
tool
executing move_to over 21 steps (2.1s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe right container’s handle is almost centered in the wrist view. I’m making a small sideways correction and lowering the jaws to the handle height used for the first container.
move_to
right_x0.4300right_y0.2400right_z0.1450
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]: [-0.0967, 0.894, 0.7597, -0.5446, -0.1577, -0.0898, 0.9968, 0.7143, 1.7546, 1.5604, -0.5934, 0.5335, 0.4343, 0.9997] state[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1911 left_yaw=0.0739 left_pitch=-0.1087 left_roll=0.0346 left_gripper=0.9968 right_x=0.4169 right_y=0.2474 right_z=0.2259 right_yaw=0.0304 right_pitch=-0.0966 right_roll=-0.0182 right_gripper=0.9997 state[joint_eff]: [-0.1709, -2.2085, 7.7333, 1.6484, -0.1978, -0.0904, -0.0073, 0.4444, -9.5248, 9.1556, 1.2283, 0.4518, 0.2027, -0.0415] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.24,"right_z":0.145},"note":"The right container’s handle is almost centered in the wrist view. I’m making a small sideways correction and lowering the jaws to the handle height used for the first container."})
tool
executing move_to over 6 steps (0.6s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe right container’s handle is between the jaws at the selected height. I’m closing the gripper to secure it before a short lift.
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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6834, 1.7897, 1.3151, -0.3367, 0.5068, 0.4095, 0.9997] state[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.422 right_y=0.2377 right_z=0.1485 right_yaw=0.0315 right_pitch=-0.1274 right_roll=-0.0373 right_gripper=0.9997 state[joint_eff]: [-0.1709, -1.853, 7.0632, 1.6093, -0.1343, -0.0513, -0.0073, -0.6632, -8.212, 6.3248, 1.5653, 0.1685, -0.0464, -0.0122] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The right container’s handle is between the jaws at the selected height. I’m closing the gripper to secure it before a short lift."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed almost completely, so that grasp was empty. I’m reopening and advancing 2 cm to reach the handle rather than closing behind it.
move_to
right_gripper1.0000right_x0.4500right_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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6811, 1.8084, 1.2949, -0.3317, 0.4957, 0.4038, 0.0143] state[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.4194 right_y=0.2364 right_z=0.132 right_yaw=0.0377 right_pitch=-0.1596 right_roll=-0.0559 right_gripper=0.0143 state[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.6044, -0.0659, -0.0659, -0.0171, 0.0205, -11.0291, 8.4171, 1.4237, 0.3004, 0.0415, 0.8913] 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":1,"right_x":0.45,"right_z":0.16},"note":"The gripper closed almost completely, so that grasp was empty. I’m reopening and advancing 2 cm to reach the handle rather than closing behind it."})
tool
executing move_to over 10 steps (1.0s)
step 226
top_cam
camera top_cam step 226
left_cam
camera left_cam step 226
right_cam
camera right_cam step 226
assistant
agent noteThe open jaws are now farther around the container’s lower handle region. I’m testing this corrected grasp and will check the opening before lifting.
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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6407, 1.8633, 1.4498, -0.4305, 0.4591, 0.3561, 0.9952] state[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4426 right_y=0.2369 right_z=0.1507 right_yaw=0.0511 right_pitch=-0.1761 right_roll=-0.0687 right_gripper=0.9952 state[joint_eff]: [-0.1162, -1.7983, 7.1179, 1.6093, -0.1148, -0.0366, -0.0171, -0.9231, -9.1556, 9.5795, 1.2869, 0.1441, 0.0611, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The open jaws are now farther around the container’s lower handle region. I’m testing this corrected grasp and will check the opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe second close was also empty, so I’m not repeating that location. The overhead view shows this container’s handle farther forward and to the right; I’m lifting and realigning to that visible handle.
move_to
right_gripper1.0000right_x0.4700right_y0.2000right_z0.2700
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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6399, 1.8694, 1.449, -0.4355, 0.4587, 0.3511, 0.0137] state[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4422 right_y=0.2361 right_z=0.1467 right_yaw=0.0521 right_pitch=-0.1863 right_roll=-0.0788 right_gripper=0.0137 state[joint_eff]: [-0.1299, -1.6752, 6.8991, 1.6239, -0.1294, -0.0269, -0.0073, -0.1573, -10.3316, 6.8034, 1.4774, 0.149, 0.0171, 0.9939] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.47,"right_y":0.2,"right_z":0.27},"note":"The second close was also empty, so I’m not repeating that location. The overhead view shows this container’s handle farther forward and to the right; I’m lifting and realigning to that visible handle."})
tool
executing move_to over 10 steps (1.0s)
step 246
top_cam
camera top_cam step 246
left_cam
camera left_cam step 246
right_cam
camera right_cam step 246
assistant
agent noteFrom above, the handle is now clearly visible just left of the jaw column. I’m centering on that handle and lowering more cautiously, with a small wrist correction to reduce the backward lean.
move_to
right_x0.4900right_y0.2200right_z0.1850right_pitch0.1000
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]: [-0.0971, 0.8948, 0.7586, -0.5449, -0.157, -0.0898, 0.9968, 0.5323, 1.8957, 1.9362, -0.8398, 0.3801, 0.2581, 0.9951] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1903 left_yaw=0.0729 left_pitch=-0.1111 left_roll=0.0345 left_gripper=0.9968 right_x=0.4708 right_y=0.2054 right_z=0.2643 right_yaw=0.062 right_pitch=-0.1705 right_roll=-0.0691 right_gripper=0.9951 state[joint_eff]: [-0.253, -1.7983, 6.9128, 1.6093, -0.1294, -0.0562, -0.0073, -0.4581, -9.1282, 8.8821, 1.1697, 0.1685, -0.0269, -0.188] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.49,"right_y":0.22,"right_z":0.185,"right_pitch":0.1},"note":"From above, the handle is now clearly visible just left of the jaw column. I’m centering on that handle and lowering more cautiously, with a small wrist correction to reduce the backward lean."})
tool
executing move_to over 10 steps (1.0s)
step 256
top_cam
camera top_cam step 256
left_cam
camera left_cam step 256
right_cam
camera right_cam step 256
assistant
agent noteThe handle now extends down between the jaws, but it is slightly left of center. I’m shifting 1.5 cm onto it and lowering a little to grip the solid handle section.
move_to
right_y0.2350right_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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.1574, -0.0895, 0.9968, 0.5667, 1.8473, 1.3693, -0.0719, 0.4644, 0.194, 0.9963] state[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0355 left_gripper=0.9968 right_x=0.4892 right_y=0.2217 right_z=0.1876 right_yaw=0.0677 right_pitch=0.0727 right_roll=-0.0524 right_gripper=0.9963 state[joint_eff]: [-0.1026, -1.9214, 7.0085, 1.6142, -0.1343, -0.022, -0.0073, 0.2393, -10.0308, 5.7231, 1.116, 0.2711, -0.2564, 0.1099] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.235,"right_z":0.16},"note":"The handle now extends down between the jaws, but it is slightly left of center. I’m shifting 1.5 cm onto it and lowering a little to grip the solid handle section."})
tool
executing move_to over 2 steps (0.2s)
step 258
top_cam
camera top_cam step 258
left_cam
camera left_cam step 258
assistant
agent noteThe descent stopped at the container, with the handle centered between the fingers. I’m closing at this contact height rather than pushing farther down.
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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5789, 1.8618, 1.3468, 0.0135, 0.4751, 0.1917, 0.9964] state[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.4925 right_y=0.2296 right_z=0.1874 right_yaw=0.0701 right_pitch=0.1177 right_roll=-0.0357 right_gripper=0.9964 state[joint_eff]: [-0.1846, -1.6479, 6.9265, 1.6142, -0.0904, -0.0171, -0.0073, 0.841, -7.1863, 5.9009, 1.1551, 0.1636, 0.0122, -0.0024] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped at the container, with the handle centered between the fingers. I’m closing at this contact height rather than pushing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteThe fingers again closed empty and nudged the container forward; the handle geometry is not giving a reliable grasp. I’m switching to the narrower neck, approaching from above with the jaws open.
move_to
right_gripper1.0000right_x0.5350right_y0.2350right_z0.2900right_pitch0.2500
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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.5957, 1.8984, 1.3338, 0.012, 0.4744, 0.2028, 0.0146] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4883 right_y=0.2378 right_z=0.1625 right_yaw=0.084 right_pitch=0.0732 right_roll=-0.0505 right_gripper=0.0146 state[joint_eff]: [-0.253, -1.6068, 6.9128, 1.6484, -0.1099, -0.0513, -0.0171, -0.1436, -9.8393, 6.694, 1.7607, 0.2173, 0.0757, 0.6374] camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.535,"right_y":0.235,"right_z":0.29,"right_pitch":0.25},"note":"The fingers again closed empty and nudged the container forward; the handle geometry is not giving a reliable grasp. I’m switching to the narrower neck, approaching from above with the jaws open."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThe neck is clearly visible and narrower than the jaw opening. I’m moving forward to place the fingertips around it, with a slight sideways correction to center the opening.
move_to
right_x0.5750right_y0.2450right_z0.2250right_pitch0.3500
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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5518, 1.9205, 1.6714, -0.1364, 0.4595, 0.0967, 0.9948] state[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5285 right_y=0.2375 right_z=0.2721 right_yaw=0.0982 right_pitch=0.2149 right_roll=-0.0642 right_gripper=0.9948 state[joint_eff]: [-0.0205, -1.7846, 6.9265, 1.6288, -0.1245, -0.0317, -0.0171, -0.8547, -10.1538, 9.853, 1.8193, 0.0611, 0.1099, -0.1001] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.245,"right_z":0.225,"right_pitch":0.35},"note":"The neck is clearly visible and narrower than the jaw opening. I’m moving forward to place the fingertips around it, with a slight sideways correction to center the opening."})
tool
executing move_to over 5 steps (0.5s)
step 283
assistant
agent noteThe jaws are now alongside the container’s shoulder just below the neck. I’m closing here to test a direct body grasp, which should give a substantially wider reading than the earlier empty attempts.
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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9968, 0.5278, 2.0907, 1.6058, 0.1486, 0.4412, 0.0402, 0.9962] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9968 right_x=0.5658 right_y=0.2467 right_z=0.2044 right_yaw=0.1157 right_pitch=0.2544 right_roll=-0.0919 right_gripper=0.9962 state[joint_eff]: [-0.1436, -1.8256, 6.9675, 1.6386, -0.105, -0.0659, -0.0171, -0.8274, -12.6291, 7.2684, 2.0781, 0.0611, -0.0366, 0.1343] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now alongside the container’s shoulder just below the neck. I’m closing here to test a direct body grasp, which should give a substantially wider reading than the earlier empty attempts."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteThe gripper has stopped at about 1.5 cm, consistent with catching the handle rather than closing empty. I’m lifting and moving slightly inward to check that the container follows.
move_to
right_z0.2850right_x0.5500
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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.5259, 2.0968, 1.6016, 0.1703, 0.4332, 0.0414, 0.1553] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5675 right_y=0.2478 right_z=0.2034 right_yaw=0.1189 right_pitch=0.264 right_roll=-0.0836 right_gripper=0.1553 state[joint_eff]: [-0.1709, -1.7846, 6.9538, 1.619, -0.0952, -0.022, -0.0073, 0.0479, -12.7385, 7.3231, 1.6239, 0.0855, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.285,"right_x":0.55},"note":"The gripper has stopped at about 1.5 cm, consistent with catching the handle rather than closing empty. I’m lifting and moving slightly inward to check that the container follows."})
tool
executing move_to over 6 steps (0.6s)
step 299
assistant
agent noteThe handle remains gripped, but the long reach limited the lift and increased the arm load. I’m drawing the container inward while raising it to obtain safe carrying clearance.
move_to
right_x0.4800right_z0.3300right_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]: [-0.0967, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5377, 2.0735, 1.7256, -0.0803, 0.4355, 0.0406, 0.1557] state[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5582 right_y=0.2503 right_z=0.2208 right_yaw=0.1382 right_pitch=0.1691 right_roll=-0.1267 right_gripper=0.1557 state[joint_eff]: [-0.0752, -1.7983, 6.9402, 1.6044, -0.0757, -0.0269, -0.0171, 0.8137, -17.935, 10.988, 1.9707, 0.2369, 0.0317, 1.0281] 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_z":0.33,"right_pitch":0.15},"note":"The handle remains gripped, but the long reach limited the lift and increased the arm load. I’m drawing the container inward while raising it to obtain safe carrying clearance."})
tool
executing move_to over 8 steps (0.8s)
step 307
assistant
agent noteThe right container is now lifted securely. The red cup is to its left, so I’m starting a leftward tilt while positioning the mouth above that cup, not the blue one.
move_to
right_y0.2700right_z0.3000right_roll-0.7000right_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]: [-0.0967, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.6292, 1.8988, 1.8191, -0.4511, 0.4889, 0.0731, 0.16] state[eef_state]: left_x=0.2974 left_y=0.0025 left_z=0.1894 left_yaw=0.0733 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4907 right_y=0.259 right_z=0.288 right_yaw=0.1735 right_pitch=0.0885 right_roll=-0.1625 right_gripper=0.16 state[joint_eff]: [-0.1299, -1.7162, 6.8991, 1.6435, -0.1099, -0.0611, -0.0171, 0.4581, -13.7094, 9.9487, 1.9219, 0.3053, 0.1783, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.27,"right_z":0.3,"right_roll":-0.7,"right_pitch":0},"note":"The right container is now lifted securely. The red cup is to its left, so I’m starting a leftward tilt while positioning the mouth above that cup, not the blue one."})
tool
executing move_to over 7 steps (0.7s)
step 314
assistant
agent noteThe red cup remains just left of the container’s mouth. I’m shifting toward it and increasing the tilt gradually, keeping the mouth clear of the rim.
move_to
right_x0.5000right_y0.3050right_z0.2700right_roll-1.3500
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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0898, 0.9969, 0.7235, 2.0876, 2.1075, -0.6846, 0.7509, -0.2279, 0.1614] state[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.073 left_pitch=-0.1137 left_roll=0.0349 left_gripper=0.9969 right_x=0.4905 right_y=0.2772 right_z=0.2836 right_yaw=0.2049 right_pitch=-0.0213 right_roll=-0.6161 right_gripper=0.1614 state[joint_eff]: [-0.1709, -1.7846, 6.9402, 1.6142, -0.0659, -0.0415, -0.0171, 0.5128, -10.7692, 9.3607, 1.4335, 0.5397, 0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.305,"right_z":0.27,"right_roll":-1.35},"note":"The red cup remains just left of the container’s mouth. I’m shifting toward it and increasing the tilt gradually, keeping the mouth clear of the rim."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe right container’s mouth is positioned over the red-cup area and is already strongly tilted. I’m taking it to the available pouring limit and lowering slightly to reduce the drop into the cup.
move_to
right_roll-1.5700right_pitch-0.2000right_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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8108, 2.1883, 1.9503, -0.1837, 1.0878, -0.9577, 0.1614] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.4994 right_y=0.3036 right_z=0.2657 right_yaw=0.2273 right_pitch=-0.033 right_roll=-1.259 right_gripper=0.1614 state[joint_eff]: [-0.0205, -1.7573, 7.0906, 1.6337, -0.1148, -0.0024, -0.0171, 0.7726, -11.6034, 6.147, 1.4823, 0.3736, -0.3101, 0.9988] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_roll":-1.57,"right_pitch":-0.2,"right_z":0.25},"note":"The right container’s mouth is positioned over the red-cup area and is already strongly tilted. I’m taking it to the available pouring limit and lowering slightly to reduce the drop into the cup."})
tool
executing move_to over 6 steps (0.6s)
step 330
assistant
agent noteThe right container is held almost horizontal above the red cup. I’m making a small orientation adjustment while maintaining the pour; the wrist blocks a direct view of the stream and cup interior.
move_to
right_yaw-0.1000right_pitch0.0000right_z0.2800
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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8124, 2.1883, 1.932, -0.046, 1.116, -1.214, 0.1628] state[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5021 right_y=0.3044 right_z=0.2794 right_yaw=0.2362 right_pitch=-0.0599 right_roll=-1.4179 right_gripper=0.1628 state[joint_eff]: [-0.0752, -1.7846, 6.9402, 1.5995, -0.0904, -0.0317, -0.0171, 0.2393, -11.3709, 4.3556, 0.7692, 0.2515, -0.6032, 1.0134] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_yaw":-0.1,"right_pitch":0,"right_z":0.28},"note":"The right container is held almost horizontal above the red cup. I’m making a small orientation adjustment while maintaining the pour; the wrist blocks a direct view of the stream and cup interior."})
tool
executing move_to over 3 steps (0.3s)
step 333
assistant
agent noteThe second container has now been held in the pouring posture over the red cup. I’m reducing the tilt and bringing the arm inward before returning the container upright to the table.
move_to
right_x0.4600right_y0.2450right_z0.3200right_roll-0.6500right_pitch0.0000right_yaw0.0000
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]: [-0.0956, 0.8997, 0.757, -0.5461, -0.157, -0.0895, 0.9968, 0.8242, 2.5366, 2.4603, -0.3115, 1.3083, -0.897, 0.1643] state[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.188 left_yaw=0.0744 left_pitch=-0.1186 left_roll=0.0361 left_gripper=0.9968 right_x=0.5257 right_y=0.3222 right_z=0.2597 right_yaw=0.0289 right_pitch=0.0788 right_roll=-1.2527 right_gripper=0.1643 state[joint_eff]: [-0.1436, -1.7162, 7.0085, 1.6777, -0.1197, -0.022, -0.0171, 0.294, -12.0547, 4.4376, -0.7253, 0.4567, -0.9451, 0.6618] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 333): [image omitted: streamed camera frame] camera 'left_cam' (step 333): [image omitted: streamed camera frame] camera 'right_cam' (step 333): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.245,"right_z":0.32,"right_roll":-0.65,"right_pitch":0,"right_yaw":0},"note":"The second container has now been held in the pouring posture over the red cup. I’m reducing the tilt and bringing the arm inward before returning the container upright to the table."})
tool
executing move_to over 8 steps (0.8s)
step 341
assistant
agent noteThe arm barely followed the last recovery move, so I’m changing the approach rather than repeating it. A higher, more inward pose should free the wrist from this awkward extended configuration.
move_to
right_x0.4100right_y0.2400right_z0.4000right_roll-0.7000right_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]: [-0.0959, 0.9024, 0.757, -0.5449, -0.157, -0.0895, 0.9968, 0.8246, 2.5278, 2.4916, -0.4511, 1.2968, -0.7853, 0.1642] state[eef_state]: left_x=0.2978 left_y=0.0027 left_z=0.1875 left_yaw=0.074 left_pitch=-0.1201 left_roll=0.0363 left_gripper=0.9968 right_x=0.5208 right_y=0.3181 right_z=0.2601 right_yaw=0.0251 right_pitch=0.0619 right_roll=-1.2247 right_gripper=0.1642 state[joint_eff]: [-0.1709, -2.0444, 6.8991, 1.663, -0.105, -0.0317, -0.0073, -0.1573, -17.0598, 4.9436, 0.9939, 0.2906, -0.3248, 0.3492] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.24,"right_z":0.4,"right_roll":-0.7,"right_pitch":0.2},"note":"The arm barely followed the last recovery move, so I’m changing the approach rather than repeating it. A higher, more inward pose should free the wrist from this awkward extended configuration."})
tool
executing move_to over 10 steps (1.0s)
step 351
assistant
agent noteThe inward lift restored normal tracking and the container is still secure. I’m straightening it fully and moving above a clear spot on the right side for placement.
move_to
right_x0.4300right_y0.2300right_z0.3200right_roll0.0000right_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]: [-0.0959, 0.907, 0.7567, -0.5453, -0.157, -0.0895, 0.9969, 0.8528, 1.9198, 2.1414, -0.7715, 1.1458, -0.2653, 0.1651] state[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.186 left_yaw=0.0741 left_pitch=-0.1254 left_roll=0.0372 left_gripper=0.9969 right_x=0.4199 right_y=0.2415 right_z=0.398 right_yaw=0.0328 right_pitch=0.194 right_roll=-0.7553 right_gripper=0.1651 state[joint_eff]: [-0.0752, -2.1812, 6.9128, 1.6288, -0.1245, -0.0464, -0.0073, 0.6632, -10.988, 5.6957, 1.3993, 0.2466, 0.1538, 0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 351): [image omitted: streamed camera frame] camera 'left_cam' (step 351): [image omitted: streamed camera frame] camera 'right_cam' (step 351): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.23,"right_z":0.32,"right_roll":0,"right_pitch":0.15},"note":"The inward lift restored normal tracking and the container is still secure. I’m straightening it fully and moving above a clear spot on the right side for placement."})
tool
executing move_to over 10 steps (1.0s)
step 361
assistant
agent noteThe right container is upright and clear of both cups. I’m lowering it onto the right side of the table, leaving space between it and the first container.
move_to
right_x0.4300right_y0.2000right_z0.2050right_roll0.0000right_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]: [-0.0959, 0.9089, 0.757, -0.5449, -0.157, -0.0898, 0.9968, 0.6975, 1.6928, 1.6211, -0.5365, 0.646, 0.2131, 0.1651] state[eef_state]: left_x=0.2983 left_y=0.0026 left_z=0.1857 left_yaw=0.0744 left_pitch=-0.1265 left_roll=0.0371 left_gripper=0.9968 right_x=0.4294 right_y=0.2258 right_z=0.2958 right_yaw=0.045 right_pitch=0.0791 right_roll=-0.1507 right_gripper=0.1651 state[joint_eff]: [-0.1162, -1.8256, 6.8718, 1.6239, -0.1001, -0.0415, -0.0171, -0.4034, -11.5214, 7.4872, 2.2247, 0.3248, 0.1148, -0.0073] camera 'top_cam' (step 361): [image omitted: streamed camera frame] camera 'left_cam' (step 361): [image omitted: streamed camera frame] camera 'right_cam' (step 361): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.2,"right_z":0.205,"right_roll":0,"right_pitch":0.2},"note":"The right container is upright and clear of both cups. I’m lowering it onto the right side of the table, leaving space between it and the first container."})
tool
executing move_to over 6 steps (0.6s)
step 367
assistant
agent noteThe container’s base is close to the tabletop. I’m lowering the last small distance to ensure it is supported before opening the gripper.
move_to
right_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]: [-0.0959, 0.9108, 0.7567, -0.5446, -0.157, -0.0898, 0.9968, 0.625, 1.5986, 1.0584, 0.0151, 0.5552, 0.2092, 0.1651] state[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.1851 left_yaw=0.0744 left_pitch=-0.1283 left_roll=0.0375 left_gripper=0.9968 right_x=0.4246 right_y=0.196 right_z=0.1911 right_yaw=0.0425 right_pitch=0.1184 right_roll=-0.0659 right_gripper=0.1651 state[joint_eff]: [-0.1573, -1.9077, 6.8991, 1.6435, -0.0806, -0.0464, -0.0073, -0.4444, -8.1436, 6.8308, 1.7265, -0.022, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The container’s base is close to the tabletop. I’m lowering the last small distance to ensure it is supported before opening the gripper."})
tool
executing move_to over 1 steps (0.1s)
step 368
assistant
agent noteThe base is supported and the small descent no longer lowered the container. I’m releasing the handle, then I’ll lift away to verify that it remains upright.
move_to
right_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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6201, 1.597, 1.0225, 0.1101, 0.5293, 0.2054, 0.1651] state[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4277 right_y=0.2002 right_z=0.1936 right_yaw=0.0563 right_pitch=0.1626 right_roll=-0.0258 right_gripper=0.1651 state[joint_eff]: [-0.1573, -2.0855, 7.0906, 1.58, -0.1294, -0.0708, -0.0073, -0.4991, -8.3761, 6.7897, 2.0537, 0.1343, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The base is supported and the small descent no longer lowered the container. I’m releasing the handle, then I’ll lift away to verify that it remains upright."})
tool
executing move_to over 9 steps (0.9s)
step 377
assistant
agent noteThe right container stayed upright after release. I’m lifting the open gripper clear of its handle before parking the arm.
move_to
right_z0.3200
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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6212, 1.6032, 1.0122, 0.1196, 0.5301, 0.2024, 0.9958] state[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4271 right_y=0.2003 right_z=0.1884 right_yaw=0.059 right_pitch=0.1569 right_roll=-0.0326 right_gripper=0.9958 state[joint_eff]: [-0.1299, -1.812, 6.9402, 1.58, -0.1099, -0.0513, -0.0171, -0.212, -8.294, 7.5556, 1.6337, 0.1001, -0.0073, -0.1685] camera 'top_cam' (step 377): [image omitted: streamed camera frame] camera 'left_cam' (step 377): [image omitted: streamed camera frame] camera 'right_cam' (step 377): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.32},"note":"The right container stayed upright after release. I’m lifting the open gripper clear of its handle before parking the arm."})
tool
executing move_to over 9 steps (0.9s)
step 386
assistant
agent noteBoth containers are upright on the table, and the red cup remains in place. I’m parking the right arm after completing the left-then-right pouring sequence.
move_to
right_x0.2966right_y0.0011right_z0.2000right_yaw0.0000right_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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9968, 0.6212, 1.5749, 1.4437, -0.3519, 0.5201, 0.1986, 0.9968] state[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9968 right_x=0.431 right_y=0.205 right_z=0.2998 right_yaw=0.0702 right_pitch=0.1444 right_roll=-0.0386 right_gripper=0.9968 state[joint_eff]: [-0.0752, -1.812, 6.8991, 1.6044, -0.105, -0.0366, -0.0171, -0.2393, -8.8547, 9.5111, 1.6777, 0.2125, -0.0171, 0.0952] camera 'top_cam' (step 386): [image omitted: streamed camera frame] camera 'left_cam' (step 386): [image omitted: streamed camera frame] camera 'right_cam' (step 386): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.2966,"right_y":0.0011,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"Both containers are upright on the table, and the red cup remains in place. I’m parking the right arm after completing the left-then-right pouring sequence."})
tool
executing move_to over 17 steps (1.7s)
step 403
assistant
agent notePerformed the pouring motion over the red cup with the left container first, then the right. Returned both containers upright and parked both arms. The transferred amount was not visible.
done
hindsightHandle grasps held at about 0.25 gripper opening for the left container and 0.16 for the right; the right handle required a higher, farther-forward grasp than the left. Positive roll tipped the upright left container toward the center; negative roll did so for the right. Near-horizontal pouring poses at long reach caused large tracking errors; raising and retracting to x≈0.41, z≈0.40 restored right-arm tracking. The wrist occluded the mouth and cup during pouring, so transfer could not be visually confirmed.
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]: [-0.0959, 0.9127, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.0109, 0.8234, 0.6876, -0.416, 0.054, 0.0135, 0.9969] state[eef_state]: left_x=0.2985 left_y=0.0026 left_z=0.1845 left_yaw=0.0743 left_pitch=-0.1306 left_roll=0.0381 left_gripper=0.9969 right_x=0.3015 right_y=-0.0027 right_z=0.2029 right_yaw=-0.0492 right_pitch=0.0089 right_roll=-0.004 right_gripper=0.9969 state[joint_eff]: [-0.1573, -1.7983, 7.0769, 1.5849, -0.1294, -0.0366, -0.0073, -0.1983, -1.4974, 7.4051, 1.8193, -0.1197, -0.0611, 0.0024] camera 'top_cam' (step 403): [image omitted: streamed camera frame] camera 'left_cam' (step 403): [image omitted: streamed camera frame] camera 'right_cam' (step 403): [image omitted: streamed camera frame]
assistant
done({"summary":"Performed the pouring motion over the red cup with the left container first, then the right. Returned both containers upright and parked both arms. The transferred amount was not visible.","hindsight":"Handle grasps held at about 0.25 gripper opening for the left container and 0.16 for the right; the right handle required a higher, farther-forward grasp than the left. Positive roll tipped the upright left container toward the center; negative roll did so for the right. Near-horizontal pouring poses at long reach caused large tracking errors; raising and retracting to x≈0.41, z≈0.40 restored right-arm tracking. The wrist occluded the mouth and cup during pouring, so transfer could not be visually confirmed."})
tool
done: Performed the pouring motion over the red cup with the left container first, then the right. Returned both containers upright and parked both arms. The transferred amount was not visible.
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 · 6.531 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, -0.3794, -0.0219, -0.0223, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.6479, 9.2923, 1.7802, -0.0171, 0.0708, -0.0611, -0.7726, -1.2786, 9.7846, 1.7363, -0.1245, 0.0366, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc78614865501e723d5066a88da6cc38f5076a8fa7314bd8149b1bf2b5d83412",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d7495bccaa455c8bc5a62b906fd36258e1e30afbedbfd699bfbbf6162175ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e0244e5cdd858f0c4cd880afc5485d8cdc1476ce0fd2a6cbe0a321df1b2a54",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.888 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrLG_t2lwUCbvjUT0QfoJAy5P_EmM8xBzQIsgp0S8lutOeaxJYtiDpn-0gO2QbjvIqVbjD_mh_EcbTl40hwIJ3_9Jab6NmSNinlg1ShRyrKiJm7SMwPFUGxXEFeFl4woH6rTMahNJDPMauW7__mepBuAVqF0JhtfBUjbRvhGR1FJxLSbea36VgaWQjmUqwPVQxhwbBQ04FdGfjCWzJsZehFDcLE_fX293jqh5rnmLCupDK-TXPk4NOVg-bDlYpxOADd0ZGhweNQnaEiBK4u5Fd-lEfq3PjIWT-uOJC6uMlcGfuiO8BR-V_t1IECHR3B2X0C2_IXVITZm8cFeA8DyOWNantzwj-XvUswv3t-ZILO_dstznayXyhi0qS3DS_9uaqttpOPaK_oJBNJz34ANpbb9TkQvLxYhbYuWZGAd6SePa3I1r7G9kipiSLJiq1fcsvyUwRPPLCxH7zUvRqPfVqYTMrS4OvaBJ1xqH3gS8Koel5qBaBiQgYL-eimBf8YoOXQgZ_VTDvpXqvx9pviXeK2tv6CfbC-Z97ZSLGEcezxmD81VBOTvb21nvnZ5RWvTi7eQxP3o45hrnEhv-1fEiNyCTGgRFJvb1risl4cFLOya4oWp8mAuAIOpzcQAiKVNFFfcYiO-x-ihUK5JPjfVvC97HwdCNMvB5NR2nfVk1dmAsFx45UBV5EiH-12WF8hFlp4S2eJnCXA4v81yzX-a1bhfIXsWk3SLQvo62jn8pE-DreW-ZNjlGd7MQ40tvM7r4Kur7d3sextrE2bg9rGQfpddsdcL1t5OPGu9OIMffWMQRQmjGP9fw1b4sSa-k_tcW1oVs8nesD9sMB8W04OGNBVbWhnrsKlO7vzppe0BCzLWSI425QYhpX23X5CnpazCrHTyc0ojgxe8dfwQVfulykAXpj9Kll2g1sC0m_7eIe65yAV9N3P3928DZdvs8bRf1nNACAuzzMltp2pxglNGIRsoaJkYtRt7eJ-g1n0u7_UqOe5FN38Oo1UlCFs3kAw5Y5WVTGOlS6D1oi7wBTxYlzzVUZEcl_s1WPtJ0D5V3hGAjD5kAv3UCv7eITpliBhM9HZGddG0whw9BVa-i4R8Q9p7zt4661UhstIQSLvqIcZtNNrvL7nb3fI_jgLBmdWK2wkxUsOlswoSHNmNaB9PtDGFWpk_3EGJPULIQXLgK7BOZm7uFAyjOVNo6h2JukCv3gW6RoSbDmaKNjOD7aWPz0ppN9Y-2fmlGubF3Q-qI-PfKw9z9O0TqW8tVWzAw1o-cX5Op_Tq0ZCjBHiEKNDPRlmbQJd9XPuFfDcq0mfQoYw_fVb3fa0E8crxmhf-BTwJ3Xe5pk-LSiOR_LBAUxAfAdcUaD0_BYhZxD8WseGlOB_v3uMUhmKZosCjgDKXD0WiZ32mJgADmRTlQ-V-vwO6bE9yZ0JLJ8JjduTSblGpilQyrJK4-8Rakn9en8qXoktDJ-49RCRZ4FzQQZK4BiUGLdvOZvHFHJ2UEzJB6JcIbT3wSzCLYQuaqg15wMWIVk1F-p-aGl4cn6qTpoGLf-6U6aCftGRlexrNdZt02eQvLmCLxS1BYv-1suwt3mUQnNopKnoiwPoiIcvi0tcRS_3IkLYBUc1Q6qd8qH8CNAJkx06pPCOIzwm9oYNdsr3YDRfCxbkvtSFYLF_F7gWNhp5WAhRfCjvMfttWo_N1fBrj-YsI1OW0DOuVuD_bMOFJPvg2fgVEfO8aajXlqUTyTojELrl63vgifSqsVmFWhcH9gU-FYVKqX7_lTiEUFLRpgWLihYppV_O2GzNA4857ngWqyuKqaM2Z76clHJrjZRV_SPon_pDkE7RAasLN9cluvBEZCisZM",
  "id": "rs_0c3f11eab0aac8ec016aacb1ba064087d08deefd9be83fe1b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.24,\"left_z\":0.24,\"left_gripper\":1},\"note\":\"I see two upright containers in front of the cups, with the red cup behind the left container. I’m bringing the left gripper above the left container to align a secure grasp before pouring.\"}",
  "call_id": "call_eddGFIfSPbAJ6lc06H5qvGF9",
  "id": "fc_0c3f11eab0aac8ec016aacb1bdc5fc87d0aab058389e80e88e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eddGFIfSPbAJ6lc06H5qvGF9",
  "output": "executing move_to over 22 steps (2.2s)",
  "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]: [-0.775, 1.6535, 1.4036, -0.5236, -0.6292, -0.5167, 0.9996, -0.0143, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.2355 left_z=0.2241 left_yaw=0.0049 left_pitch=-0.0395 left_roll=0.0108 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1813 right_yaw=0.0012 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -7.9658, 9.5658, 1.6288, -0.4176, 0.1832, -0.0562, -0.2256, -1.1829, 7.2547, 1.7411, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5272befb3e513b2c6663a02dc7ee600e0046f2591bfe4b6784466f4ba3aa858",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c499feca3ca44d5b377f0c66638ae55a60345f5fd30f77b8644f7510dd1ab77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f8ea68bfdf0fe65869fe9528a5edce177eba515fa35dae88e612b4507a78600",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.68 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, -0.3794, -0.0219, -0.0223, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=-0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0001 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.6496, -1.6479, 9.2923, 1.7802, -0.0171, 0.0708, -0.0611, -0.7726, -1.2786, 9.7846, 1.7363, -0.1245, 0.0366, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLHWjgwzLIpXBtrBvhs8puTk4KPQddNzujXxsxAhhjeQuRPLmguixIG0WAxqiGUZ0Q4ZpGiD7bjnq22bYCi71IDMMkcJh2Na3GeCO6E9gjrPe_F8WgcuvBlfvFiHVF7_m_LthzFjhQr-No7qA58mnUuN6H9WKOFXLV1GosqZThuZWQaTtLRWuxaZU2k4ru0sQM_eFgaCVVh7UqGFQmwhrLILBfTPn0F_Vq5EezC_iVeFon_imepZN7RECYtMwRy1iUuKgJrlu2kzr7wk4ZFy6w_KOT_F1COoivqG3Ew8EhiCXCVb2w1T9rg54BWlkO7ftpGXKpgxrGPXibRApA196qxIztNiteRkPCtFg3gi4_t6mjhhEP4OmNmF5AqfeAcLryszexj_7cMb8I094aggsK2CrgPfz2DUR5puO2GWp2uxAMwxSJzGzHKoy-Ogz_B91XmiWzJuI0EoAqGd_A4Uy3uQzuP2wjc53rOmhvtklUDQILOB1DAoDI6MVxu-MnEfb4npisT_Q3C-dARtbBnJK14RCmHtCYVIHfPL6ojzcXSYdKyFLKCTtOJ9DOs2opSo8X4hKGB3bTZl0zAu7KZEmA9iy5UBXOjq68QUaCLB805XKHxTdrk5Irr0fUTHMhzosuE-pLZ3qbKGpkiOMolOUATgRAhKdgtEcNJv97t9j5IktTwGBEAEkEfGcmfMA-asmhfQ2XHejLOTsafVoawrzjevo-KuFTw9oamPEgDhXK1IzitLx5j5hbQXc96i2qwAf4CcVZ4emCfnlpoFy16HHf4uurxjcGkzmGz8S2wiuLeEXEp7b6NUBKoDI6f-s_-CRMO4IqWP0navrZ0ltaaP1CkhED_4Z2iYsc2h5VuAQqIrZde89Qw6pL7qs0ozVvitMibVlMjxO7FinhPcPfuD4ga11j9goCLbwTsYQFcSGoGyTPojh_XcDamuF98wRxNKh-okQU_rOrkQ0Vo3jNoqgdiIdl5KPX-vyPrWVO2MM4dbvP2WszXOASIu0vJtnZrj4mbv6LRpX85zg5jwP9LsKFw_6_Py4yM6HvZmlwdFF9R4h4dxxXTBSwmUgGgUYnGfbffQgcHAV6uoGsMK0gxeYekGBsrQsEKy25LrtzHrIwCV8Uj5Jzid0EAFdaoYzXCPKUPzaLX0PWhf0VL7n4orF3zZCV2usJLz8Kt9eJMg_Hrs-DpNXGOMcMEHTT4OzydIFrc2OcCedC5N7HdfzSV0A2tHngc0Jc-zRHz3hu7A21_CeNUnGPbZp_KGrSxAKfD7Th7EVwGqwkEfyp4CRI4aKyrAWe9BuHMce1PAVHpwZF3ESM5rgqutFkwy2c-9yVw_ayFAOv4iAMtmg0bfnLzLwBoi3VTV-43Ij7TrS3vZICmh-gSSMKZFDEdEyEoNh5338v7KaZruWjyLmNhjvsjMFGpI68jEtCH2etNjU7ZWsTuvHtqvFXV07gD6GLBx-JxcAE7LddFiUB1RIgnULJa6vEUa9D_tBwceYz2bRpWdadL65_-mvkgm6uWf-xIPub2hrGS4Wm9jv3xqwMwau5Dz_DIktrg1OJ6uuT44-uGcP1oNyHrk5yTRR6Qgq7JRUJLpLuk4fpE0UVR0Eh1OQjZwdFkPeBdKbJkhDDMMF13_DsPPrrTHU3pEtJURUBeIhx8n5Wsl7Gy8i8RFCAmL9SsDLLgmqYhzFOJF-BMQHSw47WPk-Iv4ZmjrUuLHD12FzM8UmKR7SetMlga9yrLhwP_FF0jlQmQnzs_SULYVOh8Lgx9YER6C2ORRRUNWjPzYSqMQ7rT05KgbIDCCm3K9mEL8AGCJxJA94ap8AvS2OevVJBGbq6zspN9zA1YlucA-I_HDXKth3uyzDXBQfSoKX6H-Kbp0zM_4ewLPDwupzeFMs2UT4qg=",
  "id": "rs_0c3f11eab0aac8ec016aacb1d0824887d0b1e001c7bf8dd8b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.21,\"left_z\":0.145},\"note\":\"The left container is just left of the wrist-camera jaw column, and its neck is clearly visible. I’m shifting toward its center and lowering the open jaws around its upper body.\"}",
  "call_id": "call_9R6sKT5OEWnBujE1oxqggDPx",
  "id": "fc_0c3f11eab0aac8ec016aacb1d4702887d083ae6630146475db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9R6sKT5OEWnBujE1oxqggDPx",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.6685, 1.702, 1.1347, -0.1825, -0.5571, -0.4423, 0.9996, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.2056 left_z=0.1429 left_yaw=0.017 left_pitch=-0.0562 left_roll=0.019 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -7.9795, 6.8034, 1.7607, -0.2271, 0.0415, -0.0171, -0.1162, -1.1829, 7.0359, 1.7607, -0.0415, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52da6540b5830a30d474baba828f6d8091a2280d73566628fc68e8bbaf6e9c4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aab2f0567dd470b17e75f8f903561f31717c189eb8558c80f7b861625f3e1c2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bfffc07bd852de6febab49d59d6fc2aae6cbfb7500760c1311d911d98d53b67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 2.749 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, 1.6535, 1.4036, -0.5236, -0.6292, -0.5167, 0.9996, -0.0143, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.3942 left_y=-0.2355 left_z=0.2241 left_yaw=0.0049 left_pitch=-0.0395 left_roll=0.0108 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1813 right_yaw=0.0012 right_pitch=-0.008 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -7.9658, 9.5658, 1.6288, -0.4176, 0.1832, -0.0562, -0.2256, -1.1829, 7.2547, 1.7411, -0.0659, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLHfgCu_-1eX8LOK0ez0Euh0F2LHhxIy_Jq1eb8qjI3Pr1ZtvUu_wO_fVGhf_p9pMfLtEpF9b_SoeUL8rVxvmVvwe_muljkU9bQIGGv-ME-OfTnHirkb4s2dTMrX3de76XPptCNUCZsvguGbeHKb1prjcvEDZ0P5kHI0U3Eb_1gMeY19zNQMffulw-yMqVqJC47DIgjkrFXDNglrjvz1wF7rW0ThVHH7voCK5oAEk_PUsu9ou2m8ZqCbF5pgzvRBA-QYfqs3jJ9nptOXj-CKKEiuCeD_1fnfUfjvMIWiwj47QSmAyuzZE88FAMbwfkgos76JG7C_1iWQE_PUedfyttPp8WrtH4Vl51-vLZVQUVwBEckCj6JwuqKiajUQEUsQX2tjRXME93oecuYaHtX5iVoFWlqRp5cGutV50ubajAhnN412w8t3tYYyNngArP9JIh53qWqmr4LifGw2eTJ7a3vS17LLb4beEi_Zqsc1vL5513vxHV4FvFfoY9IQm3StxTLpLY0PZxpYKpd3NzZ3Hs9h0HQefae41nhD6eAn4HjAv33D8LCcTedJhY232yLvcbxVaHtJH_hNfrvbImBQHqS1A7Vkj--l95G95PO6wJMOvFtg9ajpHwahElfHFl6LAnwK9FEV3IPzscVYo0IPxoRsEFHZ9r1Bhyzt306mmT8YJR36-cC0JavIZzTUiqPKevlFzjQknCTB0UPehZzclEln0fwoCdxESUupQJ47xydiz2PyNOT4FvyUtqVLm1Cn-6cr8iWspjUYFB95ZpQds30W-zfLMDVmqqgEew5W24yyAWXNMFWUy_CCd4cJdODJoY5CCmKXuzl-jRa_3RF-VipfCXgVgR-YxxlbzmAqjybcsrMnF6gY6ormVh9Uuac8YKSojCD0FFIA8kCdFaDGcrx5l4RGNTP_OKE-fvy4lqNgUqlxHSOtlSvu77SLO8ee1jnFF6Z8uRQBVGbzRxexud3D5kuJrPpQ1VBef_jZL6axEAZWl4yyuALDwqq0i-yO5c52eRdtklzAx2K9aI_Lj673oS7vERwb51db3obDy4jYwALkEyQfOM3pSdhsmpa4DhP-oT_r_T5pcwL6HIGoWUq08f-JvBbR_7efBi0ZxCQru2XTGMCZrw8QsPdzgfdvjbfA-fYZgPxnuavgNbchu36p1-0f-5PxlO4HkzWF-xpb_xLIuPbSMvqheSMD1isb6u4lv-R-9qp3UDwAFnU99amTfWHTn4J3oXiNHh_dIDHEIEWPx4ng5NoKvThNDJmJyAUYF_ZpycEpydtUgrkVWpiSlcDw5jEVNDiQuIwP_Obs__ii_QwLezgD_ToHoIKHW0lYuPfnSxPz7BxeVqiJq9dX29VZdmP69DL7os5GS-s49s8k9mK1yXadlmdbnwBbr8dq3MfED3uKaPf4XqXnqbzOHqgn8ArQL11zhWEA7ToBYrmq9NuYY6mELWut32X-NVnq",
  "id": "rs_0c3f11eab0aac8ec016aacb1db6be887d082da8533a7536265",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The container’s body is centered between the open jaws at the current height. I’m closing the left gripper, then I’ll check the opening and do a short test lift.\"}",
  "call_id": "call_ZrOFKCPaAHI33cExis4MZAal",
  "id": "fc_0c3f11eab0aac8ec016aacb1dd7d8087d0a933b1bcc5113847",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZrOFKCPaAHI33cExis4MZAal",
  "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]: [-0.6689, 1.702, 1.1343, -0.1814, -0.561, -0.45, 0.2497, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4169 left_y=-0.2052 left_z=0.1432 left_yaw=0.0236 left_pitch=-0.0539 left_roll=0.0143 left_gripper=0.2497 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -8.5265, 6.5983, 1.4969, -0.2466, 0.0464, 1.0281, -0.0342, -1.1282, 7.0359, 1.7411, -0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:777a35f2203a1f01da7dc3c847ce270eeb9f7bf2db985281a3e7e0b6114b5018",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12d3fae531930a6cd214ccf7c9d82170d897d53f56d10087d369440e7890940a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d91ec339fecae11f02e5c9c6d44c6cf1590787985773d104bff65e631ef56150",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 11.2 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]: [-0.6685, 1.702, 1.1347, -0.1825, -0.5571, -0.4423, 0.9996, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4168 left_y=-0.2056 left_z=0.1429 left_yaw=0.017 left_pitch=-0.0562 left_roll=0.019 left_gripper=0.9996 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.335, -7.9795, 6.8034, 1.7607, -0.2271, 0.0415, -0.0171, -0.1162, -1.1829, 7.0359, 1.7607, -0.0415, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.205},\"note\":\"The gripper stopped at a 2.4 cm opening, indicating it has caught part of the container rather than closing empty. I’m lifting about 5 cm to confirm the container follows securely.\"}",
  "call_id": "call_l9nwpDIDY7oDyowEI7MWFO2P",
  "id": "fc_0c3f11eab0aac8ec016aacb1e1ad1c87d09894d0992741e127",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l9nwpDIDY7oDyowEI7MWFO2P",
  "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]: [-0.6685, 1.6897, 1.2991, -0.4408, -0.5537, -0.4679, 0.2535, -0.0143, 0.7986, 0.6086, -0.3786, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4123 left_y=-0.2027 left_z=0.1737 left_yaw=0.0327 left_pitch=-0.12 left_roll=0.0491 left_gripper=0.2535 right_x=0.2958 right_y=0.0015 right_z=0.1811 right_yaw=0.0012 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -11.3026, 9.4427, 1.5214, -0.3687, 0.1245, 1.033, -0.0068, -1.1282, 7.0769, 1.7558, -0.0513, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a0d85637370e633897b75fba879659e1d59b87f1b6409ecb5429ea13d3ec4dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25dbc713120acc5471c8bd5a925fa1264c582013407e0b01cdd09b523dadeb35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0d5dd3a7af483cdbb4b58d00ac475492239264bcbc181ba3b3265004ae4e600",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 7.731 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 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]: [-0.6689, 1.702, 1.1343, -0.1814, -0.561, -0.45, 0.2497, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4169 left_y=-0.2052 left_z=0.1432 left_yaw=0.0236 left_pitch=-0.0539 left_roll=0.0143 left_gripper=0.2497 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.0012 right_pitch=-0.0084 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.1026, -8.5265, 6.5983, 1.4969, -0.2466, 0.0464, 1.0281, -0.0342, -1.1282, 7.0359, 1.7411, -0.0513, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLHxh92ky--66_wH4fWekMtTZOpsYcJoINoK3Q7wxyA0vhoGlXA4fgtb6a1m1jYhDv2BGSs9Zn6DvdVmcO8k_Vl25iHdk3plLlMHY-YkDKstrfWHONEeLPEc4cLOlACul-MhnFFibFRUb_R4dFRZ2mKN8K_p77Aeq7aHH3OmIUdnyEdC7F4oDYo9sDY8C2KJv6X1llxZaTEIQU5dgBmwF64-gV5KVn08mDdn7d-Sle9ebZPS8YPqR0sPJYw-FV88bWyBbPFg8PKl2TbuLs6A7eL_Ost0CWA9_sI4stwWqfPP-K9pqVxvVjuJJykkqJa90CFghgtguJSdi5cQfsNoQMhFHmIrCSVFQCL_AraWS1ffuRlrN0VmWpoto5KOcWrRsTmXK72Gj51r4VOFVhTE2VIPhyi7GaO40QOLaqLW5-wKQzDC8zNtg4fsJu63HVuo4RZo4hCPyFOhZ-kWoS0bMzxdGKsqdpFK4wlVCgp1_-8aQAw1GavuJNqn58ZE6JXv-L9fiqEo1TaHIqrlvoiD8a_1CHhWrZKuYTgHSWQxhhN4r0DTn7mNrWHd8KAYm1I2CJo3-P6usZYxE73GOuc53c8suf1PKIWAx8UuAMfsKpPd_dmjRWf-N-pcwvBns4CJmkawWTmoEAOQyrrogUqzqotbMgTFu_xQfFs9TygU2MPS7rqNjUAjINsiuHsgOHIphTEpZQl7KnQ0oUbwNp6cHj1folZ-XWUTIWsAnf3fsh4zQtrNBCM32jIONDRED-Uhh1jeBwtG7BlSeL_TugogjFo2KbJWjdpk4YTvmgUHi7A1y9AVKwoAOqdP3slV9wtSI7B57hTVhCVyanb7QMb4LZpPjTCZpnh2Vyu91XSKE9b5iZasJE-ZNe_sKlN6NeKCE1GO3rOtyov9KuoYFn5oKFgo8Sx8KdIiEDLWGHDn7rsY4O-lqJXEvZk6f_kvSQ4JNZiwm5NXnaR_bbblzOdLleXcDnHn381Wfwz-Pgw-Ity2d-0tjVNsYCVuxsNOPaVIeOUdEUqars-oroJrTrvqOpYuFteRcnk6cCwHL0v-q8aqU0cayKDZprcF_AjXBzqvLI7nvDLtgHWEDFS2uzyqXB21uvz8Elvlb6QlXjbc6bJZAuUlx05mWLSh8GfWkc4galoFSJBEFPRfuJRbOEouW6FbUZo09zVdNpSpic5quNOH0pK1CVvwI2MJSThi6vPfttwJtJU1PmpV79TZXlPtbQmBXOvU2RntBPwyz8Dwq7vNUPr3_JQ_Z5BN_zYozMEf5W2sBT729rFtKjugeScGUzKGLSY5oJDpEQA20olrk2WNlclkBTeckobVsKF4jxcRSlI0sF6enCbqEe5Yd9gX2Iyhq0pDkiW6tXF4XCrgw6PVo16TmaSIhQoKSvhVh20ardg7AJLq4fuuilid-ZahLNEf7jORo2a5UWEGhpBj6MjPPYSUn2FWxha0UESZHBKng1_gbKgHNo0Gy_uzZaXA_Zk_D4F-NWoyHBrkZK95OBjfbpnzizfVA6nYfoJD-Ge0NJX3XNvmp_m4S05EfrkKnNw9ZfAfD1i_JPuqsrWCwBERP3Qcb2Cq4X949nzELI5HLA39YyhTFBh49SqOjJLyPVdOLSzmqs9ed4BiszAORgkxig1GCWNjDdA6FWUKohtcv5Yk33AKLsWBnmTzxOEjGrAkmmefAs5luHmyL5o8AERzUzN20sX2Hp2jZs9sbywLaogiWOtiRIZAGrKTmLY9Ez0u-5O6OWP0KWFiji59L2toN9ygdwyR7-DE-JaXgpzXa9hJm9eTc4FbjQdA-XlJ8lj4RwJMhPtlMoDQOecY04u-eSAxpOO5Do6cI9r7FVRD_2x4JqpfUwr8ol98zzx5GgkV0IZYmZXqsown7ovD13c6ANZ_SsK1DZ8gAbhMjOW0Hpcfle8UxoGzc3JpbPQAVbxwOjum5SOZ_XPQAx-140fUjYY6XTF9G2Q2QsZCtiWXyV5aFyU4j1GAxv_J0jj8bFlEK4Z3TXY01nDVjI4CSbyAL8FyVgZJWXQ6CKLMRQQTrtvFgKCy855dhdZ4EZEolR0YiyL7xOC2Ry_dwKKt8kw0guMa15n8G264CRUgWZbb5LpBEl4zwXAiJSmMQI8JzZEmsvYe3UWQZZRpuv8wpH-3nnzuVG-YuBjJmBnMDdA7Kc2RpuwEzvcQwOhK9hGwVcBbZaZzJbrzwg46rFl3FwVkxxUsdO4K6fUh_HI7O8cJH38qi69rgk0s4sgZ7YDKc6Lkys6uPgf9BA6sh7ttxHdqLpM2NkHDHPN9fzF5Jwi8CsudbFwiV--UBR06dOJpiWb639BVQ4di0wkWBOYJevb5J5IJdmfMguKCzDgsFNrUMH--yzngPee27aNdlRFp25V3JxyIffgVby9x6wOxFGXp75QBz4ohuKsechbi7yWW3DRESdvVl_NI-gE5KHAWMQmrHauMDP8c0v77FOYHBHSrP9SFYOR3Xsx8xRA4t7o3i6wWHkyxswLVm4I6MtWuBGOF7yLtCQigpVi9D5fZU3qrvgfa-Hxy_doxxjO-Uw3HExK00tjCpHeF-fa0RJhvLm9XHuvbbTznIDvIyb0ALJVJMgUPtwvGJyNFu2DQXUo8Z2aTrMgSDoWPO3xgBKvJtbJxbILwHHNHNR6Oyf7fy5mIV2pcI_Q2uAM8p1H120QbmbN3usXQ78Dm7DZrNClMSs85bw==",
  "id": "rs_0c3f11eab0aac8ec016aacb1e8119c87d08f6ded87f7a5070c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.20,\"left_z\":0.30},\"note\":\"The left container moved with the gripper, and the grasp remains stable. I’m raising it clear of the table and bringing its mouth toward the red cup while keeping it upright.\"}",
  "call_id": "call_QowZDUSTjRTe3rsIPJBbPskm",
  "id": "fc_0c3f11eab0aac8ec016aacb1ef623887d0ab3c6c39c3786b44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QowZDUSTjRTe3rsIPJBbPskm",
  "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]: [-0.5808, 1.9072, 2.0098, -0.9264, -0.4927, -0.4442, 0.2538, -0.0143, 0.7986, 0.6083, -0.3843, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4643 left_y=-0.2005 left_z=0.2805 left_yaw=0.0612 left_pitch=-0.1426 left_roll=0.0272 left_gripper=0.2538 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0009 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.3726, 8.5538, 1.4188, -0.2808, 0.4274, 0.9255, -0.0615, -1.0051, 7.2274, 1.7949, -0.0317, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71ea004c2b8d961c1d15fa19d4ab30d9b0c13b59a6c73070b5dcc667ae5148df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:810444a90097dffdedd00c59f261f1dd8b9957692880e95fb9128e1a463f9236",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e9995406470b517db558c864c72dee5a4febee7f506d8c19e59942c7f4c8b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.885 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]: [-0.6685, 1.6897, 1.2991, -0.4408, -0.5537, -0.4679, 0.2535, -0.0143, 0.7986, 0.6086, -0.3786, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4123 left_y=-0.2027 left_z=0.1737 left_yaw=0.0327 left_pitch=-0.12 left_roll=0.0491 left_gripper=0.2535 right_x=0.2958 right_y=0.0015 right_z=0.1811 right_yaw=0.0012 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -11.3026, 9.4427, 1.5214, -0.3687, 0.1245, 1.033, -0.0068, -1.1282, 7.0769, 1.7558, -0.0513, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLH6ji-2DKmX6XZGL1-qUhBBqrl80WkdnchygNkBFUoKtsn20kzJv2jb7HAK6mLJc-RrBYJuP0-TWC2RrwgTPM08X3RFLgYGVu-uMha13JnfpsKd4x-Ej3dIcuFX7wtda3M2ysNXEW0Ri72fleWdas8ydGbHW3T91-RSIQRWf0UT8zcqtNOb7ue0aKQNDlMW8lTJDlPWqwsbjkFRHxcRfCaHiBrtGlaqf3lGXRbyCN-pGAFeRV4SumN5Gsg8wxkEckZdm6ekKcL9W9Fy-hWP4D28hNDASQT3IlJPjkgftvPTQoc-mTSjL7wPrRSOegLX9BG4tZt6Cah3D0v6BND_pmN4rM2q8klG11eH8xpx4V5Ao_GYPFd-s-RZA8pF1KmwTNux0LrzXiTlw__OfO32mjBWN71l9LQVIcjTdsS7SaG__m6CxnB-5J_8hMuiMg7DBARRp8mxmcpL6AYLmgZkkwb7ABkVPoq4C16uBU_FLOstZOsEiUpkVwLbNybomyMevVFRT9Q0obU32U9ICMQ6flnFJ6tIncENPbHBKNivuqx9USqr24vTEDiN1tHTIgkaUuoYGDBmmBfX1iBmhRiTErVeq6Nbvn0NfAedqUujHG02G9IPV_wlak3D-uY_NKo02-bKID1oN-l5M68JkVYBFgl3xNdATAC8WBz3RWwuENeFyDRg68hFzWzIyqBXorr19L-LXQe6dgBKEZ7jwiHxytvUOsRty9arKTDHYcQdXgdKVYgsTmvaDLS-pelNmNm9mjyWPAjrx6pBSrlVbeKQnttdP7NtlHOb3UtnDprYt6CVstGWONMbTR_ioqLpHogZyyMvo0aJpIR5f9p5-txZ8Qz58FXo4DgvrFVV4-3yi2hIh52jdQ8suVumj7kUV8DpSTqylLTn_JPuz_55LjRkKycvpHrQHsdVRZrh0nx-VfRGaJB9b6y_WVMq8r5oZLFXbAFykt_nR7i1s3ynQkG7uqEp2zs6htL9DJNGOAgfkdPQEoLDrksGuA8R9q-RweRotXQN4V2CMQ-CCfDTBV8CW7owkLlqthpld0Oe6cA3jBwXd8H7aNoHe_OPpgAwuJDUBM45FcMOYbAdWKBCwR8uovfvgu34l_ZnFlkNZUOTwXgYvm0vtMfr_YEUjJXbHqIoNZa0QnLDqSCbxdIhpzVrBngyd0fvgECfRPPXX_JkhHM-TeT_vfARxmk8QUu5km0nBzKwXFE38TzK2_Or8hIQXKsTVE7VztOur_8-B5FxXUQ5zZjWByEXG1xpXFdFOkUD_9mkktK-orKPrdeA5iQKCVgRw0lHRw00-hTqqS1IxiocfT0GAPr0kF2LUDT7JGWd3OORnUyQKAqfVUJw5qwppTJ8ZmM6fHNzJgyli0bMQ7eNybRivJ9n2f2rpv-s9W_M625300II9HUn7SPVPvK9zi39kKjmfYbFpuHVBZx6A2_bxPk7O9bd7okBxflwzGhpX95yKAduKrE4nloHoK4WtsE1IVhNrubebiKlqf3GgivYB8gX3k7jZIQmmW9EQhLlYGAftBfC1kk4XVKImwMDW32N4RUXTr96ZHLeZyEVgHrdwmCeaLJRz60VVSOz8eA6EcuZTIS4UGE7WNkzYsmE-KQte4ZLIS9rxT9rfjlF7olZmdOgQBimqobx3bJ756VSbnepayDxR7dNY-PnGTSf59qtMDRVZ3XyjZom5g39c02DAq1rVp_RyxxNOkNdf_wHUT2GKU9h2MH1Z7SF1lHiBqkXl6C6NW9Pu8nTjKjPVYte5Ms=",
  "id": "rs_0c3f11eab0aac8ec016aacb1f64e2087d099d4aed2a55b2dd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.265,\"left_roll\":-0.75},\"note\":\"The left container is now above the red-cup area, with the right container still untouched. I’m beginning a controlled tilt toward the red cup, checking the mouth alignment before increasing the angle.\"}",
  "call_id": "call_ouOwifAaWBXZ1siHLFBOiXrf",
  "id": "fc_0c3f11eab0aac8ec016aacb1f9e0dc87d0b433d0de91935a85",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ouOwifAaWBXZ1siHLFBOiXrf",
  "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]: [-0.4381, 1.6958, 1.4899, -0.4595, -0.1059, -0.8776, 0.2538, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.1913 left_z=0.231 left_yaw=0.0867 left_pitch=-0.2212 left_roll=-0.6116 left_gripper=0.2538 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -11.6991, 7.6786, 2.1612, -0.0464, -0.0904, 0.735, -0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f6a32ad9f1ffe15cfc4b9b1d8e379db1e71b1b13d02539ddc0ac2e66c98bcec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d20b05d1f0dc9b21404922434e4d0e324324de53a9260a447e4c79084407f17f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:188638f7de5e8d10e6354016cb6cbb3bd1abe2995fd0dcff6a919e9953204a8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.666 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]: [-0.5808, 1.9072, 2.0098, -0.9264, -0.4927, -0.4442, 0.2538, -0.0143, 0.7986, 0.6083, -0.3843, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4643 left_y=-0.2005 left_z=0.2805 left_yaw=0.0612 left_pitch=-0.1426 left_roll=0.0272 left_gripper=0.2538 right_x=0.295 right_y=0.0014 right_z=0.1797 right_yaw=0.0009 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.3726, 8.5538, 1.4188, -0.2808, 0.4274, 0.9255, -0.0615, -1.0051, 7.2274, 1.7949, -0.0317, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLIEBn4y-lwQ8d4atqNVpaUnYouA_weAxxWCQp2Xq9oqHPDwJpukxj4TYBp-zpCtbg-A9nANf7txS84SfQY3iAfxoKUbGgt2cgYEyoAhKTdcvDi12NVTDATPjGCgesJY3LGEnc0rHMNaEV4Suvnn1Im1a5nHljx-InhUgMC8ncSVWEYdlHgviaGaJt400gZZW1cdQ4EqzX5xc6KX06vXuVtcD7HLqa8k-d6-g1EKRCFbMi6Ke0nRRKh2vgrmuMhZzdUzgHhwLk8wnrfqUpbztcCjrLqirVNbCcMgToNETR_k-vs5NkytyrhI0xXBbSUPFqGUPeOCVVP50oyReSAysG4jmQGkCTA8_2Mlkhjzcz5h6J58TpeU6nKTbxGTYREl5V8u0s1yXF9AHT_a5dCOB0DKgX7q02AvOJ3oi_uY_NjWZNUOkbmBe8qEGlw7fXmTqBU4xxaevLFGCae_MSWG2MZ2eJlx540u7xp-ammX_z1M47av-xTNFp80iJTHJP7Rlusd_J7hqd-_Xt_K_ccHs-DOjGlmcFkxCWmrnTwc7jNA0VoOqLh0W_DZ8kO4cNA2sUDjdWMtm8ww8TowrFn-UKbbSTt9k-RRF7yNv1qjtHmVXvB8Ord0lNERHsvQUHM4QStfC73cxtzP4DLTxIzqnLKxmvEjVQ4ZeSRptj5nEw_YSzk2J3N_FeraBNo7gBBo-nW8UtFV4BS6o7Gjd1Uoz36TzFZotkXmzS9pG0qyRpsXgs4lFXaFRto9U9yD6akZphJC-2fLDPSbj12EUsxu6mJsPwd5hP_bUxpyvpPBKB4UbHqyLdIk8lLowJdZM8mQLn4dI3hhjU3acFPb8h8A5e4jqVqHyovpvrG5x-9Kw8xALuYqocS84CSvolr9FYKzwrzB-XB2SQKCYQa5FVzkLwxqPoj-ZCsY6Gl5A0n6oDgCBu0JXG9joVX1_Lknuehy5ZU7-_7tW1xq328g9KByELEKexzk344Aw4CLxMVRSgeAxNF-REysQvm2XaVl-oNKoZeQrcUCym0dF2G7PUaJMRw7BmvmsNfIgHgmo38ntMKDEuzX-b-kcLGAPzaMK9x5cp7DsdNZ9QtMDHRBX5Mu0sJS3M0BtB60fPdDgtdPN-BMK9eJ2DMbL57GeMQqivsH8jZ6ZqZPSXUK3Faj3sm8RDFAs1WQDdLihy74MT5QzVYtyK9T2udps8XtRUmRcZb1K3GiJ9o-8rG4OCEPt3WyhxgqChWscaPHMfqpKAZm5xN-gUsZxJwPZI7XGcgUmlpcotaRdtYAAdsrRv4D9S7OIrrAG1H11RK85zqe4hX2cBWopT0knzRkhRE3VUrlUnyg41m6So4skkTyCnsfoDXgyTTG6yh7etPaf_y4d6DaP7QJj8jaYJw32Hi_VGScahEaz4gGd5LAeR0c2728oiDp3f_gssMvkRtPDJBEz5YrJr2LRVbR_yPg2gq-Vpi-xKyBCThW2iH5VO58AuCw3INNQp_MX3JbRh7WDNbo-I28sP0lMww2AkS4MOBnDfEEw9aW-q0l8tVjMLWpaa6UkGmlsNMl7KhZ9V-4tmz-hnuxewP6ApmTxJixgSXpZ_C4wNIbh4cqeL1IvqbgCja-Ap6BljrkiA2pq28DeBCfV_ECNYi3EHfn-Xu0kK4jtemA8h9MRqhihd5QCIkGwlMBp3rCQ2jgOmJunzIDG8DJrf3Og__kKb1iwgAos2MDTlWs2Ay2wbFS2TckdLw7oO_LT_HsbVWMVEdZ01ffrBEE_04olkq6e2oEYUDhx9A1DsJ5C5n2sRyQpzFrN96NXan4_2wY97IM6M2cvFfxGm_mKT8JcQ6lXhINkao7G_dYxCEoEDYNqomTHTiiMDG3b6dihJQgjk7HGbqQrHhnGik-uN7dwQ-m1SjiWqPaWza2C6mjZWU9lKm9Azc3S40ouhb8LBa4xIxVcqnfRuuoQGfS-VJIk124NAouOHgHsO2dFnOsZpmyJdGqgQKxdbqAtccXCEhuj5HrfyOw4-sPhxjNLXdxII45hO4JL5W7UP27IAg2Ic7R9QBcqtxVWA5gAKg5PATTFUDv2Ud52RDWovGI3rIQKKTaMxibirklN67b8HRkCo78keswizlc18DXdhVeWfkut_bDFPcu1Y2OPFpsFERZifJyqcQEEs4x4Z_5FpirAvDdnPO-HSl3I18F1OBjKyHSItTUSYmDk_0dQTqYXLLxdO-PGp0fRqheI3gDL5tizHyeueh0sMmkWx56NM8b4UnYbI9r4mcimk0WgJbLvXPRBCqt_KUJsgL8e9g3Ngkt8beezsCw0XbISr6RNEpSu1bS_2D3Bw==",
  "id": "rs_0c3f11eab0aac8ec016aacb1fd86a887d0b99fbeb3702dc2a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0,\"left_pitch\":0.15,\"left_z\":0.28},\"note\":\"The partial tilt shows the container’s mouth moving to the left rather than toward the red cup. I’m returning it upright and adjusting the wrist before tilting in the opposite direction.\"}",
  "call_id": "call_uLVh4EeNykizxLHlj2T9iAq1",
  "id": "fc_0c3f11eab0aac8ec016aacb203796887d087932821b119c6ea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uLVh4EeNykizxLHlj2T9iAq1",
  "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]: [-0.6064, 1.6943, 1.4734, -0.3973, -0.5781, -0.4221, 0.255, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4536 left_y=-0.1927 left_z=0.2527 left_yaw=0.0846 left_pitch=0.0539 left_roll=-0.0372 left_gripper=0.255 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.3333, 8.5538, 2.1123, -0.3297, 0.3346, 0.8132, 0.0068, -1.2923, 7.0359, 1.746, -0.0269, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6065b50c59df07c12602975263a2e69163cc6d6fa3c4f17ccda4257e3effe5bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e3de5dc6f0afdc151859abeb30d45e4c48b884e2d710ca17dd502bd0c56a188",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd652aaab66d1208f797aea9e70405200678dbe372f2548292703c81e743cf77",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 9.087 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 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]: [-0.4381, 1.6958, 1.4899, -0.4595, -0.1059, -0.8776, 0.2538, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4608 left_y=-0.1913 left_z=0.231 left_yaw=0.0867 left_pitch=-0.2212 left_roll=-0.6116 left_gripper=0.2538 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -11.6991, 7.6786, 2.1612, -0.0464, -0.0904, 0.735, -0.1983, -1.2923, 7.0222, 1.746, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0.8,\"left_z\":0.25,\"left_pitch\":0.15},\"note\":\"The container is upright again, with its mouth to the left of the red cup. I’m tilting it toward the cup from this side, keeping a firm handle grasp.\"}",
  "call_id": "call_n4tHmJYsKB2FQWrqpRnbPYMQ",
  "id": "fc_0c3f11eab0aac8ec016aacb209b22887d0a90c8eb394bef6f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n4tHmJYsKB2FQWrqpRnbPYMQ",
  "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]: [-0.7395, 1.8801, 1.5043, -0.3607, -1.0863, 0.0902, 0.2566, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.45 left_y=-0.1941 left_z=0.2272 left_yaw=0.0711 left_pitch=0.0915 left_roll=0.7314 left_gripper=0.2566 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.894, 8.5402, 1.8095, -0.7009, 0.3785, 0.8278, -0.0615, -1.2239, 7.2137, 1.7705, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a291607525584ab89ebc5ba0be1b4eaf3ece9afaa37501bcf31ca380fcaa7e7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73eb8054533ed9c1a68c35c1069e081f4276e3d6ce3648e5dfb8babe6e2285a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f5e6c0291cea7d78bf1ccb36e07744a16e43f623b1c8a4eddf6b1eff5355329",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 13.79 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 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]: [-0.6064, 1.6943, 1.4734, -0.3973, -0.5781, -0.4221, 0.255, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4536 left_y=-0.1927 left_z=0.2527 left_yaw=0.0846 left_pitch=0.0539 left_roll=-0.0372 left_gripper=0.255 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.0012 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -9.3333, 8.5538, 2.1123, -0.3297, 0.3346, 0.8132, 0.0068, -1.2923, 7.0359, 1.746, -0.0269, -0.0757, -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": "gAAAAABqrLIU0JTA2H5FY4W1iX-1qNFuLnheGysYjocVqi_CQt8GWWuESDRYeBbyI9zB7PsHZceNMdQO7LyinntA5PTPD7gdGWX1CvsvZbECJ6xEXiAqjmpyt-aw3_ft6gZnKa-xI7BMl6A2tYW2rnmVL8p2ZOe3m7VEskZE1Au0scWuyXv-TKnxYUHVaHyN0UlzU2hAJuWyRhJaipYHRg5fWulq_jvtXdgBdpJ-Kb2_IIwrV494f96PFNnylJGkkyymtxYqJgcvTCfMLutxzPzjHExoGLQiNi0fBhRj3Z2HrjdTfwblayEIg48SBJfqwKq-xctqtwLw5hq_zexQHfktbbF8cIaGL8fcfRRyXFcXgyauWYibSq4aSmVqnQw9eGchzrIHzbURPqGQdiPDXHLIex2pbNZglfwMlwsDykijMv9nWTdMDmJZLyxHQ3TnJ0ywf4FBw287BTQgept7Vp9lt519cNYFmTN_htqDzCHTf7TvJvsepU1yQyrx0XYc3WT8QpeTayeb8UDajH7J8781vpgOrYXxbrn3GLqlFAycxwVpXWbOSPuQclwys8MDEyWdqyaYvO-3nKvnTW1C33sZNfQOryHifVwPs7aXZAh7NveOxYXzd7peU3DbEMSArB6lvwcf28H77DJHJSSwGo0uxtyEYyoOIGsrm-m0Pg0HSrLTPbRau8Vf0jj0w9ipX1Jbj7E_WPZeLjQBvYpkylPqIQnzMibMGJujeM2NxKsGt_iOGSGRb9B3LRDnh3IghkDDyScpIPA06kW6Arw_wXSuxbj4SbRou6lJaYxRPCKmd2Z9R0xcHoliRiMzj1v8hnKXpZKmjqKxq_7jnFqXgkJyTWP_WK5Q0A6Ml8XzJmww7zB9C01gVFXrdPP69o_EEmf3Z3BsINhRfGY3hvFyiVoAEDMEeZSlBej39C1FGb6sqTdcQme8_shCEOsb11JrUkfnne_WQMO71qCAJ6rn-QU8Vc170g0IQmpi-oFopp819c7IkAyde-ODjSBtzqq2_akk0-YCcU2J3tv8mgAAKtBKoPQfNzSdAlB1yxdi7ILyMsUrqqypsiEfb4cf3Z1PJEmqZU0Ogste6HySF6EkDlWBVhrZ1qA7n_X8Gyia6yjYD7EQ1lqSb6eGyT4ACJDSmZWuduvZdQEZdopnkbdmmNbTVLDhLVyNcAsGB0TMW564LkgZo1lXKVMq3AK5mvm3-m459T5hfqC_lljXTObBqcg-BltvdmjpDv5ZWvODfgtGjiHImwlXnNYMqo-3voqzc5B4fknUNm4BE8QxvJ03CKSBnVkOFog4ouUYwgGFgwfh-Se1HAxNglMYZj8j5kZS8nLoL1oG784JO2pMx9c2XqSW_HUcG6Y5EmzrrINMsgwMQkPhgG9eOLP6EokAou7NFZmGurFIZY572BMCzKTtKMBcREx7oo2JRtFhDa4k1yoVWDVYhsR8s5g2Nq9LMJRPuK-vTA635m0ozbZtZUErqBII_Iq6SNHiajlb3_ZuRunTUB5YiUVwaKx-RB2cOIk41BVRdbQGCRULje7DnLKyEYyJ9YrJa2TwJWtYuUCSHFjm9f6Rg74RyfpGEcg5F0bEjNKLfPZS2I9n3wuOtC7F-gwwcAcdqIFfqHPdyGfxWK_9V8Pxose__gP7pd2PLAPavfgpS0vr5zlOoGOo7lSUYr4SlWn74oouGJTJ1iaV3T1-3DxOFWF3nh-yQvBHWbVYlf8Fe8Kz45APLa_-9omF6kQZOsEACCAL6YKPRDIk9ScfVQWgp9yW6IE=",
  "id": "rs_0c3f11eab0aac8ec016aacb20fd9a487d08210fc6ec25ee6f4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_roll\":1.5,\"left_z\":0.25,\"left_pitch\":0.15},\"note\":\"The container is now tipping toward the red cup, which is visible beside its mouth in the wrist view. I’m moving slightly forward and increasing the tilt to a pouring angle.\"}",
  "call_id": "call_pv5th9yGrIgjZxw5b2hwCfUm",
  "id": "fc_0c3f11eab0aac8ec016aacb2135bc087d0ab95b5a175681b82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pv5th9yGrIgjZxw5b2hwCfUm",
  "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]: [-0.696, 2.2044, 1.4799, 0.754, -1.3346, 1.3937, 0.2568, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5047 left_y=-0.1932 left_z=0.2109 left_yaw=0.0851 left_pitch=0.1034 left_roll=1.4069 left_gripper=0.2568 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.7248, 8.5402, 1.6288, 0.3101, 0.3248, 0.8181, -0.1162, -1.265, 7.2684, 1.7118, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abdfea3ebec713c4adf8a572558b0386e0302501c2deba413d77447062a5e960",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f739389863f48575dcf0128ffa69b3d275bb8dcad74c48da2c1c00eb75e177ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a99c2cefb812ecb4de0a0f6bcb22a989a3fa218fbea210fde7f363403247015f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /responses · status 200 · 5.032 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrLIjfOYHQE1sEbS2drq1WZUGy3fIhOoHrMAGqzRuNAYcD5xGpLGQyDp2lNd5HshzhlLrWDVrxknjwJLhsAkHJSvijEqDpZpPdFNjsUdpMfA71vU41e0e9MkYBMGjSX1ad6UmT7_ldnd4rrfzkIcOHIYRTFJ1grroVE3yR_WSMcbTi1AdHJK8snOMg13ExD15M2Cz6oJx3GBWoV3akZ_UDMBXMedsE9Z2yCVTIrVEs2o5cTI0_FVJhKfTgJssbRvlUTDt1XL4VjjJ0vGZLFWzgXUwxhcUBOOyWymem0p8BeY00n8WZ3zG9pHGU__ccli3VyEfhxn5UyxpYK0bNj05_Lbq4eBgt09nf88hYBtGlswSpiDGRO6FpXrG-czg_pJZ7kMH3EhE9qa4LWI6x2GEorqjFcqxOwzTfUX4Wq1yocWRaQoajgMP91of2bWsbEs3DUs8ZeMhRMlkd74F_Ycuf-Tq7BH2V_UO_P1iUK_Li49z9z5fpfoMfEM5m0idGbJhoV0VPOmAxRp1Tsa4AucHUpDUS50xaQSW3d19mw9ZnEU3RNeRZYs05BwNJzDwhNEueWhoW3BRS2JQhPIpKXqvKhb8nw2L9fJgfgwdEfF397KkefX7VENBhoE0NrI0us0emVx-Q6r5pHB6SzyrvZTQV1I2e22AA61LtnEiX0y7WOYAttv64RlaHrrSgthhiwGp4dLbikrteVNzpnoz5h9T_tbFuMDuZxXtfarxdcs98NaT-sGL9c1b7E-_l6Yvs6rvsSIwqKE9APVtv4mO7UA-kMEjw_T_HWxjp_MglI_89Vy4CpieV52yJxTmzYbw8SYlcMQ_5_a97hb7n_pMS2Qq5a69gnmLqhsx6mZf84yOsJPH3Yz1-yWs7aSYRO1VR7yGTXjWzIOUFmlOpNT_ucixfqfQpFWPck0EeIrsaPemSAo7wOTl6Z4Y9kSgfLtR3BR06sgTuAmzjO9Cvd5Hx9oE85kZMSLHW2r0G5aqGnF_JLnYFN6sCRKC9uucj26Jxoj2IkHLo6pTNgY8AOdwVLTzFRPzae3h6RZlkXynkYwHOF696itOygECcOl8KUfq99ttGMu7Q-JtnyvRqpCNUaPawzwekxLNWCi3jAultUz8xAzrFSHPEKpOSKZ6NhPfQd_8b1fe77UMH-JwE6D0fKkrywdehcxPT_EmjgBjbxSwwVXo9HAO_wWQmwJrJrecjR8K3EGEqo4swqgFkP-dqrGbJeoxO1acdlKhnkxeGgyKVdq0JJvaK4m2Zx-VA2fEL871P278gY4NU3NrMeGP-uVkws_HuzhzbhLoCQtukLx19o71lAoIiHB6nBSKw_I8_sbX5cJNxxrobwNDIZil1PxiKCgVw2lKlUkFUY490lNYli1uu3cBCDq36j9H2CVdyTfTep7eOEp1uJBYHm9DuCBm04C5u-jRcyvs74msyb4ic9L0wfMEf1B2DcEZbT-UWmBf3vnjPaZMyVGI61pvBGyt2NORWWKp4ngp03OJUa0wJfV_hHwapClL8qXHVryQhPhheDdyU4FRMYRHM4VOfwjNDb8xs-VC0FFnq2fk_jTkbrcuIJgzBosIy4VOWeN9_XeWMbWAZXayKCEPY6CdDxQOD8PDg7KTlkRqwWcDASdPP4D0Bwy7I8WnOsfq4AWP7yOGwKuibHwR1DCzsuVyKbRV6sLvI0EouTHZo6pz_LRs2rBFKy6FahIj0vzwvWLgEikSdeWm_ufBjMFx8wDwDOq5QsdSwuuOwB3L_jdFcZXrvyVSh31buQP6CE3SMWe-QLZwtjulW75HelqIYonqRC9hU6epi_hJ87T3KCr7kYndbXCkjuADugqApBdvbw7Wit86LyV4vMR_9iOzcY43LOUHhmhW2ad1IHClO35ljYImOTAJ99SRnolJlBuzqYbI8T-0zbZa8gWaBg62_dBSV0GCfO8Cmz_FXW8WNs7YcRxigZg96O6Kd5HUQgpTYPrCpPfcmeDCnDMiawpbg6Zv9U7P21V1CREd7Ypt1MAtm-ie15ydfQ82y2KM7SU7e733IdMFIlO5zf5eJZhYDe0d_RverlfyusKHi23h1S6VFdzMqyXeNiE1HfnVfVmSojGrRywfM7mqDCwC5w4t_aB9ayS4X-ozHpZqho6GY3fkuVYhPpsrlYBHuevfnQgThm-rhTtvr2FliCaLoEdnIk43QG5GrzaZV_0Z6c2u6cVIxhrqBuYX0gJy7I_A_bpx3pU12XvC_fHMgZVCnEeyh6hKhL_CkChi5h9vc8eNzetjBCnFm4HyzaUhPA3LjOkxqYme17WR7yw9024aQRF1Rp4jauvF98KgXANhMb7idUvNFfttgO_JWXP0WNjhHaTVRGO1RES2PNKBGWlPYsQ9X7cLCZmnWsd8SEKqBEODLiFQCp5GwTyiClXuKD9CF3wAmmssoZKj3qNEu2qUd7JAjZZkBaURIqfdwA==",
  "id": "rs_0c3f11eab0aac8ec016aacb21a44c887d0ad29f81bc1bd0e2c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_roll\":1.571,\"left_pitch\":0.4,\"left_z\":0.25},\"note\":\"The left container is nearly horizontal above the red cup. I’m making a small mouth-position correction and holding a steeper pouring posture so its contents can drain into the cup.\"}",
  "call_id": "call_3YjLGaK3oZDSKBIucxu2srBX",
  "id": "fc_0c3f11eab0aac8ec016aacb221b59087d09ad79a13a0482d0c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3YjLGaK3oZDSKBIucxu2srBX",
  "output": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
  "type": "function_call_output"
}
call 11 attempt 0 · /responses · status 200 · 4.1 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]: [-0.7395, 1.8801, 1.5043, -0.3607, -1.0863, 0.0902, 0.2566, -0.0143, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.45 left_y=-0.1941 left_z=0.2272 left_yaw=0.0711 left_pitch=0.0915 left_roll=0.7314 left_gripper=0.2566 right_x=0.295 right_y=0.0015 right_z=0.1797 right_yaw=0.0012 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -9.894, 8.5402, 1.8095, -0.7009, 0.3785, 0.8278, -0.0615, -1.2239, 7.2137, 1.7705, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.18,\"left_roll\":1.57,\"left_pitch\":0.4,\"left_z\":0.25},\"note\":\"The wrist-roll limit is slightly below the rounded value I requested. I’m using the valid limit for the final pouring tilt, with the same small alignment correction.\"}",
  "call_id": "call_qRmAbfmWOAMq7MxCqJQyaEi9",
  "id": "fc_0c3f11eab0aac8ec016aacb22739f487d0a57a66c192a58174",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qRmAbfmWOAMq7MxCqJQyaEi9",
  "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]: [-0.6903, 2.2517, 1.4628, 1.0653, -1.3426, 1.6497, 0.2581, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5032 left_y=-0.1878 left_z=0.216 left_yaw=0.1025 left_pitch=0.142 left_roll=1.449 left_gripper=0.2581 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.9453, 5.9692, 1.5116, 0.2857, 0.0659, 0.9011, -0.3077, -1.0872, 7.0359, 1.7314, -0.0855, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fa9b966e2d6493a80fc34814ee4a6b659b26d3c247cc66506291aa57a21d76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34f3c1f88b8b551839ac3adddfafad3508e77f6deb4a0a425e3de3178aaac77d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b23c6e105c8eb3487c9ae4541cd9e6b6dd9b147dd3926a3043245ac2d893575b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.005 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]: [-0.696, 2.2044, 1.4799, 0.754, -1.3346, 1.3937, 0.2568, -0.0143, 0.7986, 0.6083, -0.3851, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.5047 left_y=-0.1932 left_z=0.2109 left_yaw=0.0851 left_pitch=0.1034 left_roll=1.4069 left_gripper=0.2568 right_x=0.2949 right_y=0.0015 right_z=0.1796 right_yaw=0.001 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0205, -12.7248, 8.5402, 1.6288, 0.3101, 0.3248, 0.8181, -0.1162, -1.265, 7.2684, 1.7118, -0.0464, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLIt5wDM8bx7GuToscbzQ7zQUh1Mg6GhY3L7__amBKxCLZVHoqpwxnd4OtWH9pBxpmL9Rm1n0jjYjwGgdv00JugVPethNlEC0eN1-62dFjjgv3DmgsX_R7BW0EXb9gHt3HvYCnlHNhuFrXjkVZuuSoDtdkfGksF_aoqn5W7QbukhWwLMefVQO4lhN6ESBmuh9JMnJrM8x2dpBKYp1-poP2fuhTBSV900KYiSP85Nmw8hNTHih1yl9b75CnIbjadh3H_dkGUNWax_3bOCBKZxAb98xNV-zyPCzPvbtnziKlMWsTvxfzGDBFTYD9vlxbf0gjn3SZRa8mwMQpqvksviscXSv9I7iKothZEHCcEEDcsL6uHLKWJvQDVKptlqE6FEdBZolh93WKImH73A20N0OGoByvwaRbNPrh5MeHC4_mFF9Jmaqlj_1-4MjFZTi6l_qPJ33-YfcYITfsy3v4NH5mHnp2NE4b4uaX-PfwPPD3KZ7e4W_ycEfC3whwI6fe6xKBgLLZEpJ-fcXqOJoIoC8It9jtBtBRfwscRmCj85k92XG_kXc0r2Fl8HS9bGj4mWQrH-SMtaZpCoPOVYNtNYLf1l9prWgPE27QKZRoUkQAke7bP9Tq74SnW5Cz9bGi3hiuwD95U2wThAujv9AwwT7Zvav8XoOyyM3M2HZqAOnBUYSYF3c2T_x9zLEnIs0ILyJkPpeMpfHMDudA1OgcHqoOJ_WxEozS9sDxTQlFo_2kgXoA2nBpdLunvRp1kiYlW9vLA8ZmkmEtrgIb1cVENAUStYzuj_bY_UDOAYKwitfnyLtKofu-THPZRnAe7L-MhrgNnGh3KgdjAQsMrg04m3GsEjDW3q2iw2Fft94cj1BMMHmQzLB8fD5X0KCW5bFjnsovzlsgAs6Z4Q8u0kAlHRiDuI1oKHruQL2RjpvL4hdD36__GO6Sj0KSGAJaCMMQvC1bdPxW9atlyfMbiH-D0zRWn4JYZeVVmY8KyBft859mBE4PSISoiniDiTeGY3aLCeVCKydpVFNR_9CAEezCTguQpJfjTc-G233QXpgOsGRhAGWH87n_-1aQnDsdNH5_kg8otsSdl4oPkAWVWI2vibP8pcnxgpJHbvbZoEk6NaCZghjBLhXtDueuxc7riibzKsWPBEDJzWR9PhpDSOiKwuubs2-hGJQ_x2Ny9iQNoybL-m4QHnl3_yx1tOu-YtiNckIhtw7QLLpbvdjeE1ef9X985XpRtb847Ae9L0mYgHBAhh3t-N6YGwjdQ2nsfjNY3tqsiVlRw7XxOlLMQusB3JFOCKHLS-iJI4NCao0-TeTk501Xi-xYAHTiLO48h0CCNxx9xhYAAv1lvOhQT0UDkdCdPRsQ1oFVOxsyOwZynbv_fEVojMg-FjGe2BZlgcEiQ2Q28b",
  "id": "rs_0c3f11eab0aac8ec016aacb22b0fc487d09015fdd58d1a72cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0.75,\"left_pitch\":0,\"left_z\":0.29,\"left_x\":0.47,\"left_y\":-0.21},\"note\":\"The left container has been held at the pouring angle; the cup and mouth are partly hidden by the wrist, so I can’t measure the transferred amount. I’m bringing the container back upright before returning it to the table.\"}",
  "call_id": "call_TB6RUiFVZlIZKbt40p6iSUoD",
  "id": "fc_0c3f11eab0aac8ec016aacb22ba56087d0bc1a8787d86c595d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TB6RUiFVZlIZKbt40p6iSUoD",
  "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]: [-0.728, 2.0964, 2.1063, 0.1528, -1.1709, 0.659, 0.2597, -0.0143, 0.8024, 0.6079, -0.3847, -0.0116, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.5094 left_y=-0.2313 left_z=0.4256 left_yaw=0.129 left_pitch=0.5366 left_roll=0.617 left_gripper=0.2597 right_x=0.2952 right_y=0.0014 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -11.0017, 9.0325, 1.4237, 0.5201, 0.2466, 0.7106, -0.0615, -1.2786, 7.1316, 1.7558, -0.0317, -0.0611, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9556dffc0a3ec03b2429cd4bbe093bfdfd03a727ebdfa8c8c426a0eafea560a5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072fa4ccc1ce46e719c24009bd08a7cf527b49c8da75302e228e7f4b4491df8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c87ca38dc4de00d9b76e924f048e2a1a4979a507c8d9ac3e8e9db23ddacf581",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.369 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 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]: [-0.6903, 2.2517, 1.4628, 1.0653, -1.3426, 1.6497, 0.2581, -0.0147, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5032 left_y=-0.1878 left_z=0.216 left_yaw=0.1025 left_pitch=0.142 left_roll=1.449 left_gripper=0.2581 right_x=0.2949 right_y=0.0014 right_z=0.1796 right_yaw=0.0008 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -11.9453, 5.9692, 1.5116, 0.2857, 0.0659, 0.9011, -0.3077, -1.0872, 7.0359, 1.7314, -0.0855, -0.0757, -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": "gAAAAABqrLIzCxmgmCB8heRjNSvcFq3iFTgpkXKELoKyPZyl9DF-AjRWszjeNPTr5Jag6yYmA9etZ6NMSdbzyL0VjBzpURKnkzQOhiKWUr-lWGy4XMsNNQQL8Blr0HeT5ZPn8yfmAF3VuUiTg561c2M9_PSeGtZskOeCX5puW_No104C0E0yjFelMRzFLCEMEUWe62JHPOONSgy3oRXiXRwWCr7J-yLnuX_FKCfDRTzc0zcKRTKJj3Qj_rve-TAauM1xJSTc86PAghX53CDFJ7t0-pIM-yuiguGu44wkODA9PDDVVqByEYmvuw8A9R6cBf1Ag8L9ZVJs4bZ46n8It2U1pg_6qrxlBD9cRkpE1tOunxL5V7JXDfkRisC41PVxPjczYfn0L8dgn2q1U5VaVsPXe0ZK4bt9ANEy-m8jPaJ0NTyRmA3u-MnSe_V6hE3XoHrD4Er4Q7wktTG1m6QpZKw_sgjcwzzz_kdwqY9Kny22aZYVb9JPcvqVsE92q_MO96WeEnnp9LqLkXnk3aDRlMVoDvkZCO5zZcLSd4Xg-0hCHZxXW4A3zsArgIYPwkmwZGd5kq-wChh5rzFUi-X4qyx0d4Yf-G63KhQD3EEnLUH_2lNUxkBTRXuqXvGHd9i3L62PKIEhK6zHNtOHB_93E8FLCqFB8Q7baA4ODKzd7h2w80BYyrjqwTzr3A7OVeVZqpCOaVpssINb0qsEQUsT7hiwsNT-8cZQkp6O7nSStJ0xZ7t3HlBLG-o2RL8kPc42NGGkhvSWz7Ex19veJ7PSxw9sjAT1erflvOzHY2OCO0RW9F4ED8Igm2IDF-o0j7wf32DNdk26lafsufemp3rV9bMtOH80rCx70bPWcJnoyHX_TFBOcVzJD8UnUycmU9lWK6NXmKWhF1fVG87emX3zvL_SCDpOe3OSDSg46dlzzNWuJD5BsoVIqv4q39x_0EST0jw6RYWCyTPPX7kHzv6WtZGZoHKjXWCI58ySecJZn0UN3F4ZfHywHb_DpHM8LpLOwA4CdwcwE1uD9IbPVsa8D_fLuKwUzRe6PFruRpLZWwh0TjdrBfpMVEoAmOUVsHOMT4w1QtdJVEOA4jcVaWe1OO5HetvipMhUjrG2ONmFURyhuinT9vwW4V6joeCTcFqqg2msOG3GtmpnAT2cGTs4KlRsDEhWs3q878Nc8e6BvJBXREMvOjHwL7iQ99ls81oQvrAV3aQ-asOALjNvz6raUIEQwy1hIG4VoeBFEgo00_e79_kFmd2Y27hVOGI8C29f4DXnazIkTtbb6XCI-DrF2zEHAONyNPU0fuRogzjML9DF99cQOS0SWlI=",
  "id": "rs_0c3f11eab0aac8ec016aacb23041f087d0a90aef8304b83e9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.21,\"left_z\":0.32,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The wrist moved higher than requested while recovering from the tilt. The container is still gripped; I’m bringing the arm inward to a simpler upright pose before lowering it.\"}",
  "call_id": "call_eiFFJ1FlnmTebpbY2CyrC04i",
  "id": "fc_0c3f11eab0aac8ec016aacb2325ae487d09067e45db5060ca1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eiFFJ1FlnmTebpbY2CyrC04i",
  "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]: [-0.7147, 1.8172, 1.8946, -0.8753, -0.7212, -0.5091, 0.261, -0.0143, 0.8078, 0.6067, -0.392, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4305 left_y=-0.2144 left_z=0.3018 left_yaw=0.1277 left_pitch=-0.0094 left_roll=0.0796 left_gripper=0.261 right_x=0.2944 right_y=0.0015 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.7778, 7.0085, 1.7265, -0.3004, -0.0171, 0.4225, -0.1983, -1.7162, 7.1863, 1.8242, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88fa9cc3669511fb89febb2023242b8967a8c3c0417d4997d77a5f95baeaa14d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f11199286da350aa6496618a9f7e05801e87794249872566ca4ba0395d227781",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5079e09ab811982786ffc95fafa977e2461358a56f0ed6529a63fef917f6e9fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 2.41 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 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]: [-0.728, 2.0964, 2.1063, 0.1528, -1.1709, 0.659, 0.2597, -0.0143, 0.8024, 0.6079, -0.3847, -0.0116, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.5094 left_y=-0.2313 left_z=0.4256 left_yaw=0.129 left_pitch=0.5366 left_roll=0.617 left_gripper=0.2597 right_x=0.2952 right_y=0.0014 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9997\nstate[joint_eff]: [-0.1573, -11.0017, 9.0325, 1.4237, 0.5201, 0.2466, 0.7106, -0.0615, -1.2786, 7.1316, 1.7558, -0.0317, -0.0611, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLI5gbMEyEDnBEuaIBUWcpg6YoZDIc3kmAZxYS-2rv1Tv13ZfSo7WLk6t5VWZHxJiq3cE_pbuujRCVimLjN80Fhr3Jg8PAZKsDrYd1YEwtAC1FWak-2FLVQLfBJCmxH7eUTsmDojoLPIsK-qFet4p3S9W4mj1WWA2q-AZR6EUeDJjWx0O7GLDvr012BfRkQZnYouKv2M1zo2dm3llmc70RG4Zr5539BVOpMaCIBogGx0MUNd4Jlt-ZqzamFa-5b_1YEx70Qs7GDKQq9KUAKXEWcY_njOV_qyotqAZxbGjnVt5b0xHZM6tKZu-0ZFk8AbnBbG2YZNmrUpEpMeWR6lElO1EJk7Qmpz27wYICFtKOAc2cUvI37mO2D_bvqRIFjoVQhUauVtKbp07sQ6t0b38dnkzBEShBXLhqD-5zyByN1gpFdCRsAxFomxSu4yTf58pyg5YfTqFSxAPoYSwGx_VjbDF7f6lqKGPFRptEt35Xkg6ETEcRZz-TJZ1S4j5sAeTg9qVqaVoeUZ7bOHvs8lm10dsGzA9q2RZ87cmByZ0js9tXNUrnXbAAsk770mAQSE6jfwurTfkbkZEYRXzAM7KPnPhWJrUs8vc6AqSBbcI8ZWRNDgg23fznhhkLHrOpwVyGRDYATdhYY3OatwMpbV4yFDR15rw90u8-vBjBs53izWaI55CYc0u8u15bOFO3v7jD2mUXHVNW-xmrLlo75d7WNUgkWknLp2h2fh_Q-gJpoAFW-a_xB-APdlEwrfkuATx_HFaSSjap3Z-9wunSphqFA4-R40UxKkN7PY8l2dtprUC0lw4BwBkHnUg_j0WGMLHcJ9c7JkDHPTn7TojyVnmoprmYrkECZxcJL4MfZCEszUjcmkXDYvQtUNKxMXzT2cLr-ESKW9j13w4Jbndhy1GXmUdXCtUBLF6hmlx0gjkGcv7n3QajhbHg2fVRb4ESPhEp9wdOsIq6elMAS8p7KmwqcswK-xIHZqI5xfJkGQyUyUCdZGHWKMEzWwJpTWMm33uxN5CTmpSVSkFUEhYoEN7soMRfSVCpXbVRW-YveBu8sCwZ0UhIzcpjzQrVbrjMZsQKecKKk_cbo3ezVzS3dv9Uaeb-GueCS5Oj6LCcnN3l1x_cbXUPKPkoBDRLklJ_Fz8tmj1T_MMrbBLQepbhNrk1k8cV2WUXaUEbbebkakdI0g5cjv7S9GKUMN2oB5wCHMTM0y8iR6AH1Crg0viMeDv5lugIwmbICx49-E983O-bOP6daq0tJnOf-O2IfYceAXkJ__OnBo-saRZJmklVPHUp8uzUhyMT5LtxEdg_qDrkQj7Ma-ja1C3YcPOQqz1sgIdKXg3N_BWzXeYs8-P2nG38APr2ioTyL6lh9h0b_NlGk6E_jOKfppvAasMnTN1oluGbpI",
  "id": "rs_0c3f11eab0aac8ec016aacb236ae5887d0842e827adc894aa6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.21,\"left_z\":0.16,\"left_yaw\":0,\"left_roll\":0,\"left_pitch\":0,\"right_x\":0.2966,\"right_y\":0.0011,\"right_z\":0.185},\"note\":\"The left container is upright again. I’m lowering it to its original spot and refreshing the idle arm’s parked height before switching to the right container.\"}",
  "call_id": "call_udo4wIQwwK9JEAo9tp8VmpJG",
  "id": "fc_0c3f11eab0aac8ec016aacb237d08887d09c3cf4a1c671ce37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_udo4wIQwwK9JEAo9tp8VmpJG",
  "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]: [-0.6788, 1.7042, 1.1542, -0.2199, -0.5835, -0.4335, 0.2617, -0.0151, 0.8211, 0.6117, -0.4129, -0.012, -0.0238, 0.9997]\nstate[eef_state]: left_x=0.4148 left_y=-0.205 left_z=0.1455 left_yaw=0.0227 left_pitch=-0.0604 left_roll=0.0531 left_gripper=0.2617 right_x=0.2929 right_y=0.0013 right_z=0.1693 right_yaw=0.0007 right_pitch=-0.0626 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4718, -10.359, 6.3111, 1.4139, -0.105, 0.1832, 0.6716, -0.4444, -1.388, 10.6051, 1.6093, -0.0562, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8776bafa170ecad5bea9d13c1913796090d8bd7b97a373ed9b706fa507ab0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:724b1a95b97ea7f5265891d72e84de66c0018567d1607563842238dc03edda8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:569ed4cbb774cd55b5d78d905dcbb0559927a0f2ed7322ec76a4a0c35d5d9719",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.671 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 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]: [-0.7147, 1.8172, 1.8946, -0.8753, -0.7212, -0.5091, 0.261, -0.0143, 0.8078, 0.6067, -0.392, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.4305 left_y=-0.2144 left_z=0.3018 left_yaw=0.1277 left_pitch=-0.0094 left_roll=0.0796 left_gripper=0.261 right_x=0.2944 right_y=0.0015 right_z=0.175 right_yaw=0.0012 right_pitch=-0.0332 right_roll=-0.0003 right_gripper=0.9997\nstate[joint_eff]: [0.0479, -13.7778, 7.0085, 1.7265, -0.3004, -0.0171, 0.4225, -0.1983, -1.7162, 7.1863, 1.8242, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left container is back at table height in its original area. I’m releasing its handle before moving the left arm clear.\"}",
  "call_id": "call_GJ9CL4jLsSh56uLZ49DCR3VE",
  "id": "fc_0c3f11eab0aac8ec016aacb23bf11887d099751409acba2f34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GJ9CL4jLsSh56uLZ49DCR3VE",
  "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]: [-0.6773, 1.7008, 1.1332, -0.2192, -0.5758, -0.4385, 0.9954, -0.0151, 0.8211, 0.6132, -0.4183, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.411 left_y=-0.2025 left_z=0.1382 left_yaw=0.0219 left_pitch=-0.0765 left_roll=0.0558 left_gripper=0.9954 right_x=0.2923 right_y=0.0013 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0664 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.2256, 8.253, 1.4383, -0.3394, 0.022, -0.0904, -0.253, -1.1829, 6.9402, 1.7167, -0.0317, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e849131e1ae67d78a9dcb653cfe43d8716a8757f675e26a9580cfe8ef9da911",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8b13414c18e7c690a6eaed41859bc2f7ff133a2ac62b94a8d5d7983ba22d7d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0d46b62e101323f254d4690e6ced63b57cd9fd4dc4922c255367cba5786d3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.274 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 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]: [-0.6788, 1.7042, 1.1542, -0.2199, -0.5835, -0.4335, 0.2617, -0.0151, 0.8211, 0.6117, -0.4129, -0.012, -0.0238, 0.9997]\nstate[eef_state]: left_x=0.4148 left_y=-0.205 left_z=0.1455 left_yaw=0.0227 left_pitch=-0.0604 left_roll=0.0531 left_gripper=0.2617 right_x=0.2929 right_y=0.0013 right_z=0.1693 right_yaw=0.0007 right_pitch=-0.0626 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [0.4718, -10.359, 6.3111, 1.4139, -0.105, 0.1832, 0.6716, -0.4444, -1.388, 10.6051, 1.6093, -0.0562, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJDir5GhxpZN0FeUMW2WolX7AkE2CJoOrpe8LNKAUBJ-sKu8PyyTPLHyQjGs6itXKHsHehSaFIOS1KdU179YEcbaThXiLUFqMNIZLH3OwzTxiRiHwYQS9sDCUt75UTzcaoNjOiz7NT_FpfLEFG12mFYoc7LgiIQn3CSKeOhAgLoSYRWmR4_NrwD-wrUHsfBQYkct6AOn2D_AAnB5EZ8yiC0eVbn0CeKFGTCFOwmiV07FFmAoi782krbSe0y5GlZu6gbVhf2wlVnqH4Tk4WopNzOzdo-hmtHE-g5-1DvBdhcHqyvsnVsfNoyv34VWSdYqQooCfBmv_Kyd4Z0_Mq_w8Xn7miWTNFe0tNu-cLOrPjtCmcfTgthiB_AneIzntFB_K9Jn379T2a42b2x5ECiwAHuVsziP3Usjsw8tWK1L-6rztp30MFFaQk72UBoeQWi98dJ91hwWWNNTECDULniC0_DAESdktcbsGrX1sizz2029ax49d0cDFwnd9oQ9pOStNOcgLKXiO95ja-hsbNCJFWfbRUKk2g-fBMOLBj2GVVN2vGXZvDbydkxFp6EtxN-R2VxjZHt9Mfyrj8Y-mI3n7rjG9g0u9nOMh60t4ziVQTXyCSaKLEW_aMf3kV1U3euvnNGpM2xbK_btgoMguF19rTTg6AuUIA8P2HjrqzbQWjmD01zbSMV9m_bjbSBOJokd3Dy1KnOf0lP5YdUDTmIRMrbTbrEprTN5hukwSRaX_atm9cVdQFoxtu4WIXvmvO-zKXE1UeFbnv8eaGEThYcjSIIcGWPHtEPpehR6JHILxiTJpWTULKFLeKKG9s0crr21LO0xRRer_4VPwL_0fFA7-57JjQvAhSN8pI4s5CHGwhXUrhwfDIbhL5UDj94KAx6nE-0_oysWCjEdJ6qILHdsrwKf45Wa5pORsyFf56PVTJTupVaYxdJjifInpY28MXH9PkgvFHHIIO5vRrPeLspc0vzDrmry-ucmigojARy-mKpGSy7BYiOxZ4MPQD1rF8HmkVIAcyuVPPMVTFabamWTEANXxO-nzHZcz9Znxp1MWnvCamKy90xKZd-9JbTPSFTIt1hxB_HVgV9_DBM5EV9NylHfR-bAGr62q4STUeeWFjQGZ0XVaUHlATtuR6gv0omypQXPjl7kOrSq5warQqo0QtlHLROGcuNKlaxFvWHQUeRPgI1Q-IRCndRigaD2ceHMpCXVXgL6yawxRbFL95IWUrA0wYcJO5sXMmyOLV9AWz9zk4=",
  "id": "rs_0c3f11eab0aac8ec016aacb241476887d0afd094adf65687c0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.29},\"note\":\"The left gripper is open and the container remains upright. I’m lifting clear of its handle before parking the arm to make room for the second pour.\"}",
  "call_id": "call_ROucrm1BVBlJ0bOTmybvyWVo",
  "id": "fc_0c3f11eab0aac8ec016aacb241f94487d0916bc5d357738824",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ROucrm1BVBlJ0bOTmybvyWVo",
  "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]: [-0.6773, 1.6867, 1.6745, -0.7753, -0.5751, -0.4614, 0.9967, -0.0151, 0.8211, 0.6132, -0.4187, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4134 left_y=-0.2046 left_z=0.2767 left_yaw=0.0335 left_pitch=-0.0768 left_roll=0.0374 left_gripper=0.9967 right_x=0.2923 right_y=0.0012 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0668 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.7333, 8.6496, 1.4921, -0.2857, 0.2369, 0.1294, -0.3624, -1.1829, 6.9675, 1.7118, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d72bbfd433bbb333497ca2ebe43d3b9578fe467bbf13b5b20ad7fea1d91f53ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:276653bbd222a79f9460e3afe6188dec3eaefb218b03bc3f8f137850f5a7cbbe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b2b492de975bc2343f7be88a52d8efaf2f8619ee0c54eec7317bbb9f3a23889",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 7.445 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 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, 1.7008, 1.1332, -0.2192, -0.5758, -0.4385, 0.9954, -0.0151, 0.8211, 0.6132, -0.4183, -0.012, -0.0235, 0.9997]\nstate[eef_state]: left_x=0.411 left_y=-0.2025 left_z=0.1382 left_yaw=0.0219 left_pitch=-0.0765 left_roll=0.0558 left_gripper=0.9954 right_x=0.2923 right_y=0.0013 right_z=0.1689 right_yaw=0.0005 right_pitch=-0.0664 right_roll=0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.2256, 8.253, 1.4383, -0.3394, 0.022, -0.0904, -0.253, -1.1829, 6.9402, 1.7167, -0.0317, -0.0562, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJINQOKZ1fWXY1zbgje8hlp39tb8no7zVp9tHVind_4fJGo0BA_PHDLgGYrDwwkTf84BLlfeLD1Fmhl04GOXQsz2Kb3_CSATSDo9lkjTtTQU6I4kpe64mNyiOb3z5llY4OGXpYftFxc6TonlxBXDNDs7ul-SVVg-JpQ_LfCewNi8puLT5mw17jO6VWaXeb7MrV9QBVG21wSpdHynss_cljdIQwwmtuKcddApFXN7hxCWs3ej5DYk3gfaTqvJAbP0TJXYlosgCumKZ1QszQq5dU26BzMk7qINjU_uvI8IeL71RYWjIgjUdyBhBFl5Aje-Cx-7utBuHIX0QTV12Rd49Idpq_nnqKXE5lMLH3MuTQPXQ0N-E6BfN-0KFMu4ZzIOQSSFf01Bd9wkVn2BM0Bov8MlTcg20EU3bk87YuJYyqpU0WWQYJ2TTtfXY6UJ4Tf0Y6nBLlqkVNJKaQVIQf6fRwoWidG5I3HyGjTFMXInnr7P28iwtAw14-57ngNtZ5kQqaoEHgU2vStRSN45qeJWmo79xpeDRNYcuJJ1L5PbewWjuPm_DQO2h7NKnzSlUp8Z2dAGmadj25C0_8EBxRNobxdArgfgsFiupYR6eNC7iF33WRQidKCDeGd7nppWupnLFpNMpQQ-9RF-xrIU1TVK7QL2ew7EoByb-17VprsIHmTm0XO8zsPuQw52g_Vtc_p5M82AhL5PZ7QQDFMB7nPmlRqJjpFFfXJshjC3qK90Y_Ol0hT0MJZ47cxeLe4PQed3frmk1ztw4h8JDbUR4K2TZc_QTT7LFUHC7HdiLUYBUvsLniagfLG1IEdZ5Ue9iRRiWpAm-gBiQrkII2tdL50NrdHGWGJSd4s2xooJkCSCrwhsNadfwjQcV49Cfb9TnVkgfoVB7CU0j2O4NxxMcP4y1ovFbYKch-pGHft5icp1MnSE2gr0InIH2T58w-LmA5-XPnOTXsAZeGxN24TF51oJz96k-NWA0ohpYBrh8s7o8QdsQSSp91awYk3cUZVGKwmssAAnVUsn_-HUjXQ_y-lKp9MZxbL9CLJAdS-33cLikRsDU1W2XLDs8VD5tC-gCWBJB8P6LQk1OqU5NLiW7yM_aCN3T2Y2_34LylQyXMkvaj5FNHE1qFKHDkOT3-CoBZ-1tB7lifr6qR2ISZo0Ixbwh7uCDG4x9B9HaQ4iJt5HIVUY2Ml8HAh1eGI_DJrlnX8F7nGCN5p_9bFQH3hUfyZ5hqS5uSU-OfsiG2JC9WWCLILRjgUFoMl7yn2CrTcGiOko6LCSeAhlOmLVjByPSHX_f4DOpQtcWBuKQT813WG8yzEsWc=",
  "id": "rs_0c3f11eab0aac8ec016aacb246661887d081a605eea8a8736b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.2967,\"left_y\":0.0017,\"left_z\":0.2},\"note\":\"The left container is standing independently again, and the red cup is clear. I’m parking the left arm so the right arm can approach the remaining container without interference.\"}",
  "call_id": "call_H6Qq2ZIV0V5c0cxHxAwPlTo0",
  "id": "fc_0c3f11eab0aac8ec016aacb247062c87d0900f3ac6adb46c47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_H6Qq2ZIV0V5c0cxHxAwPlTo0",
  "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]: [-0.0967, 0.889, 0.77, -0.5407, -0.1684, -0.0929, 0.9968, -0.0151, 0.8249, 0.6132, -0.4187, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=0.0044 left_z=0.1979 left_yaw=0.0842 left_pitch=-0.0887 left_roll=0.0353 left_gripper=0.9968 right_x=0.2925 right_y=0.0013 right_z=0.1678 right_yaw=0.0007 right_pitch=-0.0706 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.2769, 7.2137, 1.7607, 0.0659, 0.0952, 0.0073, -0.1299, -1.7299, 6.9812, 1.6874, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75894d39c2faf7626469915130827e625e5d741c7f4aebe2cd041286f5a36999",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:102ecfba1e3dbc5f983561056f2f5261ccf0af24b22a1db118cfb8cf4c8129e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0dd7d68d3f29ecaa2eb884b3fb1467666ebe2d28d18256d1c7e077f3d55ca63",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 3.638 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 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, 1.6867, 1.6745, -0.7753, -0.5751, -0.4614, 0.9967, -0.0151, 0.8211, 0.6132, -0.4187, -0.0116, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4134 left_y=-0.2046 left_z=0.2767 left_yaw=0.0335 left_pitch=-0.0768 left_roll=0.0374 left_gripper=0.9967 right_x=0.2923 right_y=0.0012 right_z=0.1689 right_yaw=0.0004 right_pitch=-0.0668 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.7333, 8.6496, 1.4921, -0.2857, 0.2369, 0.1294, -0.3624, -1.1829, 6.9675, 1.7118, -0.0122, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJR9O9xYYSNJrGI8cyEP4v7DnH4fsd4XN6VFAQpeMHvfg88iMvZ-VlteuhgbVKfkh_BH3HZg6FLCPhXns7n59f20IAbCfPAqsQwWJVEDKchtL9LZJ0RpbOcvA_FYpmUvtFYvytUzW2c-DKe_Kdtf0VTG6cFQjTB7ynL80MwKd50cSUwTkFopzT1Fp5wA31EaOurotMj4UcXfKD0k3MYvdgeVDjlemWXzcL11Z4QOh-AkpzBHm6KEcb96V4flR1tVOBmNh7DYOEq6P6s0i0BTnJkKUtfyOe1ETicpvaJiq3juzC-hB9bMJ90qvBroK9Gd2PNLzx2vLvUpFMtIw_Kd1xi0UR1qUV7JvBSvypO2r6KZ3HHE9k47HQ2ET9qPA2Oa-LxidKnr9GOvNaoJfmbnGIXBNLeoYZzTaI4spV58tVLnDws5aWKogXmYkv_ffw5-6wFHQc_yucmRiYosKMMUGKv_ZrPsT0lLTw8a5mq2hJpTnh82NMK4wxTWv9AIBIN4OnFYHwPCKOgILGCgomJnIhgUYXVRytl04ZtAcM9K3Fj_blT1zqxCojJeBxZyTlsbO9k7UrpkUcSc5APN0Tul-Af6gcEysTG6fhQbBiZOglmSNuDK2Tuu1o75mXDJYNXRSlIjk7NQgBNGE6k2vJ6o0L4ywcsXzLSNhqGLrx18BIbyjAz65nlQaJf0Gx-5RSv65UPpqLurtgtmQkxReoxauqQMHfJUbMc40zbNfWmNY8lpg2XqPagq66ojDHgZUvtapfKMeF3oTH4lRvgygLsvJY6fxHuji5i56pv9YlwHH4S8sESVOdOMiVl7WgxAmhqzyf3mhwnMxYzqI5sl6ti0zxJ3TfQ0HjNQpWqix6ziUDV7WQNJf0iHl9QBkWHKBo6oFJmtW4H0lM2iuFkJ6SlKkzHm04HLVXq4D4Ns4Qk4Pr3KtkiGN_fECvkJIRNcY67EuupUK5I5OiT1ayBzpF6R3WoLPI5eM9IvwUtKcD4DdlwXVMVc4wM0iKdbdU_qtt-zvywiLQ_9eE4ZCUnKmn0h2Q6s4vkWufq3SnBTnn79GeV7eIoisePs053gq8lbQ0N09kH0M5g6q0bPXOIUrDP5MG43sf-gbER2wdag9Dm0DvLsm7dN7roRpM_y76kIETZtVEc68OaLnEuRfc0BtTvOAPhL-968PQ4nGl2195mrgn76fUhCARvNLcYGHi_ftxEh-WvYVwgX_xehjNDgbIoaG7YqRcKTEGdaPjxnxkUIGBCCDXB2uxMITgIYG-r9Ic5sQyjQRibPHEGgFxbUtgyyI1i4bg9xD3mONzNyEoDnRnFEnqvx1UxESmclIMnP9CQmO_t_0DIQQyksRChw0cRbBvxNDALA3b7NskKyMZtXcpCbHonh3YemZUJnrrQrbM0Y7ZTDtnbLKNT5Kp5c4pqonJVzFcC2GCjYkiWHYL-fumOZRZPOUZ0h_g726Haj6CMMWQrn6WESpZIfpZr6H9NIxi9AtjjPyWCbyCUsB2xoumzRZ2xsoiufgun2p1JlmQwTLLqEr4blGPnU7Cpmz5Yr0eIYhdrH5qUQ0E2DnY3kooEpQKN-gEEg2w_H5pnrYOAuHaiKo19MGOfbuN_SSrzfV6kurPTWs9WHdc6ASKTFAqk6a4=",
  "id": "rs_0c3f11eab0aac8ec016aacb24d1b1087d08694035c69cd7b66",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.25,\"right_z\":0.24,\"right_gripper\":1},\"note\":\"The first container has been returned, and I’m now approaching the right container. I’ll align around its upper body or handle, then lift-check the grasp before bringing it to the red cup.\"}",
  "call_id": "call_ZZxHZmmiJy0b7kZnUqNuCqkx",
  "id": "fc_0c3f11eab0aac8ec016aacb24fd8dc87d0a74956568557918c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZZxHZmmiJy0b7kZnUqNuCqkx",
  "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]: [-0.0967, 0.894, 0.7597, -0.5446, -0.1577, -0.0898, 0.9968, 0.7143, 1.7546, 1.5604, -0.5934, 0.5335, 0.4343, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1911 left_yaw=0.0739 left_pitch=-0.1087 left_roll=0.0346 left_gripper=0.9968 right_x=0.4169 right_y=0.2474 right_z=0.2259 right_yaw=0.0304 right_pitch=-0.0966 right_roll=-0.0182 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.2085, 7.7333, 1.6484, -0.1978, -0.0904, -0.0073, 0.4444, -9.5248, 9.1556, 1.2283, 0.4518, 0.2027, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e11f6927ba345b4d06b6808795b180283c7bfbc3df6ec4b4fe58ac853dc480",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6601d7f7a844e4cc3280e26409018f0f3f3facbd7a18f98c64da51f973021a67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4934c1f30d94343f0b7fc612f3e2e1ff7c464ac090a21562d9d75125850b1ae8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 3.067 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 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]: [-0.0967, 0.889, 0.77, -0.5407, -0.1684, -0.0929, 0.9968, -0.0151, 0.8249, 0.6132, -0.4187, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.2989 left_y=0.0044 left_z=0.1979 left_yaw=0.0842 left_pitch=-0.0887 left_roll=0.0353 left_gripper=0.9968 right_x=0.2925 right_y=0.0013 right_z=0.1678 right_yaw=0.0007 right_pitch=-0.0706 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.2769, 7.2137, 1.7607, 0.0659, 0.0952, 0.0073, -0.1299, -1.7299, 6.9812, 1.6874, -0.0464, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJXxErO2Xk7528yr6o1lx56pTXmmW_hLZqykqyVyPXQZSG8KIhgEHLJubwYO6ckY-tP9Bnr3eIBMALWwCiOnLDIs_hKtE_FXBON0iGmyg4HxigxQoiu2DMdDZqy_MwQRx_Z3y6M6YnjI1rhljF2VFl8nKeD48aNDnbAz-sw8UuXcUtHywhIn7gt_Rac2fEklEd6DxoSwuLix3ravayYAruM1HTU9GKfvfqHNWG0TSg2H05HjsCPX0jNNmUmTeb44XKRTLxssldar5Fpxp8BxTJ3sNWTJ1PQs-4MAREQUHmakYv6EuosLIJBPvR0m1Sq2iq5-F-ZZrquw67JjJeXkKo3QePhR_U4qDMgi5iBdnDzKjGIM6donBSHXkEvPtcAalVvt8QnqQ8mu3WCiORN_WHrQqY7bUs5xkJHxzyia9U4GeCVH6qXDxFV5L5FpApTL941Fz9W5l0oxc6SmVIo_pD34SUEUIruDNsMeKL_M5TX9KEMJVHcY4i65295Ux8JxQoQf_jG5_qA4WA2Ne10qS62-AHJd-33Qqnt6G40HzWm1AesdMbByjphDRBbY4nyBjy7NllpeJE2m6K5FWKwGJ9HXE6ci6hAkdSDlDKyiMFn1jIcADTg9syBRF-ePaie_XJcvfJ_pNVVQCRXKF-wbVcu-a7Mu3onlCcpf5y5-Pc6wwBUXBpm296eppJKCdjxVXqLtFWdtwbmevQCZW4m5GpYi58ZAJWg-VSVmI5FsWMWd9kA-8qK69GX0_WRSybCTOCheT4Vu7fvotjKZdQzSpikgy16-5bzR4GGrzigx3anANZFYyXpFLZOs56AB-C1GcufLNR48UjOEVfW0ANfMT0Nebk5c95DNJzLuZzMdVBfYHXX6W0-XCFEOhXt_OmTCpU6wEA-81rkLfNbCk4fBcaOZmqjMl9PD8GXINrESEb0ivN3R8bDc1vSQS7Cj_Fni_QBvVTrHBSGSJ1288jiXaIuTxbuzPsMneFImsEqZIMZDkxWJWydanu0l2YJ6VZE5392LTdeIEwiZtNaTrVuDRAqsezJfr4XP7787s0KJZl9wZwYhilQ540orD32oqU9VzSeT8rAAoaGoMDN8zEiPCH-J613iIxgPovwpM6XTkNR-PB_Bi-RGK_K-ZVdRTFzXjqY5Pnyz6eB-G2-Hf8oaetlms2MUsKzNIrjiCbBuSRoVMpbLHenV3HtUX8ZcEfLMPvbjWyFZdA7ea3pH6OW0ZVam3n8GudCaxAZJoxQFv8GHqsY7XA_QN2m6ADLmhOi4UnJah2ic223wYKBlyOMkWxzZKN8WfvYVtbAInFCU0M5YUJiKpeKSHKgGSPbHAgGBj62MJAiUU5n6YX4gsvfag8IeeNsN1PnuFWezXwM2hTCsYFok6e7KWOWv-zxInoKXKEBz_9U5eB05mHHtLypGqsc2oCTny_Vj_9iolp9L8ySZtQ=",
  "id": "rs_0c3f11eab0aac8ec016aacb2550f1087d095b4ca6bde9b9fe7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.24,\"right_z\":0.145},\"note\":\"The right container’s handle is almost centered in the wrist view. I’m making a small sideways correction and lowering the jaws to the handle height used for the first container.\"}",
  "call_id": "call_G1L7VO3Qj8GsuKYJe18z725i",
  "id": "fc_0c3f11eab0aac8ec016aacb2561ce087d0b8cef3fce276ed93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G1L7VO3Qj8GsuKYJe18z725i",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6834, 1.7897, 1.3151, -0.3367, 0.5068, 0.4095, 0.9997]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.422 right_y=0.2377 right_z=0.1485 right_yaw=0.0315 right_pitch=-0.1274 right_roll=-0.0373 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.853, 7.0632, 1.6093, -0.1343, -0.0513, -0.0073, -0.6632, -8.212, 6.3248, 1.5653, 0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd1b9d80abddf9d9a8baff8d63c9fc64c77191389198be8426876d3fc739489b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac0a36f9303033828875341c1fb8cd862207463ad84e86dfea1dbc27ded9653e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:309e61c683e659b8a67f578d9809a5072290569eed8c84ac4db24e0519924746",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 3.391 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 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]: [-0.0967, 0.894, 0.7597, -0.5446, -0.1577, -0.0898, 0.9968, 0.7143, 1.7546, 1.5604, -0.5934, 0.5335, 0.4343, 0.9997]\nstate[eef_state]: left_x=0.2976 left_y=0.0026 left_z=0.1911 left_yaw=0.0739 left_pitch=-0.1087 left_roll=0.0346 left_gripper=0.9968 right_x=0.4169 right_y=0.2474 right_z=0.2259 right_yaw=0.0304 right_pitch=-0.0966 right_roll=-0.0182 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.2085, 7.7333, 1.6484, -0.1978, -0.0904, -0.0073, 0.4444, -9.5248, 9.1556, 1.2283, 0.4518, 0.2027, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right container’s handle is between the jaws at the selected height. I’m closing the gripper to secure it before a short lift.\"}",
  "call_id": "call_nPo2pTUWNLH9hkHkGg1kbVW2",
  "id": "fc_0c3f11eab0aac8ec016aacb259d83487d0bd4ccedd8b1c3c6a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nPo2pTUWNLH9hkHkGg1kbVW2",
  "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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6811, 1.8084, 1.2949, -0.3317, 0.4957, 0.4038, 0.0143]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.4194 right_y=0.2364 right_z=0.132 right_yaw=0.0377 right_pitch=-0.1596 right_roll=-0.0559 right_gripper=0.0143\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.6044, -0.0659, -0.0659, -0.0171, 0.0205, -11.0291, 8.4171, 1.4237, 0.3004, 0.0415, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b154eba602487023a5bea308d00ec90cafec13c6427ea91e20f4f89fa24d482",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f495241dcc495c5e694bd4011ffdf2c4fc426b06e03d82300a65152ce365b7d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8629d7bbc328a436b790ebbb5a21cdc4034735a5af87772f331e12b91528eb2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.185 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6834, 1.7897, 1.3151, -0.3367, 0.5068, 0.4095, 0.9997]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.422 right_y=0.2377 right_z=0.1485 right_yaw=0.0315 right_pitch=-0.1274 right_roll=-0.0373 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.853, 7.0632, 1.6093, -0.1343, -0.0513, -0.0073, -0.6632, -8.212, 6.3248, 1.5653, 0.1685, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJfdb-YvJFKOPRTSE95sUzB3ws9d8Frd8RkLozS8GvzC7wmVPqnCVHNLbA_vkLOnRkSnd6tDywZeXkQA1rOMLHo-8YzHpbmMni7zPNAh0qzagkkrRxsir2AnwRqdRyur97zoYEZ9siiikfNxWOJYSyzxPH-B2KdKAduL4Bq1SPw7uanNcJ4rTLsEWac6qL_9Vk98c-iTbH8l8lpOKwBMEhExOqVkPNao4tr2jmw5vXLanFzu_7k83vLBPfT_1Oo7ImrZOVveAGcRA78PxSjggPvnUOOYHKASrMiQkQfGRMr3u1uy-KKNk1cuPPN_4q94mTD1NeTgkCFtxR8zrOjJcG7sjbvwll6c-7OPKBLbk-mAg4XPqmwK3D-E_w4XmhjBBbczq99vPXYxr7cf1cnM2CXsmsYkq_5iVBgSTCRZ4yphUR6D5kUbjGCcz3-IWy8xsRVbHmHjxoCVjzq_GphvmrZF2qHdSN7RYyTf9OLpYkKC5qnKXhgh4zXaTX36jm8fx1lEV8qckHjizNJcr8m3X8oVawQApaY-rW3mgNJr03sBFB1wDV2tR3X3Z5244JLUUF50fa8SYEv1rZomIeXRfWA7O07BZBg_y8Ql6xqrYSVIaLm4vMZ8DPZa2Buxv-dbgld1BTcKgZDk8E-cSuMq7lfN-_nzzo1J2Z0Deh7hQw_M6M6cCyHRwa0xhgGdDWEyizlq1bR6xivhWelCO3WQEUihcXN7wqftJpA1R1tMH-L49JcuORee4pYURk9hZtWfdvUpugKEk4QgnvceEVmR34FnRhFkFq36BLdspv0nP5SauxgJSDJXbPda1SUm-S_Kr5FktbwuPaONp1SwBrALaRJLf2pCBbz4NkrFvKPlOlfXzid0jFEgXK6qMi-hqXJvnqVLup8SGKT7vZjnA-tk28PvQFScoSpMolr2aqS5J86Sy3seiEmoGKE2bW4tBvaH897zVzHuTBMcDiSw1BcQeL84Wz9u6QRG6wrL75LSMAMO-MUHvQcsrZAofc4ERBDvcWgaYnnr29M1W7AcKnG8ynJxWUuE2QbPW3MFh80t0W2iL9uUFRpfbHNeArZSlht97KpvWmvDnncQ1aNoTnscy8PYKrbgS75nA8hsm3Yq8kKfI2TdIOzqcWNyg7oTkCuBCnkUdiMXnAzc3TAQvEgoZ1zsKHSut6owLQBeqwhw3WpNq55JkmfnPBnoprWaHzVxS7yHkmNa6tEjcJoEE87d1aOhQ==",
  "id": "rs_0c3f11eab0aac8ec016aacb25e24bc87d08bde251007f326b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.45,\"right_z\":0.16},\"note\":\"The gripper closed almost completely, so that grasp was empty. I’m reopening and advancing 2 cm to reach the handle rather than closing behind it.\"}",
  "call_id": "call_RQKhBpz8MHHcuM4Wi82epf2w",
  "id": "fc_0c3f11eab0aac8ec016aacb25e3b1487d0a875317e6e4612fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQKhBpz8MHHcuM4Wi82epf2w",
  "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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6407, 1.8633, 1.4498, -0.4305, 0.4591, 0.3561, 0.9952]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4426 right_y=0.2369 right_z=0.1507 right_yaw=0.0511 right_pitch=-0.1761 right_roll=-0.0687 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.7983, 7.1179, 1.6093, -0.1148, -0.0366, -0.0171, -0.9231, -9.1556, 9.5795, 1.2869, 0.1441, 0.0611, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54dc99d2f556ebb639d19e7210b49727a840509127d7f801de73db471ba553f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:343f5a65ce95e676e8c6a33d1f2fb81eb4eed3c188e4fdb30dde0f81e6375950",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38642ff68db167c35430ab8b9f3511edc9bef44f31dc0d8ab6a0dd67dbe04328",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 7.419 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 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]: [-0.0971, 0.8948, 0.7589, -0.5446, -0.157, -0.0898, 0.9969, 0.6811, 1.8084, 1.2949, -0.3317, 0.4957, 0.4038, 0.0143]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1905 left_yaw=0.0729 left_pitch=-0.1103 left_roll=0.0343 left_gripper=0.9969 right_x=0.4194 right_y=0.2364 right_z=0.132 right_yaw=0.0377 right_pitch=-0.1596 right_roll=-0.0559 right_gripper=0.0143\nstate[joint_eff]: [-0.1162, -1.7846, 6.9265, 1.6044, -0.0659, -0.0659, -0.0171, 0.0205, -11.0291, 8.4171, 1.4237, 0.3004, 0.0415, 0.8913]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLJkKR-jV4G_fcPqLYZN6bsAj24rIABuO6sez3MsPOOodiHnqUxNMJwG40eQXsUzSEuKUDQE0XaHumZYSOXyt11fbxL741OOooxjhmak1fBVyQ5c9OWmJQAxQ5HjZAVv_Z54x3abc0b4ZNDYNlVa-ZFHwTUW1iGnT_IgVBKuttKc4b2VNvMMi_reAbLjAyT-HoqNDy_ZM9rDGwwcvYI1osqKu-koD5GCI-8498KpIjdBoMrSs2FTeUbI9JEoMYNMp_R0YuF6CVbJm-k-TIkUhTttpuY40a8sLGAM9zX3wLjiODQb2mO3RoAe9sDqULyX7UWDM4RKOT9u5HzoqcBw-Tu64VYwN7FUM-_zdeLx3xqQBEOBLuYHjsJ4hnnbBPnnR8aPhqtGgL3lAESZF1zLCW30UzTAGYGg5XZnxZoW2DLt0kxcr3gVqbu-M1zGMSRTzCeERquqvHjltRdqPfiSZcCIPTffo_PU15pzLNVV6Hd0o2cLKFj97ANgi_TKS2OosBS0IxR6ArHNt9RYA1mHNXdou63KGdWOTg9WSTW1ppJ_zYH6sDA8x_0QlIWwPXtPURfJqkSPb2toU9OXbyQMO_4FvoniPYAwDyE-iCJa-2hcVfvGI9UkQWy-EhHX_d6TDdxECSjlFt4w2j6vkOlO_aWfbAr6-p0QP_DEuQuEAsv-uFS-rYIUjAnjOJfIP5TmSJE62d1kxdudonUH2qCczReD-YpsBNh53KWEFbPapF4sPkSzABO_JSZLaI1uioZHDBvlxiXrpahU0qSCf_QM6mYFFwM79oO53Kx0Aju9D6Oi_LXXfdyE2LCSo_rcRs9HPgcy7eC66EhDc9h9ilHEZ_KCpNpHM2tk4TwXvs_8nbyMoX86IAGKBbHyEdstoPge1gXVEP5RaFufsf5zMgSa5nLED8aWbPprEA9n7-4rpVHXcRCXoQasCrvc0UAZ4dUCw3IRvaNHuzRLeYaKEArK_CzIJQjNkTU2sr2DKg-nFOXaRLcz5nIdUEWYWooxnAwpz7zi0lJWHYspT2ziVLUA7l2TP9KXAZU8vFv3OL49mzy25u5ABpJxFzDjL2G2LtRwuLJa3ksZq4dJKeSfnNQQHQldior0iiygP1j1jej4aOALSpShGZxpvRTSCI7xS9BIGnZkTXXrxyMaz8Lo8bC82hhMozu26ENwoVixEZ79Cp1KHcXJyJ7bSL9TtO5GM2O2cFbOUczMHRtlSq2lRFgiow9Qy3h2X5IeZsAm3MFGxHKwOHjcDuTHA-Do6I2LcWtW19-XleVtO22zju8y0jHQBzW-SFR1YKvE0JZPSy_CbVl93cM76AJJ0yp_JtwuDB3-QJ6-yC7YUUauG1lwEXNdwz5SLugEhRGQ3mWZcrBZEdNti9gRrbM7q0d1sRIWO54OuUTSmoRyoR57P9ga7TaMOlZW6iooGsByN5j7o16pMpSZCDi-lsestmwwtWRtFBXdMdF-SyiteOFhncoCgJB40eda-J093EH4v9Ktxph_YkRwAPPq3wPAr_2g_xAeJpl0tENfayFl2zJ41aUobt9wJ9E2LZGaGfXeAXF1UbhGZ8d6qjk=",
  "id": "rs_0c3f11eab0aac8ec016aacb26187b487d08b91282bbd59eb81",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The open jaws are now farther around the container’s lower handle region. I’m testing this corrected grasp and will check the opening before lifting.\"}",
  "call_id": "call_MAlxSpPuBTzDOrbgNno6pfl9",
  "id": "fc_0c3f11eab0aac8ec016aacb2635a5c87d084aad20c37485c41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MAlxSpPuBTzDOrbgNno6pfl9",
  "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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6399, 1.8694, 1.449, -0.4355, 0.4587, 0.3511, 0.0137]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4422 right_y=0.2361 right_z=0.1467 right_yaw=0.0521 right_pitch=-0.1863 right_roll=-0.0788 right_gripper=0.0137\nstate[joint_eff]: [-0.1299, -1.6752, 6.8991, 1.6239, -0.1294, -0.0269, -0.0073, -0.1573, -10.3316, 6.8034, 1.4774, 0.149, 0.0171, 0.9939]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89fb4e86520f98927ba43aa8a368f48bac0282b66af3764fba28b72adf112241",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c780af8b8d50ca40f4d2178394831654a908a0195a2eb2fc9d65408786a229",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e8bd84570b024e8ac073e7d7e2217ab1da0b494c30c80f44133c7d25deedd1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.463 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6407, 1.8633, 1.4498, -0.4305, 0.4591, 0.3561, 0.9952]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4426 right_y=0.2369 right_z=0.1507 right_yaw=0.0511 right_pitch=-0.1761 right_roll=-0.0687 right_gripper=0.9952\nstate[joint_eff]: [-0.1162, -1.7983, 7.1179, 1.6093, -0.1148, -0.0366, -0.0171, -0.9231, -9.1556, 9.5795, 1.2869, 0.1441, 0.0611, -0.1685]\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": "gAAAAABqrLJsx3RzpiKGNkdKa-4DuUbb4qawGzpHPTKm2BO0MoC-HVVXYLh9OKCWLw-xLR8OrN84FmOv4mZ7sYYwgEY8o31oooUIkj2cr3ony2ooy27r3aQFEy07QuhMwVjBfxpbzvj0FSi6boYvvKfB--BtbK2eO-64cxBLtZM9d0BH4awt3CYPawhUM2QadMil7n_u2-rt51fuk4lcRuowOmvQlv__rOLJen4h5YV0Tm2HRP06ycu3nwv71sDahtbH6tL1YuJaPlFJoEAXZrAtygNaYXZfzpCMk90l4ADeXiehrfGBIpkbyGfUTIuTN5gz2oZ2JmPbbor-EwToDdgNen_dq36Cek7izhFzlC1K3nzmgXOUwjEjwoIYvFMLtzhmAdPEhINo6nlA2KWex27AYy0rozFqNmFHuZ_up2u-vSXa5HBLdvIkXBujTjMT1rdN44hRd1O0pPIkoz_w0dSWCPzCOERcOpGhUvvx3J_zr6hSgr2dfOVYe2MHesczmZSSj70KFRvvYYv_pQsBy0cXW5IPigycsTU3n1mMX462m7NcMvg8ODy-gWQ3WIY448e4xzB8qLhcEv1DVZy2mPRGeQAYwXVYz7--F_Mj7xRKiY3y1ZneZLvJf9ustaTHVa0orNPpC7EYm5UO615oPttyVIAs6_33BtGpvbGhEwIdjdjY6LxNkOxGcc3PTdN9wCj6_HApQeOFKkEm4YkOQ1VMJYKFP-OMF8cYYS_5vhUHT-wGjix7UmVsUqNcyxqx1k7MR-Sg-6Sq_mU43vn3VMCf-wyHxhXDmxDykCYRxKoPCtBlEmyFZ7sNIqZy11NVYrK6kSDo9ws0yCh3I_-eqTL_AkrnzHZsCNkIsxpjzEKBUFVAl4spkxBch7ANANmVuMUovCXlR_z_NhA8RJ7XG6bl0srtQ7xTUUmgtxaCHvOsgSRo24ICt6_ui2oZPwNwbuqtczEeM5WKtHV3oePdczhAFwv7TwnqsAc8ZYULxyjDyneOTVsR7jO8vuuh3wXVX3AdZj3M00wNz4BbeSwTb5ZARwy9kpHXrRnyHdnxFp53QeTsYc1EpB_FETnyAqVOIPjyCo6Jr7BBKiQRvjFjyJAXdfgU1qWSiJMpXFZeimAYKY0hWqH-aDBghhjbfDL7XEI6e5BzNVyY_XDYT1_-KrQemFQQ4-OXlSgYTXmsi3CttVco1143HYPTDa-4BBo4mZOB1igd-yjeXclJC5hYx0AmzR5z_1z6he_xwKeK_e793JNJHZtVdXQEQQf_7o0jpd3T4hsHRUY7wwqb1Aqf1HzN2WV27YVCH_H1SxsY2NFmBGwNmp-jjNFvFEiwAxHDEMJL-GiZ0Dp7-82VL6oud27k4m_nzw7wJlAHcqDOJy98OmjYSbRfx64RI_ziIJwHlBVs4stBMwkEg2zQFD9_V7_-fFGMKLtieZ5OFRcHn7sauGmP-yQvM2c-k3mlRYhF-L2V3fOHry6_F5SGRKf_8jmfwhAH3-NFGNRsM-WnWO5W77AlODOVCcHoho44AW6P2InEMEwYe9l2EAvma-F36SA2e6rnATqmJILsvjTa0F1hGBJV43ykeOTKv-9ZMdctSuCjMXDNrsSsj9giX3MwWRFSbp7z31Gc8IrkzlnCL9orbfX9BqzukK-cE3h_4Ly6n5UE89IA83SYNC4WFI9ppbchvQcpGfNZI1fGAFhj5or7dQMvxcM0m6G0O5gQrlLiF22ic2knJ1oMX2bdOayofhCFqpLf7bKYRq0WMesuFfrHs0olBrQ9xh6L8YOpBe0sPnR_Y9PF5UwVeABS710ciHxd0x8Mc_WX2PCgZEzRTC4rSq_9BwCbt9GJ0WfkqQ_Xa0ynuKTl4NEYzqS1NJneQTzYps9B5cIs4vdlfFEX0gzt9amUIDEweLic2LaNBja93IGXpG1Kdo_-PLq3YCv8sTZQCXNMjLuDxJXaoxVYZPNOm17_o0tz9jeNSR-myP9IrePfSjk5BR_DiRyZT6wdLqINjmsEsbXoF-YA12gHg3dFGcPLgzJMBGEqt8q2PUONBZV_S8AK0f6TFJQ8AIDdwGPYl5qwLuQsQrpAinq1mQo4RUQSTY3maVk=",
  "id": "rs_0c3f11eab0aac8ec016aacb266eedc87d08040f598f44304fa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.47,\"right_y\":0.2,\"right_z\":0.27},\"note\":\"The second close was also empty, so I’m not repeating that location. The overhead view shows this container’s handle farther forward and to the right; I’m lifting and realigning to that visible handle.\"}",
  "call_id": "call_OGHW1HKuGql46iRN1NsYjUmT",
  "id": "fc_0c3f11eab0aac8ec016aacb26b07a487d0a43bb93717c80af8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OGHW1HKuGql46iRN1NsYjUmT",
  "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]: [-0.0971, 0.8948, 0.7586, -0.5449, -0.157, -0.0898, 0.9968, 0.5323, 1.8957, 1.9362, -0.8398, 0.3801, 0.2581, 0.9951]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1903 left_yaw=0.0729 left_pitch=-0.1111 left_roll=0.0345 left_gripper=0.9968 right_x=0.4708 right_y=0.2054 right_z=0.2643 right_yaw=0.062 right_pitch=-0.1705 right_roll=-0.0691 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -1.7983, 6.9128, 1.6093, -0.1294, -0.0562, -0.0073, -0.4581, -9.1282, 8.8821, 1.1697, 0.1685, -0.0269, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ddc37ce4b9316e6c26fc586e438652aff94cd804f49129ec5a6cbff7bd3fa78",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f498c470b5b4a820b14b25b715a0dee572c51617bc30b6fbb4e6fafa30d937",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c84daf5d2749b32f1a827367d325086d31ae78cf52fa5a4d75f19adf387059d3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.604 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 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]: [-0.0971, 0.8948, 0.7586, -0.5446, -0.157, -0.0895, 0.9968, 0.6399, 1.8694, 1.449, -0.4355, 0.4587, 0.3511, 0.0137]\nstate[eef_state]: left_x=0.2975 left_y=0.0024 left_z=0.1904 left_yaw=0.0727 left_pitch=-0.1107 left_roll=0.0347 left_gripper=0.9968 right_x=0.4422 right_y=0.2361 right_z=0.1467 right_yaw=0.0521 right_pitch=-0.1863 right_roll=-0.0788 right_gripper=0.0137\nstate[joint_eff]: [-0.1299, -1.6752, 6.8991, 1.6239, -0.1294, -0.0269, -0.0073, -0.1573, -10.3316, 6.8034, 1.4774, 0.149, 0.0171, 0.9939]\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": "gAAAAABqrLJ0K6NbDHiG8H-PLMV7MFhXVWKKUeCKd_OVIO_9Fubqo4hwYO_2z8PdBIjnkqGJt533DjOS4py_tglHl_yHR1-ywqhG0hF7Jg_RwZSrYz-ZcTQSa1fcE4cH8Kp6G5Y9SjvpO6NhJHUWwAosGZRXJUpsdHCYmSJUJJLVf_3NRste18GnN2oORSMUJKd3zjYDMFnXXxRykFNe1pDD9bg27URgMSYFptWfNmnZgLknj11fTkuYHuumLesnNH3_0HlAzL61oFFKEgNosEEEynEqPpLy7bKKRGap1s2pf9vYYf_-NvnQbWdpU2Qenvfa3Z6v_bKOvMJqD8NzGk83zFSKy6ZkIstA6myKfDIRukbEzWs9-PfgDAGU-2L8qS21E28qAyN1Jc7lJyhzBiMyLSOGoVcIN2j0CiyOmc269gxqSvDJu1R-Ms7kQalKKxKtSCY3mYaJXuEUAbNFe4S8SylHRYc7Qw1JVM5G2MosU-0jFtMm5Gcoe1tlneAg9ZG_wGvp1MCYEECoPtw0QCtZOkc8ZdJOgmjAvhdumaIIur6QZMxW5J6DCojMuf41y4ATBrVnYj__xe86_Eal8-2NC2PIkV0S-wYN_1iNIO9TUnX_UvPlCs68spzZPyiQ4M1u1Eo0BwtrZqK2CTPtLhCqNixxMUpGJuuwKXKbXJYj9-EfpBzs-ic5XIcTGfhuKn11E8ti7bsGxK-Sd1_51Dp8RvqziiOyN0DTB7g9SwOpXnPdu38bSkG-keg5sd2qGfdJj-gmNDqZ5Q-KWzfn4bAwUM_dxg5mq9ufORyF0OkZiTAwrsQ8ABaTctR0H04fTTddrTD-ZZ3MVnjyaOmR5f7GlIXqkeAXPSrCynQUUFjxt8uM-RUeia_I09DfNBmovLGwkh4HA_Hyd83SAf2R82ScZzHHPP-Nsa-g8l4H4IIaEpa50-f2r2GtQFS-vZ_U06d0b4ooRWI84NkvsENl-ul0GFRD6U_oWk9s48IqXJjDnI0WE7YTEyS6GBmXCE_mjDrg1tG6AKPQdWl18-Kg1JjnCi-MVMLvKuqic_BqxQv0x0kUbuE3FtZqFmtbzEc9vLkCMRPi8Y47Ry6DiDwsvn26d8BWq32Cq0Z5rf9XG6MxgeudkwICBH2x9WDYR_3us8JpgYKNpgix8XNunTreJRBlHErIPWQBi2ZY43DSXh78OjigJYwnC2K-8d1sh6IKQD8Idamz6CZJrG_XpP596SExVWEge0e-c02LzcR2xIwyZyNTVmcJswSBVjsjyKo5eBS5tLPypcruvZBzDSAwGtOcYvpAQf5OympPbvo_Gp1yB1QaWMm_pO0BzrwS50C8Pi7lJuEyxk17LL5I7W_roD3c9AIUjSOwY61pzSXKjJQI-Q5EEEAuYBrzD7I1yQXKuSznPMQSz57sqWpzv0mzIlhkfkFTdqmiRe_PtLKdxIRBkSs97myLQm8tNkULdnmtGVqGX06O_-v8w-JBEazxy-t2D2Lctb-DkBnjGPiMHOIn-MhszQvIuj-qLD64WVvpdVQ-7ZIJ4DnBh3Z-ow4F-eVexGJf4HM_C9v3658kSjs1pngJw7F-kNz_4a8Z9WNORmN1mlFB6DyJ5Dof2p7bopjDTdwR4Pt6SdsWhZw5jGbBi-xGjCtmb25r-lXo-5dhSZiRE4A1Jo8ghnn5kQJCvrD2vAkll-qzXVkaebHaVl5uOrDHVpmQdA_eXO1iGDvmB0aS6OTeiWl2GiGxmdT92G4MKgd7NvpXwQ==",
  "id": "rs_0c3f11eab0aac8ec016aacb26f12e087d0bf8dde36c9ffb1b8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.22,\"right_z\":0.185,\"right_pitch\":0.1},\"note\":\"From above, the handle is now clearly visible just left of the jaw column. I’m centering on that handle and lowering more cautiously, with a small wrist correction to reduce the backward lean.\"}",
  "call_id": "call_CTvi0RrJBk7BQomuGMApNuZB",
  "id": "fc_0c3f11eab0aac8ec016aacb2725b4c87d09a5cf105f4adc4b8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CTvi0RrJBk7BQomuGMApNuZB",
  "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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.1574, -0.0895, 0.9968, 0.5667, 1.8473, 1.3693, -0.0719, 0.4644, 0.194, 0.9963]\nstate[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0355 left_gripper=0.9968 right_x=0.4892 right_y=0.2217 right_z=0.1876 right_yaw=0.0677 right_pitch=0.0727 right_roll=-0.0524 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.9214, 7.0085, 1.6142, -0.1343, -0.022, -0.0073, 0.2393, -10.0308, 5.7231, 1.116, 0.2711, -0.2564, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8d39788a2aaafbc50d57e26e3799c776ae1893cbbbad3316bf7946dd5cdf62b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:43ed037c12184f72b42466fd7ebc956ba9310b2b8a916814243eca14712b3042",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4272b79f969c5b880edc43006a80636fa548c609188e04d45b0bddb1372388c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 6.521 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 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]: [-0.0971, 0.8948, 0.7586, -0.5449, -0.157, -0.0898, 0.9968, 0.5323, 1.8957, 1.9362, -0.8398, 0.3801, 0.2581, 0.9951]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1903 left_yaw=0.0729 left_pitch=-0.1111 left_roll=0.0345 left_gripper=0.9968 right_x=0.4708 right_y=0.2054 right_z=0.2643 right_yaw=0.062 right_pitch=-0.1705 right_roll=-0.0691 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -1.7983, 6.9128, 1.6093, -0.1294, -0.0562, -0.0073, -0.4581, -9.1282, 8.8821, 1.1697, 0.1685, -0.0269, -0.188]\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": "gAAAAABqrLJ8kzSHCcTS_qcQGQDGh23Aoza3gfp-QUryUDvyxM29SwRYQmTRV0mGvLgP1DGYSR1i9md9_oLcW_3PZwQd52QCS6FfydqZwzr_YNEOOQPcLrLITFG2AKSvTcyP8PwoZuMTGgooenc6jVi3I6JccKiF0G86zOZ8pNOFxPCaCTy0czU-o7pBbo8f2_Jf_BfzcNJKe4ae8C4fJ3TVgcHBu5bWSLdcPqCswQFZv5g5Z5y-lKryaODXArPu6AQf5_24IUNCDoDfu8V-LQYmNkD0nbqK-6EQISeaBgETYeFSf_wjNXNE6n5JC69ImttZPPNxbb1nn8eNHgUaU2NXo3c6zx4hFUZANg-Qv-HS_NTbeUljbCc395UkZ7oQhPHl_sRd3d4q5NEAtjeL5G1K6mDSEZKM5-rkWC-nEklaS_z6yijKPRvVNBjJ-7eDFYXoaZi8rj3_e5DQ7f3VbbCF2-Z36afRYoxl7V1BhgwuHoqjZ5phG2RrfUO-FWIA28p8o0dZHixPW0RyFtgDL4faX-YzyA9Tx5zVv_Z0PSrcjJd9bViE5ajm1nZuWTewPvBglzD18lnUZfXhKCWPfzK1XMjoA79o8OFHoXQJ3vigo_7IRSF_Wp0PWPU5kOqCMQoxFTrSXkxmL7vNXmBS1OPNL6JXO_eFKXlOu-ZFF1wnzF8qOCQSgLRuRe23Dn4LpHjzvPanZuQWBaLGWyEbo1vY3gMQLp3bNvm3viGPbFLkdbOeq4ElYUj_ZK0U66o-RXYrseYzEOWh0nmBmB04B_7ahH_c5YIADcSKOPiU1a4bczzNiZjUsQIpi9CI5etlUKIC7IyUjkL306FWD2aCL6uUXxxbd4vJWZu80MMUhIbFk8Kxjy2Hl0e_ijQepRd4VMAzAxJ71TdAdxGZQQPBkGNMLAFLsum1LnKrIvlIPXreAsEZXql7MII9cWRC5ThlTyYL1OTnTMHeodiNopNdr_nTR1Bo3Mk3xBKZoQh0_L15P4oArG7PrKSjX-jylWF9dQHyt-vSgGuKqhsCMChKR5TmL6qXs5QKSMfpsidvDjOF8uSnuGzjEMQ_o_vK-kz6Oh1ubjTP-WY_RCejjjwYEHpXMZ5QYXB-__jPl7mnPR-Luh6h0JWv2XJ51eu2ZRVBoG1TdCut2OEXFLwCZogV5xZg9XGAsTobTmYL_TD5F_WrraDGESWjKW7gyo4doiXlnHILPpN34d9Yqbaxn9xHfz2OA-bWi4DiQMIToLecbPojlSv0mEqULUGyOH6mXScnwgGAoxnqUdFrC4bNp92WIDVMxSXIyRmZ_Z9bQR5GKNI62dFbVJpXXlwom0DOuQp2HcfVLV4ZLMU1H-Cbu-GV4YTL1CalZzQJ2SCNmuwW-QZVlAnzX6HtwLJjzQY7xpyhuxfSzwoqLiPrUDnFrfomxxfayO332rXbJZ1d4vzNHp-0OvoHUfMBkrYQTZyeVX_UK6eAZ2rdodrK9pqEmTli0x6SHBdh5NleW-MhLM7DBgQ40qqf1djn5LlfS1PxNb-5KTlvYlg_dBY1Tit7LKoGcYRyUpm_Nu2VwGvT9gaegGH5nG36huJvisF68kzp3quZgUJLrNWVGvRheWP9GzCLbMu5k0W9OAI2aaLs8kQlj1PF8-8H0SXc7OiZH4YKNOQ1ftvUvvUPUIkOErAkxd_wa4ZSHZQqCQLqpoeQMq02ra4kzJcKH3Ob3k2qnG6yjepCnT9SDya1KnMkglj-8B532qWuJdSiq2xzToa1fVEs4OOTQBLh8GDSbkpau-4gVM6yn3p3c1Cpbp1j",
  "id": "rs_0c3f11eab0aac8ec016aacb277a19887d0adb9e49a2fcf83e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.235,\"right_z\":0.16},\"note\":\"The handle now extends down between the jaws, but it is slightly left of center. I’m shifting 1.5 cm onto it and lowering a little to grip the solid handle section.\"}",
  "call_id": "call_LNw6KoGl2R8ZrOXkH9MADd21",
  "id": "fc_0c3f11eab0aac8ec016aacb27b4cc487d0aa72a8ab8ea921be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LNw6KoGl2R8ZrOXkH9MADd21",
  "output": "executing move_to over 2 steps (0.2s)",
  "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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5789, 1.8618, 1.3468, 0.0135, 0.4751, 0.1917, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.4925 right_y=0.2296 right_z=0.1874 right_yaw=0.0701 right_pitch=0.1177 right_roll=-0.0357 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6479, 6.9265, 1.6142, -0.0904, -0.0171, -0.0073, 0.841, -7.1863, 5.9009, 1.1551, 0.1636, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5806ea72f8966d92dead0874043063c2aefb199a093aec32a60dd9f8d0ea099e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f31ca3dcf104473434f799d8bd4e2bc241ebf6091b2a6fa66203dbd1fef9f77d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ca2f7b3c37fa1ced82c56b8514f0b6aff57dcf3285d482c0c1106ee206f123e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 10.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.1574, -0.0895, 0.9968, 0.5667, 1.8473, 1.3693, -0.0719, 0.4644, 0.194, 0.9963]\nstate[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0355 left_gripper=0.9968 right_x=0.4892 right_y=0.2217 right_z=0.1876 right_yaw=0.0677 right_pitch=0.0727 right_roll=-0.0524 right_gripper=0.9963\nstate[joint_eff]: [-0.1026, -1.9214, 7.0085, 1.6142, -0.1343, -0.022, -0.0073, 0.2393, -10.0308, 5.7231, 1.116, 0.2711, -0.2564, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKDqJc_xGRApwSAHTp4CVt09O8yNTWehu4HQSYBP0FjlNPFDfYuKED23qKwAHdxkT15MnCe07gpTT7thnaKjDSUDHbsPtyY4SuEEh-PJFx5BEBSJ2-2lHXfGTQQGVY8gbW2IE4whjs1bNp_AFGOk8rcZYaOg96ZtVQw_qjgcIBOikK3jCtI7Dg5OLy5ikp70zdCnULGe-iPP3AxNrBR_yFM5tlF8CPfBCi90rhYrEQg9LT7rSMGMBcslSvnfa6I3KwmPSIXWao45j1_BfhduT3ZmQVt8pJIb8hIgK8enX54b2XRw0VZbPXpJgjH_H9cS2v4aEHz1FtVH_qg5E8CaaeFAsJW0lb6-IRKP8cXyGWGFJ2tBVpWesTG9wp5aSe3EyiS9clTuOOjkMB8sfVw3-cQkeX0ONGm1v3SjNWCRjX9f_cYrSlXUjBDQcksZ0lBhAMssVQwme8G2KC6u59TMCDnPlT44qW9Ez6-2kOHocXqAYFnMxflGTei1KLthWWq4uyWjJHXPdiZ5M4bulrotnx8j08O0kJZGw_33u3oYTnUtj2aZ4s-7vLNbAlANkZHQGCuTmSh3tmjWX58C0gea-1r8eSyGvuqTYS1uf2hB7HCpvXHaMFpqwCi5Iu0bD3eL2AvHF_vqdEzjG7luTYAk6DCTbuwqleDLGUHWi2h-SSTqdK_1RfD5ghNyc4okjQJ7-h-HLHqVO1QxrWeppdTgVGbZ_PwqwtNR_IQPAoekQ0DEcG6TP6C4rnzN3SLbL0vmW4PVbZDTwDbJcZKrs4vw2Ur4lxuHImWk4QBjBbLkrH6JDLV2KqmoWwTU5tgjMat7kRIvyhi7ZSXoC7Plgo3ux5xXCui0Ix_sS6U2fq2eutNIgo6buLlM0tTovgNooLr9zlz0z28lVBUsRSpqrMG7fqQ63BztP5942omIdiih78ZvkZ3HFYiugorK-PWbJAKHIH-ZC8QRp19Umoij_e-uTwiQgdcJgPGhzjaXP4Nga_-0Dpk5swAQIH3FjacYncyURAoxo2G0P3oU2V0nO1HiJfzKaRRc_jaK-NnNwcbpth8XWbf5NpDNqoIKmpMqKoPSbDMSDECA5KRxuh361OdEJA7o0BaNgctmSquZQ8G5VKmXjmTMTLtNWoa5_bZ06v93eCOkGbOBqRl8knT4Cijvl6xmDJM1I1Wttoca2IA1TNlUPDUSzd0QmgSwS5qmndyFT-23XXaTMethLKd2P6FZ7x7rw_NNyTPoquAo4voMxEk54O1kv44Xy5V7eMK5I8XnBybe8u9f7KtU6cZaGixMs6n1a_7V8AmTJn1qSe9ZOU03WE=",
  "id": "rs_0c3f11eab0aac8ec016aacb281463087d0836a187260cc1262",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped at the container, with the handle centered between the fingers. I’m closing at this contact height rather than pushing farther down.\"}",
  "call_id": "call_wBk8laf8tkhDRHJlxadpRHBj",
  "id": "fc_0c3f11eab0aac8ec016aacb2821b8c87d0a37ca26ea2bdbb12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wBk8laf8tkhDRHJlxadpRHBj",
  "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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.5957, 1.8984, 1.3338, 0.012, 0.4744, 0.2028, 0.0146]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4883 right_y=0.2378 right_z=0.1625 right_yaw=0.084 right_pitch=0.0732 right_roll=-0.0505 right_gripper=0.0146\nstate[joint_eff]: [-0.253, -1.6068, 6.9128, 1.6484, -0.1099, -0.0513, -0.0171, -0.1436, -9.8393, 6.694, 1.7607, 0.2173, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e274a95d5132029a82a4275e02fb72cbee7b0e3f589288792eeae32003085c2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e133ca1345c6c638d921aae5dae3b05baa7a43e1b7d2e822e55ac4a0fbda051",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97ab7a7c443d3ef43d7029fed27bc85a69184cf19e0d137d9a133b6e8e5d78f1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.624 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5789, 1.8618, 1.3468, 0.0135, 0.4751, 0.1917, 0.9964]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.4925 right_y=0.2296 right_z=0.1874 right_yaw=0.0701 right_pitch=0.1177 right_roll=-0.0357 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -1.6479, 6.9265, 1.6142, -0.0904, -0.0171, -0.0073, 0.841, -7.1863, 5.9009, 1.1551, 0.1636, 0.0122, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKOsnjmCB-wuSsjJYuWGdApNG0rmW6a3YmsecCbB8NRjzIe1jvDqdX7oZkNBQ9aLobOaPFnRem9OENptwtn2rrceZLIHrMvHmzTaTen6N87Gj5rOwGAV_4d9Vy6EKpLFFbgOwddvgjPNBCXHIeuvf0QUZwChE-INQ8ULJH9-HZCYKB2IPHbmtdw_qAxUXOTTBWnAvgTXuRNLWGlni8KlOSEsP8NcZAL4hox4uiih6Q84QvH5HWsB_D5WvNF7_RtZr7n_Okds1m9EdvOkcJDgmyfJT4VoPB48o8FQ1hPopQSF-50kbGUp9XUOPRDUWFTBH_MLbq_W30hRenLRjSyLzRqGreAzDtWYs5lCNh0cj5IAeHWIZ1qjQxlqtjVtlyS6KjbsDJYRO8u_aZD9YTDnqs3k0yih1tZiY_KD2YnJl9NY3juFfn_CxqY7saQ-Srgl31lTR7WIODu0rK9nASBV69OerB7YNSlntm6QkILkIouN_Bevk2L6KaL16nE4D-52ZobbwmDqdPbqZul39nuZuMc2cVSUIQFyh6uhIzc8oeivPUTKahvkL5EB3PpcarwTiCd-wY2x6r0iDEd7vngTpcx2FQKTcCDhbjetmmI6cuYxabrptzhsoMoJ7-edrPf_W9LGPV1moVn4iN0uEyfCuJ6mHq6fPjN5BuEvUlqe9cJK_XC9d4WjJdXlUElXc_PK70Cc1NA63iRwGj_8teD2wU_8psgCcXgVY4bBsdSeFnhOrl4PzDKNFRSUhu8UNH30d5JKUoPBy5dWDsHLcnsF-yqSjjSVfmJAHy5ajt2GKp6c2VjaxHfrKyZb98ALl8W4Ux7-c3G64MFAzOEazInNAcHi6eHIjxlmzmH6tp6xZJIY3jkshvzidP1fofs1TJYavtFKsnsofl8bwb15mCasLBTkBZMd6LvcgOpugK2uwbhJKrA-IvJMXwKXDSa3lzkYL9UMmijRKZBUqTpiq8S9M7E3IhUUrpra--L_ewx2-CfrHr011v3lgspuxvQ5vl8h7JFXgtcU8yp1QprsO4K7obC2DU1V3AYd4j6cTo90d3XKz7ge_P1nBv-wYtoMGnuoA5AyT4GPUgzB2jWged6z5nkJlOFXSwvtsXZbVCdjAtTaQzC-1pLRc0pHw3SYJKEtxkXHDMgbUnKnK3CgVPCnGCe56J0yz375V_fGC51fHajrFgyeiBD5L7_jRTb8EYsLBbYJ_t9QVkkQaZU_c-I40T8L2Wp4ZhZ_ilOpjgLsFiL2xDwyxUICifwragzugnC7lFy-e89m0B6s7qbFFzll86BU3N3DyvnGEEJ9f9rBkfnwL1X2ZcjHDOLPNZrfs6K4BT_9Dh9XZ3lJ3fuI8UAbRg4T3l38y51XeFShRlG5uKcrNFOAiq66n38B25I1N5BeMZuy-YZWHtL7zp9phSYV8BtxHAp5gLFaMj94lDmKk_cZBDk59VAUfX-S-Wfn5NS_NSIYJOwBw-jdo46LQcNPnq-JSn-1qR9SBTsUh6M4pdZ3vQnQosPbNhSTlOW_fG0O47VEpiH3L3uDc4Xr30aE_DuljPLOySamISi4UfWDYJTLxNoa-iZJfyZVyyLWC11bYUtOdAYhdadqObyWPeBQMn3fmT_Z95r48Tv8H7kaI1UuBhO8GVs5lDCyHMIUhEPaO3XO41dMZlrmmAAgaDyz5pdw3ZgSRLNRdM9cNSAFrOiV2ISgiCqFGdwCHHtDXhRwjKqnh2oa8aUYLSoCYb2NN2F8rhtmg_Pctc8MTUfV19BHYLpXeglqSyfPUL12yMin5Ofvc9-J592klib5vHg9hqSj97OKcZec0wJET0CigRxNjdbbTt_9TVS8S4WADYh3BPRJ3tQXCv6ZICUj646h-WZ_29506fy_8YYMtHzKkBdzQAQwXucvjDR1CsMS7KO2HRj9OecFEGxJuTfN5fYQ2MrciMtTFcRW2wVtGpQlnq6SQQyZBUMRxhNsRHzRTQkIVjfd4-i59xCOWyMcmw9c7x3Attl37vRL5f5W3JAXzhiIJn54-IDn5JY7KB_HdVvl5AGa4cS1Q_-nyp5gOuSM3Lmx6p2LdscBufyKJV73gVJ7-UkcMxxrlWllrLGXxm5kqqDs7LYRd9Gd1BX_um1VcBuuVe0fOXvT8P1yw6xh_yFS6OLVV0E1-y8IMYj8VpqcIS_AMkRCPSgKjK3PIw99zgL_KrYzwohWXRof_1wXEQSKscq_juNmIBMTYiTXnkpNuFkmx0vlO5MeHFXUWSCCjGyhqVHTBEv7ijLKgOmvFur6xFCGcM__1bLaoSrI0NYD5CdY85wX0nmht3R-xJQV4_1iEsq5LgXlnF6zwpGwylCRslssrAqOeoQJCtOCBRJI0LAsGEMaYvAiZD9RsFbfUy4ogjqA5HpvH-bbcGA8PNJau8Mu1nKPhIiqHhxcpTN03qxAxfzEk0qLTGW67Bcyt6-si1R_tqu44C7cs8U5o7ZBSc=",
  "id": "rs_0c3f11eab0aac8ec016aacb2862ae887d0a16fbd78a7d252d5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.535,\"right_y\":0.235,\"right_z\":0.29,\"right_pitch\":0.25},\"note\":\"The fingers again closed empty and nudged the container forward; the handle geometry is not giving a reliable grasp. I’m switching to the narrower neck, approaching from above with the jaws open.\"}",
  "call_id": "call_o7e3yqtBB0c74JFxTkYJWiBi",
  "id": "fc_0c3f11eab0aac8ec016aacb28d352887d0bff54857f169a751",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o7e3yqtBB0c74JFxTkYJWiBi",
  "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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5518, 1.9205, 1.6714, -0.1364, 0.4595, 0.0967, 0.9948]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5285 right_y=0.2375 right_z=0.2721 right_yaw=0.0982 right_pitch=0.2149 right_roll=-0.0642 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -1.7846, 6.9265, 1.6288, -0.1245, -0.0317, -0.0171, -0.8547, -10.1538, 9.853, 1.8193, 0.0611, 0.1099, -0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f736d1ecb15bc935a971d62557b002bd9768a2d83f5da7e272c583d2964cfe81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd1b69f2dd390894152db70ea8922769c203326143fe9b5d504ff851615affa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96f63e81f455e4aafdf6738a962c3998271c313fc81e40ea1f992426f7820a45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 8.04 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 100 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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.5957, 1.8984, 1.3338, 0.012, 0.4744, 0.2028, 0.0146]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4883 right_y=0.2378 right_z=0.1625 right_yaw=0.084 right_pitch=0.0732 right_roll=-0.0505 right_gripper=0.0146\nstate[joint_eff]: [-0.253, -1.6068, 6.9128, 1.6484, -0.1099, -0.0513, -0.0171, -0.1436, -9.8393, 6.694, 1.7607, 0.2173, 0.0757, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKUgcVqvoO0beSMFdhYbYIrZJZwtbU13ODGIRupDaGvLgtUEwqDce-AFPCpNZusdQ6cJV55DI9bQeomjUj02q6ZjGS7V9OHnXNFU6LPYMEPzgYtlE00PrgE3QRO95pZGkTCpYKQ_02T9WlIHrAE4FDUoSQhM9k3Ma3c0QXj-Q-yPuKA7ZWy5hGql5rqPWZwgWCFc8IeJit9re3x6_ANwztvo496vFkNuVK_sSv5dhRedFqjhD-uLxZczNXlSr02XdhMDb6rMz1_rlb59_Menp3_4WX89tV5vyfOQdyBoTtHB26PdlFCyS3xPvNziH8TnHJy38OjmLmg0A11X-91o8Ta4S2LnekvmLTPm1wJdPX8j31_k260s6pkh7PCb3KtKqzkO-y2ffzZXVHz-Nd6tE9dnd63WbDGZtZXwXtREWvTNrQV7QPqF26efbSUpZV41j_ThIGyp1IB_oFEWMi3sZAXLlFWu5XNXAsmfkcqc56wXOgGNla6E1evEHtmuHXp4E_c6rzfMLu7cWfsNaiM6lAVzuPmg36hkZGauH-w3rH3eCmj3sBm0vq6xcg08iqa0EpubkOqGe4U3_sFmpFUsp02Pjjhabw9mWkDrfbMSPYA9s9m2gzfP8Bn-1HQRyNGcMYWcJCZ7cwsuozxThGn82yZjkeaoG_N0IJ2RSx16FKFoQOD9sj2SegJYP_qf_PVy3J1cTiQgxcS0Y0vjnMkfEkS8chYRpUTnFqAAqKo-GDOs28wa2GYM9VB7SIhjNndTHJ3sKLwz8qyXol6KciGeF9uZZTI-zm3FyFwH64f52hnYU4vYe1-laWz4zpY3AD2AT-CYYz3FlHjpY_O4sJ4UBmo2lUw3yYjC1mhZ9-BdaFWK4u82baE6U9BX-QXZM2a92zNaHVnDcJaS-gi3gLn9jpauhX5Thun_8p-w4Tdkz4SEqXt4Ti_cradXDAS7yeUCSHz1ka9wDK4wS0esVM2lQ09iP6OJkroO0T2Um7_HGHW-oKF9CB7bxac_aENUY8k1fPG23DtKjrsVd76IdSH8WpN7R4fSumpItFHU0w2nefI0Y0fBQ6nU4uN-2PGTHR5faDTy0I5Loy4bCmGevAN7Hx3TL22lV18YFQwz_6reqmFH9itwvb94K1TT7kdWIUe1c91Wi7_T0C9i3HUrFAVtbETAV35SR06pBLy5meC3MJzb4bp3Lmpe9UQ-leWYiQoJDUDTiYPkkgQTNpgJWBmIo9QpiUoHour_miqo9AljOxUj0QVukY_om5ov-WA4YleY2Lihksc7UyOYA7eZZ-H0gehhp55B_yes2p7m_bX5pBZ0LmWbVNJgyBlELY-EOVDS6a0NMN2NPG82inIEbsE8ZhcUth7XShJEdKvwJhK5bEjCIKeYqcJUEdn8f-SSYkcpuIv",
  "id": "rs_0c3f11eab0aac8ec016aacb2914d8887d0a07ebc6eaaa41cd5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.245,\"right_z\":0.225,\"right_pitch\":0.35},\"note\":\"The neck is clearly visible and narrower than the jaw opening. I’m moving forward to place the fingertips around it, with a slight sideways correction to center the opening.\"}",
  "call_id": "call_10TVQVt23OoziN7AQ0gVULQk",
  "id": "fc_0c3f11eab0aac8ec016aacb292af5487d0b83f110f058ac67f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_10TVQVt23OoziN7AQ0gVULQk",
  "output": "executing move_to over 5 steps (0.5s)",
  "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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9968, 0.5278, 2.0907, 1.6058, 0.1486, 0.4412, 0.0402, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9968 right_x=0.5658 right_y=0.2467 right_z=0.2044 right_yaw=0.1157 right_pitch=0.2544 right_roll=-0.0919 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.8256, 6.9675, 1.6386, -0.105, -0.0659, -0.0171, -0.8274, -12.6291, 7.2684, 2.0781, 0.0611, -0.0366, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fed59ab1c2ecab6b464eefd6c55517e6b5a4f76e2ce479cd66ad8392b5edbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1d6152b81ccfdb74b76f00681588b3716b37e41dfabe5747b4f72cf87ebe25",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a67c8bb8e51b1447234afaed6adf18fb2ef2f9c8681895bed647b646f488bb7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 3.943 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 104 changed as sent

message 104 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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5518, 1.9205, 1.6714, -0.1364, 0.4595, 0.0967, 0.9948]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.0728 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5285 right_y=0.2375 right_z=0.2721 right_yaw=0.0982 right_pitch=0.2149 right_roll=-0.0642 right_gripper=0.9948\nstate[joint_eff]: [-0.0205, -1.7846, 6.9265, 1.6288, -0.1245, -0.0317, -0.0171, -0.8547, -10.1538, 9.853, 1.8193, 0.0611, 0.1099, -0.1001]\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": "gAAAAABqrLKcKzPZVxmRbfFs65XR-xzoSzKEtPz0t51js2aypk4LdwaciQ2_aE75MiOSqOG7c9qORVnwCBYIByf7UL5knb-LY2vVqq80nagzJiZfQRdRqgN-LJkEo-XOEA0a-uzeo5ksktu_uiosMVqtLv2VSnWYNgIXPOYaPcSZdUrfFgIvO1wEJMTkPAj4qND5lzRtsBQi9wklAZACKNlQdOKcGyqO7x6YjaHB0QibTN7jtSYxxWdlYSRMjIVhjV38cpwOI33nU4UwocJlD_WM7aEdQdLqFJ4IXlLt9ix68vqFZAmccJ_FIGq3K3RIWTblWDHtnTYRZRWSwSdByuB-eRIb2T3w6EdMS1ZGSnn4txruppSTO36m5MKgTWSHe3BcMo5H6HhFTneHrDnXhLFd9kj7GeQIyk0u439Y5Ss8AXp_sYB7nWCHtFcqGteqYY-91w8ID-77HRPVmpouk_pRWA9ZUtLWsbFcbHd5YwDo8nhIYW3rdN7_-uxZzQgztZeuGshRnuNBn4EIZXaockdo3aPRV36BMXOWQ1gkn1iJLru9HfNS2rCyN_TwsjAj-s3uXKCGerzYhAoecdOOE-v_Insc3UNYzqkcMT2031-VoIiNQRiZZCI1V9yf7LRGdFY4HyVEPk94helnq7G4FpUIbeNkmtGnIijGZwhPX4Wd_Sl3djlbIkk7kwCIyFRUpBkMPpjM82XGMuDAPiPGAPkxSSF6N3e6Cv1C66kdRpzu6R9Rfj7v0Ee931fc4YME6B0SqbLBqD_6IWB7xNu_shLlb0awqSDH0aHA7IXTwacOPv0CZESC5VfPujWqm-j89pO0ATOJqQrQQxbpo2xbCdlNFKqxLmQGotY1T14W06SbOGRLZum7LYViESW-0dhfnFrreMQluWqjTTk_ZHyPrfsKwGLFMZh708uF0zIJXLn7viTlrGIXvXObmVWYbBiN501JVOUOMwtmwtgZfP0kTS_aZLYVCYM9_tdzBh0pAenYTYYSUHssu8z3dbcIRPpBlhXrzLYxQOVFjsMN5lGq8IQ_pN5ofhU9laiys0chbVowEdfv_PwPHkccC_xWd10GRmMBpRFCibtHIP3SN6JQuH9DF_0lLeLLDtfog2OzZWufhjYAliDKVl7AQUf8hUeqPVgSDvzAiXN4VsaUIqSdz_Z1oWmB9eVOwK4NVSW78BpUPFJrfz9xjFTXG5xEBK-D26cXQ2puhtIVXGdAYubvu6yYCIbTSyli5TUvyrVFT3Hd2VkX4Qubj7Trkt9f7-AipF3aA_I4gWTl6QhS_lkl-F5Rp-bfi0G3OcCOpE6gCydmc2jY7QYO6hmyJ7clqcmQ69z5oUWtHfGyGL1flfA4_BHYZQhJ5zEG1oPL8aZJgkLBQIT2ij8mVmBhxjzXYNlbZr4S6ZDzm8H8q12_1eAEmhLDFiiFquTuJ13iwpExN4v9VSn_78BGzFE4ubmVUfk8xABZ6cDUbTTX6d0Im3fTdSAVZELcixgwGZQyScRxA8wZmRzYlpPmVS3ji4Obff-uD41amJ2Lz6EERWZE0orM4DWDFlhSgc7IjpPFx4SjuZLVbRR4b7Tfv4bGCUTsrFbnuM_81NTkCnR1M1d8IXg6IugHtG5AM3S18jw6ciMX1Ado_U8a1RkSqkP5nqDjra920XFu3hrEw5QMMk4zF1-QvRSwK-IXflRpRFUI1OLAeFWroPrUxe_lao9eFemx2vi3Ml7kpCwIkv5pjIddrgf1KN4VS1RpRfZIQeBKc-S6TLWmYnrAd585y-_LsRqremcyin2XIHx6P_JZIwJtrT0aGcit-T5q3wG4gInJJkcz4hO55eu5dmWUsywUPmj9_7PImyif6yAPSAWLJd82ZHMheAqNQb58Bc6V3aQkruLtvUmlIlQ1uztCWJayAqgsm19VdP6EDQ_CILmdyMlVrFAGSfCVKGsjuleAycjybApM1j8de-PECbr-uNGwLel4y5WRiL8PjJgWaSBX2RYMy-gwzYNmPrRc_uuef2nUl_efh3OQO-TvI8cB5w9tK6L68jXxL5vv-udZID3_mzJ7BNR9guxqpr7a6TwEi3ow6pEyw-E3B4PQxPGPl2hlLdQK4eU33nL1NZClpeLgtBA6sbYXZj-uuEMkjZ__Q1nJPT61liORu4KopmnU-myyi9yx8zMzAwdkHzooOG7bSnaxeGFFFK8e7T5OuUbTxvndrJpj5SM-SDCzlq2V4nzv8lpBpfb3VGthXij9qNZgKJ_1kbVU_daOjzHJy_ZW3DvK0a8aHpO4tFXFIMRTuyX8_mmTTv7paBSAH7UqCqQQBuJA_ghlpEu1m8on86sRxuCY04mPFGwCoKfFQhtoqhl_TW3f5cEXIgUiNdUtMXd5BVveMwKprvRUhn59N7T6wg==",
  "id": "rs_0c3f11eab0aac8ec016aacb296764c87d0a645b4737ae23173",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now alongside the container’s shoulder just below the neck. I’m closing here to test a direct body grasp, which should give a substantially wider reading than the earlier empty attempts.\"}",
  "call_id": "call_ungj77A5QUdMejdnwUDUaEMj",
  "id": "fc_0c3f11eab0aac8ec016aacb29b5f3c87d0b12771c1c8fd4775",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ungj77A5QUdMejdnwUDUaEMj",
  "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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.5259, 2.0968, 1.6016, 0.1703, 0.4332, 0.0414, 0.1553]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5675 right_y=0.2478 right_z=0.2034 right_yaw=0.1189 right_pitch=0.264 right_roll=-0.0836 right_gripper=0.1553\nstate[joint_eff]: [-0.1709, -1.7846, 6.9538, 1.619, -0.0952, -0.022, -0.0073, 0.0479, -12.7385, 7.3231, 1.6239, 0.0855, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125721e2753894fdfbe2d44683c970383e720a20cbd829e83f0214b6b0266106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d6597220266b8281ed92e5a767b431f8b44bd8bf6b28fc1ecb833309b2e3b77",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d47a1e40135683123109f5caca5d6392ad887416751f5a2b1c3eeaa79f52c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 3.935 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9968, 0.5278, 2.0907, 1.6058, 0.1486, 0.4412, 0.0402, 0.9962]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.073 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9968 right_x=0.5658 right_y=0.2467 right_z=0.2044 right_yaw=0.1157 right_pitch=0.2544 right_roll=-0.0919 right_gripper=0.9962\nstate[joint_eff]: [-0.1436, -1.8256, 6.9675, 1.6386, -0.105, -0.0659, -0.0171, -0.8274, -12.6291, 7.2684, 2.0781, 0.0611, -0.0366, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKhg15jNGjD0cgP9gN7PckWfOZFgRlmsy1hwLaNdudHMOYtOz2DIDYTMnTDd-VNEKqxOWyfC6C-4HIsugnxvQa_NMPH5OrF7CKeOl6wWGWHJUVIK9yykvnshCoyUzSTKe9ePoQaN5Z_2uylpn8ZJSuvpz4CAFf31KUeN4cHe2ANh3wBVVAOrWSjFaJH13AP5wcTS6ullHkc19aRk8Tu324Jxa5MgRRC6n9sRQbvHkefaYK68bNtKuncKVHfisxP_FH2esfljz-MVGcV_9n1Ch_PyNJaT0ESC7Tfyu0NgRgGebTYZxjkRuE3NGbHKnHvOwa-PesSbQjtOqVoUke-WB7hVkx1jvDSwvqt9oRQJ6eTFzev1sbZruVep1Tt6gTNlooAOcPT4CG6bd3NHQWxF0DVK86VgmC1clP-ERl-gLckVbSimWWh2Uepv0Pp-A2brHWeUTKixUAEnetmBM6lF4V5ldswY40Y2kzzl2_9Be1mP1-cHO9sy0TEYxh5wQwcbLWAwPzFwzAa4sdlQULu6gqCPwDros2t3SSEmb2jyO3nJEOeVEShk1Gemk2QvjUHT9Zj6jW1AOzvxVky_p7XjXQtDk_uSLUsPYPbwqN2YAx4dbTxYsqC0Fj7S9AndT7BwLshc6v9VJTwhBncLsD0FQePn-NB7klEixwE4MWNS62dDu3M9GB_Tdjl1UGtJ7J9RyEmZ0NnCyLCFfpQYaV8ZTsDpEzW3Aq4atqbY-Mjh0-_AvnwUhGLyA5lGC8d9PXoraFJitTM5BKvxZqrY4tZ8woTNMEDhuw6G9RRFSRZUq3UmBMpcoM_0t5gmaZotEWy3GUa593O192CRV4GodkMR3qPByxH1w-jzovr3WP5sbaOA9lze9S2aFg7dHJcSH9gA_Hyn6yPomebOje7PWIkXlWNkLPqw6CwK1j_sllDFmuZPrSsN7cc4AVip8NjYCJ1M_jpcd86mkkIgEdI9TvebtqH1ppxlbY5kEcVL156nq5vc-QaAHVYQ1tBG3A4jV_yB03Gmxy3KMLaM2QUQ0_JBf886uWpCheoiEkfXcaL5J5wCW8GWZ-TY6-4w00cWWoBCBJY1nD8S6VyeQ3h_BBneMG8WHc_4rJXVwXy9-TdEimJiRcNjQdSxReuLJp99TGyoNNptHJPsfwixjZYHn-H6OXuafe4geqIQZNRYaNzhmV4pNOooh4EKJn6z7_L3Gg3koS3lDSOqHo0uVMAauqBJlxJPW0iAww7G5B-zVJs4NhP5hk=",
  "id": "rs_0c3f11eab0aac8ec016aacb29f74cc87d09b4f141122c633fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.285,\"right_x\":0.55},\"note\":\"The gripper has stopped at about 1.5 cm, consistent with catching the handle rather than closing empty. I’m lifting and moving slightly inward to check that the container follows.\"}",
  "call_id": "call_49uIOQnRe9uQBxC7OOLLZdJz",
  "id": "fc_0c3f11eab0aac8ec016aacb2a0097487d087cde3d0710d5f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_49uIOQnRe9uQBxC7OOLLZdJz",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.0967, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5377, 2.0735, 1.7256, -0.0803, 0.4355, 0.0406, 0.1557]\nstate[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5582 right_y=0.2503 right_z=0.2208 right_yaw=0.1382 right_pitch=0.1691 right_roll=-0.1267 right_gripper=0.1557\nstate[joint_eff]: [-0.0752, -1.7983, 6.9402, 1.6044, -0.0757, -0.0269, -0.0171, 0.8137, -17.935, 10.988, 1.9707, 0.2369, 0.0317, 1.0281]\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,$blob:68ff1f1d82338f291ad4b2da29aedb3bb1ac76bb4aa7c0277231e4b428f31b7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3441546224fb07aa4f62a53b84e48b606690bb691b5b71ca4a691905c87cf03c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 299):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:098230e498b0ccb3f0cbb43ed4e8f919d63065417538324b6c3bec76add704b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 6.909 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 112 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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.5259, 2.0968, 1.6016, 0.1703, 0.4332, 0.0414, 0.1553]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5675 right_y=0.2478 right_z=0.2034 right_yaw=0.1189 right_pitch=0.264 right_roll=-0.0836 right_gripper=0.1553\nstate[joint_eff]: [-0.1709, -1.7846, 6.9538, 1.619, -0.0952, -0.022, -0.0073, 0.0479, -12.7385, 7.3231, 1.6239, 0.0855, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKl6FD8qMwvSQSUTUTvywg8YyEhAWKWmRX6yLQtuv1iZtACvy-Jnv4UZnyCwLw5RbJw_Gx9aMDCNqslT_c4msOpXxrzhiXK2zT78WILiPfMn3lZR1SHWVkYORTYAzVZToApiWtyw1DROBQ8zrSTaUTCu5TGdmkxgqcqevRTF-r7VqY5O-XCXRnwzkD1_OgHHR89uDXQjJbr9T2Ys8pvjLjJupoaQbazOJeAPNFlln2In6A4lpFtYRTdWsGdiqIeMJJo8POEJh19bJO0C7xi-7GJdIbvMn-ZPRRcqrx5GjMEwfFZz7XHuhpADLZjJbi586hT6wmz9iPIYFhg2Hfca1B1f4kl5iQdKNYs968WVZrY_m2UKR0IS_yjMfKoQ6Fa0s4RXCKWxdSvMIk0FribmXDnhc0V10_GfN5ETCzHdSKEgH7cHejHk4o0hLm734RutU0iiVhFgeZt8Fmg1MBkdUn9Wi7WU1It3CMVSagZ6RX-IQvbvIppRVempm9SOIxteu3k-9oahpSTF4r_WrZKgIV_0Ev_fBwUp8CPzPBHHChr677FhuK9zGwSy0lbYd9JKOhkc-pJlD3fBBlaDczszW2lykw33s4RyQzl-CBCkuHnX5ge_0N3f1IGiEp6yrsjEbVXYbDB1OXujen9B6f3mKjaYxHqfJaI_HVvnacKloGJkL1wDk_J-FH-4D_3Sg80xT_zWNyO2ONTW1Cmimzlrx0w2mwT6PDiLQWLmhbUSllIT8KAkSzjygQlL-PPYkYzpmkX0aLDZL39qXPaw0AF_A-QBIs9Vboh5izMjWASuPfvMpb3qDrCVcB4n9BQr-7paZmJ5LIKSLH_u2lXwCP_t4WTC28kGERcdWHrRL33l0D62GC6shLEZ51zC41VD0n3I8mzUg3w1uGLqoAucjaJJiaql7rvsHJW9Z85kLPY1eP3gWtccZYlwzJLyHivfl3KJ8osGAnNicr7fNkpto-wINWYfBVP1TX3ro77KJsXxQauZNBKpKQyOYGa7-aMu0DIWBsp3fsBKnEScVEvl35mPc7LwDXq4ExfUOs4kaQkLTOKLIDMRebjqCzVjOkV62v1c3ZtLe5AGBLP8J-Fhapqrz4HE7rKRQe3uK3Ph9UFgJkgV2xhnfRGNCUij8cXEpBuQUue27_4k07GCxTthehwzASAQaxMFUqfC9Z-13xN9riFExaq38rOct3MkVB50qvLH7oHiVm7O8NrPunlGcrEplvz_v_bu1iat7Sk8CklOJ7QZKM=",
  "id": "rs_0c3f11eab0aac8ec016aacb2a3d80887d092d7130d5a6c3059",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.48,\"right_z\":0.33,\"right_pitch\":0.15},\"note\":\"The handle remains gripped, but the long reach limited the lift and increased the arm load. I’m drawing the container inward while raising it to obtain safe carrying clearance.\"}",
  "call_id": "call_uL2gdcfvbWzQ9jfNDEZbB1Ow",
  "id": "fc_0c3f11eab0aac8ec016aacb2a4567c87d0b468dd53adcf55fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uL2gdcfvbWzQ9jfNDEZbB1Ow",
  "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]: [-0.0967, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.6292, 1.8988, 1.8191, -0.4511, 0.4889, 0.0731, 0.16]\nstate[eef_state]: left_x=0.2974 left_y=0.0025 left_z=0.1894 left_yaw=0.0733 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4907 right_y=0.259 right_z=0.288 right_yaw=0.1735 right_pitch=0.0885 right_roll=-0.1625 right_gripper=0.16\nstate[joint_eff]: [-0.1299, -1.7162, 6.8991, 1.6435, -0.1099, -0.0611, -0.0171, 0.4581, -13.7094, 9.9487, 1.9219, 0.3053, 0.1783, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:408f57a63f57a81c5881c6366c9a51a7799aa70ac51606743e3258a18e421c82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c85146d9784a38b488166178e62a4479f871f44afc448d487259db39d085ec16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6373edc6082d0a73e78da963afeb823ba6b943c8a41ca70db4ec4f94ed779a4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /responses · status 200 · 5.973 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 116 changed as sent

message 116 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]: [-0.0967, 0.8959, 0.757, -0.5449, -0.157, -0.0895, 0.9969, 0.5377, 2.0735, 1.7256, -0.0803, 0.4355, 0.0406, 0.1557]\nstate[eef_state]: left_x=0.2973 left_y=0.0025 left_z=0.1893 left_yaw=0.0731 left_pitch=-0.1137 left_roll=0.0352 left_gripper=0.9969 right_x=0.5582 right_y=0.2503 right_z=0.2208 right_yaw=0.1382 right_pitch=0.1691 right_roll=-0.1267 right_gripper=0.1557\nstate[joint_eff]: [-0.0752, -1.7983, 6.9402, 1.6044, -0.0757, -0.0269, -0.0171, 0.8137, -17.935, 10.988, 1.9707, 0.2369, 0.0317, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLKtrqGPiCQWyw-a5XnLjbZjUQqQ1QnVn5KVad5k5RNV6kXsJAWr9o91Ixt7n3SOyo9YJj9F35ZVrYM0DAJdodVql67o8Vg4Wbe3Ge0A8vuJBxvAqvgTc8KpkOTUDulc35ypyZgC79sgeo0pWZTikmS8oKP9IHza98CZiP7FafPVUsoyS5B9MurfeZShYUgS6PvNkU_ccS2eOjYppoc5sTtmDsWFTjAQfLnvX6jTlk3RZXTkonNeUnZMY8ERqLdeNftWzhT_ust4WfwfYy1r3lC9Y4xTXg0Cx-lRvh7vB5AQJC96si4MSqv3ipxM7h7QbequzBPvAcEBTK7Uusit5d1XriX0cuchmuEqcYcT-v6NXwV8J5391TtzCvyZCUyysl6eMdqa6qVkCSIPyrPT_YS2upZH3r0wbitLEYGa3YWvj37-6fqcWVuqnopOGAVZ_mqBAO8mWQ4jtEP7JDEt_oJSAVSJDwbOgsOSLsTGwfdF296ZRXlZRsXV5iQfC7FK3YVFuzLU4T_198lGNtggUadC-yOk54WT-GJek8h_tJwwnWht5Ebrf0qzZcIH8ssMvRDKoofae0Q1N7fHDngsjjdoJFGVGtdW9PqvgIwOE5GDYb3D5cP8axOYusesDxLPavC8CSZzMgHeIoA5Kw6OLeWoj9j7aTA5cp3QIsHJGp0eFgjsex91vyT_Lh5j0ivUIVQoOkn72spKZAxeRtxxp8rAQQLP7cD1GuOzpU7XNjina8yWjoLFbXHNHQFRInNwUvwkQoZCMvNzIDYfd0aPWCvN7j4axFMsgg_9M4qq9XRGv9fKjDC84gCAEktSEMTFjLWlGGCOo0Z2CA2Djo_nxwRTkKkjktOFpD0rRE4uMw1AxKcZ_qCUa8Z0m-uWgzvbc2YgNtPHUTfFh1x2r5Wq2YtRL0nlH2IIoJs9tUv7rUa5_qw8MtYIvfeZKBOefWlP6qT39vIak5xwdr6O4km3vTUWTNaFt9gtdUFU_6qaj9Eks7_0yhz7WEkzozxRwZ9jpWor19tta_a8R_YWcQp3PHdfg_yVmHCRB1CTeH4icd3Wn6PsTtgATx52k1r3lHqvexNQCRflEcwrf36Ts40A58tIV4lUJQWcJ1-1y6sGtlp6A0Gu9OZC94etJcr3rnhONczOm5S8mkzIDgpFzD4OdUWfV2nPd4IgbA8FM6eP91D9DRVke8pvW9lx5JMn63dntvBfBP-mPru7FBdJ3tScIsnoXKc1XAhtrbL8AXNQXIFFXlijbed5Nds7sYUQ6p7jA-0IK5jl1UJPXqEuubi2NoB5vO3_kNjdTi9OktZMk2lHCnUMSQHQj-qsYjmiqZMgLo2BYqI-h30p-dGog1R1F8o5fL-7NjEl-b7-zz6595xYxmIYjElyj0V0TV-VCXz7TnEozWFdYoIpfC4vPM709k2Mx4yIPvogCht7AX7eKR5N9cUlnSATixU_eRE4nqps_wPlTbrdOLnGEPc3PI5vk3STXzujRioVRRpS_gLYgo2MJcJZnRrby1S8-YMBAykSYHs5k8zjETFtkHnzCwpHKZ-8AAZVPnoEyr77sukkP6vCs4ZEEIKDixm-1DrdMH65Oz3lFq0OBmbwoUFvm-A2AhzFDcXc3J3SusEO8T-Gkav6MCJSvrBOflPj6xfi2rqlSz5S7OEPDXX4i5tXnc-AcNg5Ia_MhR52Mi3jvIdQ7xdXLAWEPIbJoP9tjiKTCiFgAPbMf1aO9JADYCMsHT13K3E3aBBYbBpOnxZ2u9fBAm3GQ1TN0UZnwDGDZWs-8b9DOAOL",
  "id": "rs_0c3f11eab0aac8ec016aacb2a8c45087d08cf66a7bb6bd50cf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.27,\"right_z\":0.3,\"right_roll\":-0.7,\"right_pitch\":0},\"note\":\"The right container is now lifted securely. The red cup is to its left, so I’m starting a leftward tilt while positioning the mouth above that cup, not the blue one.\"}",
  "call_id": "call_S0NvSeI4zSUxzhGtoVCrZ4Qa",
  "id": "fc_0c3f11eab0aac8ec016aacb2ac1a1887d0b64f6f7b4141a8ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S0NvSeI4zSUxzhGtoVCrZ4Qa",
  "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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0898, 0.9969, 0.7235, 2.0876, 2.1075, -0.6846, 0.7509, -0.2279, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.073 left_pitch=-0.1137 left_roll=0.0349 left_gripper=0.9969 right_x=0.4905 right_y=0.2772 right_z=0.2836 right_yaw=0.2049 right_pitch=-0.0213 right_roll=-0.6161 right_gripper=0.1614\nstate[joint_eff]: [-0.1709, -1.7846, 6.9402, 1.6142, -0.0659, -0.0415, -0.0171, 0.5128, -10.7692, 9.3607, 1.4335, 0.5397, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26c90a25c537f16b02cf912555bf047dcda05713e48eac24c0eac3c70d7e94d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a73ed8257cdfdf61a4840f289d85efff7bf4609350e6445258bd3244bea9d2fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75201cb04e9d9bca277da0bb30e9f47390754d2bdbe582f95083902bb4b1b8a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 6.614 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 120 changed as sent

message 120 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]: [-0.0967, 0.8959, 0.757, -0.5446, -0.157, -0.0898, 0.9969, 0.6292, 1.8988, 1.8191, -0.4511, 0.4889, 0.0731, 0.16]\nstate[eef_state]: left_x=0.2974 left_y=0.0025 left_z=0.1894 left_yaw=0.0733 left_pitch=-0.1133 left_roll=0.0349 left_gripper=0.9969 right_x=0.4907 right_y=0.259 right_z=0.288 right_yaw=0.1735 right_pitch=0.0885 right_roll=-0.1625 right_gripper=0.16\nstate[joint_eff]: [-0.1299, -1.7162, 6.8991, 1.6435, -0.1099, -0.0611, -0.0171, 0.4581, -13.7094, 9.9487, 1.9219, 0.3053, 0.1783, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLK0gvaa1jk7s19KouPgHieryJT_yM0SzVjWsGT9WLyl7RyisO2WEoKUEH9r9hKnZH9WsFozaNnsv-hbeimBLcZxaU-rgNWeIfLrjPDTOAo98tyLnh5XSwEJub1uvh-esrIPBwtKqU_A-h1CD_P1WPq9w0-Pm3YTPlVVt2LD6V4Nlj8nldRuPleVqRSPa_9u0u5Vv_qOirWm2j7IEYXjMngoFjdUPSs1qsiM0pHAgIJaifiesSfscwWX1hcjXwORXcgVAyZzyTexLHsF2praxDjHjEseaLB5_9opKY8kJlSp2ErOvBAee_Rh0D0J6SI8EUxztc7lBz56VQEcYH0Ddj_h6MM_EcqR8x5i_MIsWjVUd94F4sRqpKLfrLRkPjfuQjvp-rsg1tOvolfj4cXjRp1MTKC_YyQ898yqW47vINCI8B3WjCZP4CLa-eF8Bi1K-HKnxhtYKapQHDZd4rHzUsmvdGOAvdBYHPPD-BmdPFjToBJr3v6MIl1pjoho3V1SyNBsJbgsaOgyJV96gqI6DXjdPJSpH4ZUPWSPWfQWSqNUFSzNkGfpx3nL2lYkYy_0ikIHFytC2iJbdTYeP_Hx8kJxF61wQnNJvLr4AjMFckJHTcG-nu_E2-hVnSB5ykKUzT9yu7YhoE2KJMA7-Vem2xCHRQ4EE0DCickZlvyDSuCKcCdgJiPr9eRhPmeoSNpCJS_HOSAuzJ0ZOTIPhchjXpdAJ4zf2yqpC3Q0JJ1E5W16SdSfEGJJ2PG2TLAB-Jg-vuzZFPtHaSk1g1hndUogQ1Hw9FHWKB6HVECvFAt65QGHhSWWD3F7ZHasRrKRt5r53tP2GhwlPu4bUBD_pCpE-yM6MfyGdJdbrc8OuPWJ0W3M9zKReq4pfSa78pmSNgOvplsV2Zz4m6iS_cE1Uo5rzUc65JGuOq0yKH48CZdW0ut1UKnCX9g-WjgcBlG7PiSUsF0U4z_wj0Efi_OIkzibe8QWzhh4I9kE-zj7ChGgafLcZNzkVWkPQ5v2frFZPPHlu4WAq3Vk68jeoKT2ETtIvS3hp3uON_6zGPuzMYtiR5AOdhsjUFp5p_-05kCAnBTk92AF_Say--uJ7NaxZWo2nEjMmuF_V-d-9r1N7xvqq6h3tB7epaJ09A4-zMQfTMqJ8cV9z1LcE1If6FKW55_yjt4bJkUBNH27YJsUVczFoZJiIbH94y279dP8PSXcWlEiHhwmQRurWuegOxSJCoCHc-6UHUFAV0sXzhLnliCawdl0bMU0B-iY5wwJnJ7-Dhhpx0OX0NPyWB6kw-qRIzM8wbg9U6384eY72gjdFuHJi6ukEbEh0EtLapHjrHYE0BSQiskNiFdl2hhFAcoXIonRYErZxQ==",
  "id": "rs_0c3f11eab0aac8ec016aacb2b1a39887d0b34b3d4d5b3cdc51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.305,\"right_z\":0.27,\"right_roll\":-1.35},\"note\":\"The red cup remains just left of the container’s mouth. I’m shifting toward it and increasing the tilt gradually, keeping the mouth clear of the rim.\"}",
  "call_id": "call_I7hRh8sWBuBH3LomLcD2H9NM",
  "id": "fc_0c3f11eab0aac8ec016aacb2b2b7b087d082b8139a8ac3d159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I7hRh8sWBuBH3LomLcD2H9NM",
  "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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8108, 2.1883, 1.9503, -0.1837, 1.0878, -0.9577, 0.1614]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.4994 right_y=0.3036 right_z=0.2657 right_yaw=0.2273 right_pitch=-0.033 right_roll=-1.259 right_gripper=0.1614\nstate[joint_eff]: [-0.0205, -1.7573, 7.0906, 1.6337, -0.1148, -0.0024, -0.0171, 0.7726, -11.6034, 6.147, 1.4823, 0.3736, -0.3101, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ec6a0a1238121f3e60f2d7a3539849a0c95d297737441be0fa8419c72833ae3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f348c6ad2ec9d20f7215e97aa9d81f05e079e6dc48f0488edc05d5209324910",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beeefc2b4e24bcb2697645903ed408bfbc2f9e857f929df42ff32c850073601f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 10.84 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 124 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]: [-0.0971, 0.8959, 0.757, -0.5449, -0.157, -0.0898, 0.9969, 0.7235, 2.0876, 2.1075, -0.6846, 0.7509, -0.2279, 0.1614]\nstate[eef_state]: left_x=0.2973 left_y=0.0024 left_z=0.1893 left_yaw=0.073 left_pitch=-0.1137 left_roll=0.0349 left_gripper=0.9969 right_x=0.4905 right_y=0.2772 right_z=0.2836 right_yaw=0.2049 right_pitch=-0.0213 right_roll=-0.6161 right_gripper=0.1614\nstate[joint_eff]: [-0.1709, -1.7846, 6.9402, 1.6142, -0.0659, -0.0415, -0.0171, 0.5128, -10.7692, 9.3607, 1.4335, 0.5397, 0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLK7Uv193Rk44VfxgFJgXJgQcDBs3CI97Pic_95jtIhm7SbIKmOPbln0aluAnuhSTPKWfR5xxKjEffwsP3YV2o-BXhhQSF_TjlCnpIJGkWxXO3cN6-ZvEKaFV85w_t3Ig8fEfaPq9reQPZou9-WIT0cLieSiosvL3elUnL-NzeA1fNj0fKp2KlHf_foCEl4s1jLfKRi8b77LJxmLBgJf6WK7aNXewUeIIm1dyveNL2Bj7Gn3tVvkIh6N8pGGOwJQsWGvIaanSB2Hxh68AJ-t-S2y-U3EDarOYcOXzOW3cF3UNU1HNQMbQ3yaI1seNNi9aStkuSItasbmTkOoBwMqc_yLetuZhjwnC1djkC2SrMXycbsueXvwvQFEEks9N3vDq4R2g8nnzHy43UmynBK4S49L-ZGuWkifldPMajxUukm8uQ9OvdPRLx7TDZzDcsT_yfsv4fopyLq-nYG1gZQ-VFXbTyhyxYtKjd_y52KtCHhQxDILzFbRcSfDDP-9hoPueSMcYIcNvfsCHxsqNW2-918P6cRAD5yWN_P2d7j5IgnynqGoRvq5dvtKfB0lh48-i5m5weEEjwtPuqX6rJUqJB8_qFqbnE-LVLS0EgOc9Wal5FLn3-g9382mjPpBTMu_8NAPUZSJcNcTpNADfU2RNd5GX_Ec1-hoNGVf2yQf15dq7JYr_pVMZfKojv79mQebLM_iPEl8HmmweEq_VwYYyKOk5FSqXfSf5Ba3_mlPbingrGOLrrKQpWIbk_HoLzs-T7bUaWHLnrEFbxNYcNSkcOvWNOAhGRzM-R-vWtWruDTENT7kGNOxATeURKtx1IOgeyGcrB0Akm2Mj1iJ0pqMczRunHpAYrwFaebR034oJ5nTyjjLdh2ZYGuYeu_g7LiouBKRKbjj0UZjGww1XjcK2uXIJNqBW8_Sp08dedxqSMHksoNW1odJyiXAbfN1Qtk83m8V8lALf9I38qpe4upWntlk_lz3p4KwR7mxD_zZY791GwB4sOZqbgoqpp88UDLO_7JterG9YTxt4DlC6JQG0Qfdo8ObdxQMndFcjjXiOiEDTMnCP7GDjo3_ROxBQl_qfBMY3iuAworHUETNzrC1thC3lg3lXpoiu454QyeuPnCHeT6j2av0Tpi8BRFeYQCza-ix-EqAvPs10QmztOssC6wSvBwMBMZBags7NAP7olurME_kSB0X8mDZp6Ps5u8OFiZ2c8zLpJTiw8EuPxRaZRQjcCdXUGq40GkFKMDBG8dG4fFfOA3R6TA6cqUIFLyQiv2PAlM8-HwsvBtogkZuYTwKuLkDxenkHodyvySwjBI4kpg8wX-Dl-jxkiO9YOUbatR9ATHbSYypX4u8wQSiavDW5CjWzunuZE505mviYTsXLIbvUh9q_cNXJMyf-CwXNV1v9DG1tFxBx-L_H3njvlxS-YD4JUXEh27weuR_vopj_I2JtmhQDf-RePts8bziRZ_tJQ3Zpfuh6t1dP-MvXFoRZ4mYGnx4myceMUXcdgJTNP7iJuLF1XAyuru5nh55378SMlvuS-iRbw3a18IydF0EYN2_DsfZC0h8TLiK-mD5cnoTGJ-ysEQuJ0YM0xJ2cdVhFVWqzmsQJzTHh8LSzO23JtPCfOE6ZV1UolIUyvmKk2E15JGFYFUVo_jWU9y_xfCbJc_5Px4kKkGtSuJuJj-vxvUoRimoQXJO8t7AGROBd9bq020iy89o2nvYv-gg3mtC",
  "id": "rs_0c3f11eab0aac8ec016aacb2b6c9b887d0a276f1eb68b19013",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_roll\":-1.57,\"right_pitch\":-0.2,\"right_z\":0.25},\"note\":\"The right container’s mouth is positioned over the red-cup area and is already strongly tilted. I’m taking it to the available pouring limit and lowering slightly to reduce the drop into the cup.\"}",
  "call_id": "call_WIibQXZJd9LJjAkdBykKUrwh",
  "id": "fc_0c3f11eab0aac8ec016aacb2ba401487d0a38abbd8a541f0b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WIibQXZJd9LJjAkdBykKUrwh",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8124, 2.1883, 1.932, -0.046, 1.116, -1.214, 0.1628]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5021 right_y=0.3044 right_z=0.2794 right_yaw=0.2362 right_pitch=-0.0599 right_roll=-1.4179 right_gripper=0.1628\nstate[joint_eff]: [-0.0752, -1.7846, 6.9402, 1.5995, -0.0904, -0.0317, -0.0171, 0.2393, -11.3709, 4.3556, 0.7692, 0.2515, -0.6032, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ba082d30ac058c52e4e0dbce9e1f8eb783e1520fb69055cce0dc234e51b694f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ab1efdb26c1d4bcb1afa973d2ca639a811a6fecb7d5400c4ead4946211e7e3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4334288834d515d5533042cc62e1169b0c684c33083d77169f9c881bf5962018",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 4.924 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 128 changed as sent

message 128 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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8108, 2.1883, 1.9503, -0.1837, 1.0878, -0.9577, 0.1614]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.4994 right_y=0.3036 right_z=0.2657 right_yaw=0.2273 right_pitch=-0.033 right_roll=-1.259 right_gripper=0.1614\nstate[joint_eff]: [-0.0205, -1.7573, 7.0906, 1.6337, -0.1148, -0.0024, -0.0171, 0.7726, -11.6034, 6.147, 1.4823, 0.3736, -0.3101, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLLHB-1W3k7ontXbYsAR2UVAoHYipXDO5toJ_RcTkqSXowI4D_9CTVxp5KypVCESZuRt20V9tBemL9KNBUlylp-AJiWfcy0IkOqOQElYxqThkORpYAY2pNwwwxBcnRO3addSJ9uPOigl3DxwZpFoPeMlvbzYaJCgB1w1EMqo7G7biZ0PIGd0MgKXux4Nqh9nsewv0GZnoo3Crj1P4vJ_awF9wiuurnLtrOXgYoMqxlsR6j0POKp0kM3FaE0oVsglOGQ0ktgLaDn-ngVBQqHozvUQ8vbiTI8VwVQxeCSBsMRrfNrLDD1CzafqPeXpTQVkuhhXoeVwAjfIgLJIxJyT0UIChuf_jpi7KNjM9PvYZb3-wfUtHT1xbOftJeWzrYBS1CH0fYfXoY2RedMCgyY4A4g0HCvD9I1lltfDyQRs7oa8_RjRGTm12ZhBrMDd7DBDbGhdUD9rlrynHMAtJXMr7DvZcXPjy1LmHNQKqu3OGxsCgWs1i5UvyMr6r4e34WFjCJPua0PtRsR8NTZTY8XfUZEcRDhMW7OxFdTfuAvBz2D52QnWRw6mh1yS0xixte_TgyJFcdfEDaN9dKJPRAAhwuyB7aUHNSUxAmecuDAGmTG4LpCKV3KSkN4hipbeu0p6DM0ERsrkoid8tEchBjx06nk4Zb4BXYs-K0py4Es8D5anFinyjeF00d24t4xByNQhsA2IXOZu-wnMWjf1Gnj7P-AoJR5Pl6WX4ctaavWBzA-HB749v5Cb02IZOmz1j6F0d8630Ibiodsw5b4Mg7N6yAwPa2rP4GdirwyPpaEbBfm2BqpI74PsdW5Lsx9-yJ4fX0pOTg2a0jRx6cYlcRoy0OC33m6XeQRybEcIxFZFobmaTlWDOnQOlPrltLMZ7udYS75e7AJIb2CZQq4r9BlO-Q-RmwSNfpI03HN_lEkHiAIArqyOxHg1tC5JjuI-dPVFX-k8lUSmOSiDi0FiOUTP4JFHQSYMtOHipD6jeKGDUF1YqrxZKru6MmkwaYaTpd9n3-ya5h5amFy4PfpOgtbZ_BxIR-DZuYLzDj73Mcq_U0a2r7Pxav0rsEb_ytftlYqUBSA1XhyRVTNw2SD2hhaAb9eTKn9fiLj48ceZybipXsGERCPNqgDILTMm9FlTsBCfQGhM6G2r_eNod3XqUupLCOT6mfmV-kX26mIEjZCe2q5RSWFk6LYI6_UJCcJxpzI5Rxu2-wMS8FY7m__jlOGfQfMroy1gVIhUx9_Bu-Py8f2-O8_fg9amTTTcaZkg81npHsQJUomPHylPLLntLWKb0lcgv64IbcIVTlw9qVYdp_t8XoJ-Xj2ON2z55PnaDeugrcVaNWXP2CvHonWiuL1mlP5GueUd3y2Q4aXG-LqbSke9qbAd0dSMFIfvjThS4Sxg-iDn_V_GAQ7UaGIHeGjvm9ze-FqSwIsaqlUyjjM9h3H6K8UeXoipPd5u3We5hyEP5RN-mDom5u5ggU8WKkeo0YR0bN3OyHbDkPk_SByeirbBQZVc6Y4fyyJIhkOKZpqJnZ20GsHEDj2Fa7XOf7EQJzNwAkyLz8HCjQzd6EjHeOkOAlp0KmeLpgZqCfrcWLKIAtIWGC_bTkH5CImRQNtKX_X9lCHu4JE-NxEGau0XSDZWOtWrV6urjIgCzVOaN4n2FTTwmBeLIzDcC78WeKtkImMNbVIz6gY-ALpotnagBi25d-PIBnu6fVb7z6QFoUSpiqhkNAf_9bFL_b6izjbKN733-BqsAOjn7V3bHXDbVTls8pMpdK9F1NGBTLc3ddOgMel3iXdV1bnOLsnlUal1XB-_ygduuhSKQ7wUtymCpOL6fycGotunumTMhnWexc-vV7Humy32idL0oYe38mxePCMEFfywtjKXt7f5I0X3N01DPQqd5I3Ekh1w3lqsdOzfy10jAH57Tw18Ya1oVRPtk5VM0V9KPYMPfYV0FoRXQu2JDV_S-PrK657jliAwb3Jgf1oICEBjq97pNZ-zLH7yn4kBr7e_0vVKB88O3_gOPCmIKItPmhkX0Co50UMy7tezuC9lyt3VFp6kFrcOCrsDupiewwU0oLNdEBTTU3Cz6zwccOAh6YwPD_1BkUXZSPfJseH1cSS_hS0_sj5WlLQ1_FTHiQXEjiWfwVQaKIQCHHIYOqvJLE5BGhrG8Jo2dp5UzEmw5IoqLNutCsWKigat-JLnVhHQKUj9P3_0p85Gg-KQJYjy-W_J64SuQoSXnW2TcyIl4oEclxxF5AbkzjU854mbaWtPgJwBhoEjUoOYXioEcBIwkO2J2evOwM7XVDgzUcjp",
  "id": "rs_0c3f11eab0aac8ec016aacb2c0084487d0820393587889b902",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_yaw\":-0.1,\"right_pitch\":0,\"right_z\":0.28},\"note\":\"The right container is held almost horizontal above the red cup. I’m making a small orientation adjustment while maintaining the pour; the wrist blocks a direct view of the stream and cup interior.\"}",
  "call_id": "call_tHo0ZTanwlVe9KJ8y5FYO22e",
  "id": "fc_0c3f11eab0aac8ec016aacb2c5c0bc87d0bf23a0dd1c889343",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tHo0ZTanwlVe9KJ8y5FYO22e",
  "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]: [-0.0956, 0.8997, 0.757, -0.5461, -0.157, -0.0895, 0.9968, 0.8242, 2.5366, 2.4603, -0.3115, 1.3083, -0.897, 0.1643]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.188 left_yaw=0.0744 left_pitch=-0.1186 left_roll=0.0361 left_gripper=0.9968 right_x=0.5257 right_y=0.3222 right_z=0.2597 right_yaw=0.0289 right_pitch=0.0788 right_roll=-1.2527 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -1.7162, 7.0085, 1.6777, -0.1197, -0.022, -0.0171, 0.294, -12.0547, 4.4376, -0.7253, 0.4567, -0.9451, 0.6618]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15d0089b3523a3732e1dbbc0f959b71ed5b4ea805898a242ebb911c272a56b51",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dea684a2e9073c16c14a5975cbe3238316664ab7c2845c6fe5fab46429eec3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 333):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c28dd6bb9e4125d77a01f14b5a28355c63d5fc451942bd6fc3a9ff177d97584",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 6.462 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 132 changed as sent

message 132 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]: [-0.0971, 0.8959, 0.757, -0.5446, -0.157, -0.0895, 0.9969, 0.8124, 2.1883, 1.932, -0.046, 1.116, -1.214, 0.1628]\nstate[eef_state]: left_x=0.2974 left_y=0.0024 left_z=0.1894 left_yaw=0.0727 left_pitch=-0.1133 left_roll=0.0352 left_gripper=0.9969 right_x=0.5021 right_y=0.3044 right_z=0.2794 right_yaw=0.2362 right_pitch=-0.0599 right_roll=-1.4179 right_gripper=0.1628\nstate[joint_eff]: [-0.0752, -1.7846, 6.9402, 1.5995, -0.0904, -0.0317, -0.0171, 0.2393, -11.3709, 4.3556, 0.7692, 0.2515, -0.6032, 1.0134]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLLM6SBpl-zoF81YSOJ8YzVitOV1XSJvHBQPKJ2E4bYXy6XmRqTNnfNCg3aAFefqkFJFSDeY6yCNIuqWaTHvLVbZCwuoDVmE2wZT5qvnp5q_1BroRum28JcMxGA7FtXWEMSWkWmJy1VXLfeLnvr536II6rbMlIu5fGrVwVQLbxpRXQKbehBzicX0c9nbmWRDaEoSy80u1VfbIqTEkmtKZp7g1xcXAj4T3CbEwKqLDlr-_vKQT0rR-jMPe7szTYq5LsiIfXJ8S1CVRcP0OE9MWdFrnq2a6RXakvJj7R1kLZWTjH1VmgSKXmwYCRZVUl7S7uWvPHmCCKQbV05-37QzuyIdUWG_slOYAqVVBQ0VhwEbfKti5C0HeTp3qAU3P56Tf_kk3R-L4usWy8nmZEi_j75Aid3x8oP-_HndJcdysLelYj4-Pf6K-zWh1Wo0u3qjvyGTVGVDuJrcyX_vpHNIsJliR4LxXQ5mLO4vfggvg8rNevfZ7WTLCCsk0Qngj_BPWlWxPh0OIPRRjtVqYbLFiOMCW-zzRHaJ6T_gDEW4pFWWq3mPfQzsxHBoCxFlAKL0NN1LOP-PO41Z11etPe1LATpjMCNcakBE9A3pNTc6_n1TMX12qt7bel2jIz-BPlAmn5zWfVEU2icAaCOFx-EDGf6gPU0j5CI4MFb30h6YmA8qSRZBNPnU0SsUJJi7HMKAETbih3n3RHXQ6Pvm_rmkvXq1xu03jA5phF9o2JuOwh0IXNpe-n3hDeP7670HpdYZESWpEiHP5-FCQ-P-q_qSvdL9kTALUiQCinIieDw9BYajaHCDoxMTVzzwY64gw9lOkZkiaXToHTn7PwE-848oKtsvIjf0j7RlCJverzTukD_QUpKYg4uDaJRRbIwHOC4zlYsYyROrBeiqcgz4IfVOaPMPBKkTmmpV6tlGHmze69nibfViiI75VtIfTLmQsbkRad8WJyA7lTudl69zAl-44pcjHCTW_3rj1BwjNygxz-HPTvqs3DGsj9HjCn_PN-Uu7HFSlBD9KAa4qW7Gu0Z4RQAJevTGgBl7P7DCG3vEVaIRynNp0E5tsyHxxz-NWsVGTW0KpyFdUXj9RdM3Yp3wfjqqxhob7IzK8s11r7x1xF55b76T9mefqk_JflSHN7sCt4MztSnouagsl7s_nCHKwf5_eUrDaKBbNKYcFh0KG7zqFZEBq2VslQPb_p_vc5SWsEL-U2jLVB7t8z_LuARwNN35LLB12YCCPoW1Y5E6kvQ9kdMikDNQG3O1pXNCGZvcviDK",
  "id": "rs_0c3f11eab0aac8ec016aacb2ca6bac87d0bf3e59e30a828a6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.245,\"right_z\":0.32,\"right_roll\":-0.65,\"right_pitch\":0,\"right_yaw\":0},\"note\":\"The second container has now been held in the pouring posture over the red cup. I’m reducing the tilt and bringing the arm inward before returning the container upright to the table.\"}",
  "call_id": "call_sxEeg37CsaHitHiww79tnqOl",
  "id": "fc_0c3f11eab0aac8ec016aacb2caaa7c87d0a4e6758caf822323",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sxEeg37CsaHitHiww79tnqOl",
  "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]: [-0.0959, 0.9024, 0.757, -0.5449, -0.157, -0.0895, 0.9968, 0.8246, 2.5278, 2.4916, -0.4511, 1.2968, -0.7853, 0.1642]\nstate[eef_state]: left_x=0.2978 left_y=0.0027 left_z=0.1875 left_yaw=0.074 left_pitch=-0.1201 left_roll=0.0363 left_gripper=0.9968 right_x=0.5208 right_y=0.3181 right_z=0.2601 right_yaw=0.0251 right_pitch=0.0619 right_roll=-1.2247 right_gripper=0.1642\nstate[joint_eff]: [-0.1709, -2.0444, 6.8991, 1.663, -0.105, -0.0317, -0.0073, -0.1573, -17.0598, 4.9436, 0.9939, 0.2906, -0.3248, 0.3492]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf27d644d14469aaa0cdb64c09f93f0772ab17fa0dabe70d853da827404dd8b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b21f47eb71f70a4f2c1eafa002ed9bac955c86d684af408f829ea5662c80dace",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6c397a2d3b9fb87bfb432f4cb4b57cd485fe89e3888e21165e1a89466e1b1bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 4.187 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 136 changed as sent

message 136 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]: [-0.0956, 0.8997, 0.757, -0.5461, -0.157, -0.0895, 0.9968, 0.8242, 2.5366, 2.4603, -0.3115, 1.3083, -0.897, 0.1643]\nstate[eef_state]: left_x=0.2974 left_y=0.0028 left_z=0.188 left_yaw=0.0744 left_pitch=-0.1186 left_roll=0.0361 left_gripper=0.9968 right_x=0.5257 right_y=0.3222 right_z=0.2597 right_yaw=0.0289 right_pitch=0.0788 right_roll=-1.2527 right_gripper=0.1643\nstate[joint_eff]: [-0.1436, -1.7162, 7.0085, 1.6777, -0.1197, -0.022, -0.0171, 0.294, -12.0547, 4.4376, -0.7253, 0.4567, -0.9451, 0.6618]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLLTHKfsB_X-0cRZHSO0YFZmn_UytuhDQ5GImrjPZQFwO_jiN-GZEt099OJk5x6Knpo3Z8neCKqhFPns25VgDz_DcqgBNVsxnn6FdsN_VX5KOKBelzF2UYpdicCB3fIF8ND8SWdK-vFcpQFMefgCw8X9uzgPvT7vfzW4IdZQHUC3uHLRlewuVuc38IpyrmlGp6J4vfn5YWYNDow31FqW29bDH4Q8Q9Lk2mL9fkf_I9vH0BGPg4hLsMeJSkPZen7_7W8jI6HBPhDJmS2_acC8HRUeTDy_0RQl_GcabrbEEG52fSyO3wqm17QDJ5-S5S_prNieTcQACp0AvR3if2XJrOQLrWiV84N-V2ijaXdeQ5ve8dVB52ClVgMiK3hUhfntaLM8eCan3rrfVK7rggIr0k0cTRwroz9_umeln2AcUlxkyPTwtycCISNTKwBI8hOeMAGygnVNf3VYg6PiPuo5bGMMCFN68EKSNxb3zFvwvEoObE6AoHbDXQQt-gbbeSfTIQTnzF8h6Y68Rp0bG5YA4zDxSGmR32PUPQvsshGt9aooxG_HAnkCo7ltXGXo6yqTdQG_-lXeh_s5ooE_Z2xnAGMzpKrdicWjAJ_yUMn1Hz61Vm9IcWLXmFjPzPYlBz-Slx8i9UVath2Bied04lJVQq6oUn97en-fhGzTR7Ij0lc_2Gvj9Z897wjtcDi6yA7QX-FClYurILtdq1LFKdHXCvWbdU7eANUESL6lA_JJXBnzAL2JOpNPQDM6GN4LsI7DDlSyoWYi60wVA7KbUW2yFqvnhup21GgBaq1PkxK2lwMSVotnviE_ssnToobp1EV60jB1i8OyZzPyylVX0_VKlCVVLBOnO1i0JOg6RWIMWMDt64xbHzBMVsHyIFyYqxOzzFkHjrWhSF6YIHfAAYROsonfW4_64jUmd2K4A660abo7lAh2qg44Z769Uk-KRuKpsdeteYQKWBIhAmFnkEUVrhjoj8TuWw2FO6YXRVuR4_gl6_1ufdgVe_I1oGw2COW865oFARCBMp-ptORD0FaaVDcqaS9QcW9Z-YGY3zV56NcyIYJbPdiY7FcnvgbTHZgy2OAwj3lLquzcwvs6sJyKbx4pEAnNzWAJBUCnnDG7PTSB6yjuTVvGTHQZxnlHQjnquyUuMK6iL426fjUhSH9UMqN5EnPKnC0kJKQXg3a0KOiBWBP6McjWnB8pSjindcqXaED2iGUqHnIQ6GAjd98ZSag-zAyBL05UD5fUQZn-affy7JE=",
  "id": "rs_0c3f11eab0aac8ec016aacb2d13f7887d0baca39a18a200336",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.24,\"right_z\":0.4,\"right_roll\":-0.7,\"right_pitch\":0.2},\"note\":\"The arm barely followed the last recovery move, so I’m changing the approach rather than repeating it. A higher, more inward pose should free the wrist from this awkward extended configuration.\"}",
  "call_id": "call_7Pndr3giDPrYq1p7ghoArt54",
  "id": "fc_0c3f11eab0aac8ec016aacb2d1c2d487d092f2a9d8f97551e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7Pndr3giDPrYq1p7ghoArt54",
  "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]: [-0.0959, 0.907, 0.7567, -0.5453, -0.157, -0.0895, 0.9969, 0.8528, 1.9198, 2.1414, -0.7715, 1.1458, -0.2653, 0.1651]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.186 left_yaw=0.0741 left_pitch=-0.1254 left_roll=0.0372 left_gripper=0.9969 right_x=0.4199 right_y=0.2415 right_z=0.398 right_yaw=0.0328 right_pitch=0.194 right_roll=-0.7553 right_gripper=0.1651\nstate[joint_eff]: [-0.0752, -2.1812, 6.9128, 1.6288, -0.1245, -0.0464, -0.0073, 0.6632, -10.988, 5.6957, 1.3993, 0.2466, 0.1538, 0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a413e9bbcd6499e28e0fce1394ca10fe95a7c43697580d0b327943b1a534cdc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e6e4a83a4b4e3222488f341e3c4a8af0a263cef540deb87490584743b4c036b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 351):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdf6b787728cce07f38f5d3e23eae7d4b5fbd5a09007b8804d44307a946c5ffc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 5.153 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 140 changed as sent

message 140 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]: [-0.0959, 0.9024, 0.757, -0.5449, -0.157, -0.0895, 0.9968, 0.8246, 2.5278, 2.4916, -0.4511, 1.2968, -0.7853, 0.1642]\nstate[eef_state]: left_x=0.2978 left_y=0.0027 left_z=0.1875 left_yaw=0.074 left_pitch=-0.1201 left_roll=0.0363 left_gripper=0.9968 right_x=0.5208 right_y=0.3181 right_z=0.2601 right_yaw=0.0251 right_pitch=0.0619 right_roll=-1.2247 right_gripper=0.1642\nstate[joint_eff]: [-0.1709, -2.0444, 6.8991, 1.663, -0.105, -0.0317, -0.0073, -0.1573, -17.0598, 4.9436, 0.9939, 0.2906, -0.3248, 0.3492]\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": "gAAAAABqrLLYX8V7vCMJ4KWMQ3SNnMmrFuT7rEeX43-kj3T7R4Pp7dYkYdnmBL4aIoi-wy0cbOwczAwbav0FoqlSazuOGazIJM3ymRZhjhF_Xa-RYNxkMIa7wlID2q5uXVegUoAjVifuuZ5A6s2z1Pb1-crMjrm5pg2owaLmWvJIWPBxhSIAs8mahollSIwTu6avQCgmbexLNWaHXFx4HfEACGlkhhlk6FOrJuYV4FSIXiZwjG0PQ4zbEbvXFcZSBvcvRM-3b1fAH-LWToxVzcbNotjckYdtfdW-agSBNbQUmsu6RvaHIyfnY8w474O2bfywL3sXLg4XeoNEn3s8F920n3SA-Biqw3wddRzTn6BU-PhmbOUy3JWoUiOgvSbq8GoEy7yHgmgNdvRdlRbBHDEtEeFmZ2SDEu80DPsArNhTd2eQqGM8Y8a52uWqLhdoDqy3IdsXxfNZd7G7h8VoMJKonfL1JPwniZWnv0xBt41JytNyEtMum2JofdmVKgJiBBmwyxTPQX1odOPlL_ACPSsXvGD2S0WB3KFZW5gafIDj5et81642GhxZSI08yqa94gI7qPd_Z3q3h4u_TcMa22hFLKXOVxAdYuV4M2LjHCJpBh9wps1naNGYy_cMz9AIp1ysIJDCaNZ98F2QaxN5uV8lUx3S6PUIkK9ioc2D2k__6gkzEB0Lp-mOcrEgH3PmFDBRVXiNqeTMKDNE2uRwOgYwL22ljSCKtgAdjY13WG_Lrb6xDolHzcunsPX3LANxhRyPIpoMgnyUMsJP2NBA0c2aZRgel6gJfYEcNQNCAoroPq5nfVOPLglWK7FwhSdT-YbfUsNus9p-rvF8-KyzLBDEQPkk0Y4ZW05HnoPaRivuEcQZcnQRXbFqexk725rk9gduezPDlg1sWNbmgJXaXoAd6RK6MnT19Dn9LWj0yIf4KhnACoFkOcAhe0nhqMTOzBBkkZNJWoPY6m9jC2b0SlwH2fBosIrWJSnm6iLVtE6be_pA8WVsqI3UJFB5R1_ZxRqCS__w17vdvo0sWnQkhA9Xz-i-X0MSvfYzphptxeFeMCe8ieX2gdYI6t9ePGlYaPEosTl5uz5mI05OTidELDm7Y-_V7QDayQy7f1X56CxedeikewikP7m3xHYiidAwwBPoDtYCZKRGPrzda0XIUXfIYdpUan8WMjQFfaUs-1CZKge0bGzly7l8oj2OfxsIMNCkh5aNhTrEkYYWevknZZsC-Sy1VryimfnE76AAbvCIZOBankg-4iFq7fVhaRgsyjgBE_2PauX0e-fW53fsQoJQ1wzazSfKt3Y-KeEHX9VBH2MazK1ngzrB7GNaSumrfT2fpUmLRpWnaBr4ycdkb2du9IZvwjNCVA==",
  "id": "rs_0c3f11eab0aac8ec016aacb2d5c38087d0a896f7500adb7743",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.23,\"right_z\":0.32,\"right_roll\":0,\"right_pitch\":0.15},\"note\":\"The inward lift restored normal tracking and the container is still secure. I’m straightening it fully and moving above a clear spot on the right side for placement.\"}",
  "call_id": "call_Kih7GO48ddMYpPRVxqWUWaPv",
  "id": "fc_0c3f11eab0aac8ec016aacb2d72e5c87d0ac95b2b32dfb2160",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kih7GO48ddMYpPRVxqWUWaPv",
  "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]: [-0.0959, 0.9089, 0.757, -0.5449, -0.157, -0.0898, 0.9968, 0.6975, 1.6928, 1.6211, -0.5365, 0.646, 0.2131, 0.1651]\nstate[eef_state]: left_x=0.2983 left_y=0.0026 left_z=0.1857 left_yaw=0.0744 left_pitch=-0.1265 left_roll=0.0371 left_gripper=0.9968 right_x=0.4294 right_y=0.2258 right_z=0.2958 right_yaw=0.045 right_pitch=0.0791 right_roll=-0.1507 right_gripper=0.1651\nstate[joint_eff]: [-0.1162, -1.8256, 6.8718, 1.6239, -0.1001, -0.0415, -0.0171, -0.4034, -11.5214, 7.4872, 2.2247, 0.3248, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191fe0b7733f7e15e09bbfd5afaa9b1f88a435da6b27baf7ea31f8a304247756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f46f73ac2d125f6ff31c7d1d82f3685444cab73803837240e950bf408fbdd6ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc6712326e1e3294a5993c51a5ff7a0eb3701269b15df8a0c22e65e63ccbfb64",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 6.576 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 144 changed as sent

message 144 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]: [-0.0959, 0.907, 0.7567, -0.5453, -0.157, -0.0895, 0.9969, 0.8528, 1.9198, 2.1414, -0.7715, 1.1458, -0.2653, 0.1651]\nstate[eef_state]: left_x=0.298 left_y=0.0027 left_z=0.186 left_yaw=0.0741 left_pitch=-0.1254 left_roll=0.0372 left_gripper=0.9969 right_x=0.4199 right_y=0.2415 right_z=0.398 right_yaw=0.0328 right_pitch=0.194 right_roll=-0.7553 right_gripper=0.1651\nstate[joint_eff]: [-0.0752, -2.1812, 6.9128, 1.6288, -0.1245, -0.0464, -0.0073, 0.6632, -10.988, 5.6957, 1.3993, 0.2466, 0.1538, 0.0757]\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": "gAAAAABqrLLeZUORQKhtDeW3krZBexqcG_wAbXRAffmsv6wegjTGsF7nnhNY_MXNjYgrXvKiRNgW83Bf8ApiGiLNpOJdqfK6n_PsE4cJzj6VypJvqjT3zy4YT7Iqram45akvJEtHPSm0cmGmSYenT8_G3HMcQmSDSdFt8lkYubSChrzQ5ekxlH9jcg3WWHJH1-jGGz1qtAo_ZJB6nDV9D2WOFCqe2hyeBxd2mFEyQm2R4rq51RSQWjBijsEhrgvZPd5hadfLEkVE2xKCHLVXbAiH96YTQM6q8RnaThNEp0TfU6T04cZOToTrron0A_wX-K1fi3-YkpFdfvWEIo9xa53cLKy-47y8zrltKmI9Rq9WGBe5YIFVvzfvK3cLGz4KS1h4fgIA66yFtk4V8T4laDmuD0uj-nnsZ_9UVUU9LVMHNAw5BcJNoEnpUnyxnCjpP_85mS2b2ArdaEuoaMBdMUUCcvJOp4LyHrzLCVYSS0VNbml_2A6-YXk36uzeIjy_CzxQ0Ywq0P3vJaS_MirRpJi5HA4SX06zJ7YpMaah0RI02-P9JBsSWjig3P1DNRFRfydUqzFZjdZHeAsZk4uTXHOIAI_S0uQdFw8x8jPvQTZMmmFaD90OfA4cWrQON6N5pfLBmpt4ya8seXNPl0UV5ThP7BPk5brKMqUJ_APAXRX-Gtu6wYCl3qiR_89ipfZNdKLzYHgZpc2fe8ZNkB5ocOXV9NSgB0U7ookLU41oCmOd-Si6JY-5sse04GUduv4zKsvLlj5ltu5-VwrxiNppiradOjpxNSLUNN_-ImYINX4zA0WJykoJCxGEnViDbGdZ5NuZasev32Af27aR8sf9HFubFp_Dnd7WN2UfM0a6bfAmvEzQpGKYAVwk_Ci0smqeyxMhaepAgjV8QFPJjXoIHmF69g5InTSRLTnsfUyD5Sx3iygL7UxLIdKJmlkFAaVt7q87ahLI1QQPQ2b6M_Ga4uRRA2zL9VPp3BlhM9LXTClOhIWpbLUaLUfU_DsPLTUTocsUeQSgxaTQ4RIcwVWsGZGBAVmneAF_6qApSu3swJ0PR70oirDug0w1kViO_50SLU-hZGjq_0YxaxPJ6w5VjUGA_PTB_8Pbpf_sK_yhL8U58bgJTLdFl_UnD2TlShS58X_l4im2WSl53N6O10vl5DomWKzSGmaaMUq8rNE85Z6UxU3-ptp4FZJBJ7_lW50rWDs-wU6Q3Sa_l0z_mmmhnvohYS6s2TBQRu6oL6STcnR3-7XJM4ppjbM9BhcdNTJ6pSBCl9M-opAhL3WzrVkARabtqd9jr_NMBvPJUDSPgHiupmzev5mwB-uqdN_-HIXa-4xP5qwagBCz0zkfzOz4j0_O1q7rsZmv7AZL62xf680XvY2l_pL-t02RRnhKIMMpldmIRsKrgO_jLX61rwpKLD4b-xPngCjQAQVXX0IdO6hqO_IbYyk7Wk6lQt1zXkAdlANHHQi-Dqm-w7LIlkSr1Dc8fJ_25jrQUGAOKbAOyBoEV9LZqOQOPTOCdJG5Xnp1YC5lHcziKIAm9Hj91seaTqkG4dk5svGk-06RNUxMhqFs0QuTkhMtmTTNIS8xtmyOuGHMS4blAauVmOZfwhKc_sMc6g_p8jikXTcvEUU6HWcdq3Nr4aPe240=",
  "id": "rs_0c3f11eab0aac8ec016aacb2db250887d080f175603ba9b5ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.2,\"right_z\":0.205,\"right_roll\":0,\"right_pitch\":0.2},\"note\":\"The right container is upright and clear of both cups. I’m lowering it onto the right side of the table, leaving space between it and the first container.\"}",
  "call_id": "call_ErRXQuWMwMrYYCKNrKSQe0N7",
  "id": "fc_0c3f11eab0aac8ec016aacb2dd437087d0ac5f046c72b86c18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ErRXQuWMwMrYYCKNrKSQe0N7",
  "output": "executing move_to over 6 steps (0.6s)",
  "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]: [-0.0959, 0.9108, 0.7567, -0.5446, -0.157, -0.0898, 0.9968, 0.625, 1.5986, 1.0584, 0.0151, 0.5552, 0.2092, 0.1651]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.1851 left_yaw=0.0744 left_pitch=-0.1283 left_roll=0.0375 left_gripper=0.9968 right_x=0.4246 right_y=0.196 right_z=0.1911 right_yaw=0.0425 right_pitch=0.1184 right_roll=-0.0659 right_gripper=0.1651\nstate[joint_eff]: [-0.1573, -1.9077, 6.8991, 1.6435, -0.0806, -0.0464, -0.0073, -0.4444, -8.1436, 6.8308, 1.7265, -0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02b96d27198335833d14ea6b1a8defda6ebdf91b35f493c4af8732cb624750e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e761d5586e8588f03b1a6c550a8db9d1129f3b3dff17586d8da4a3fef4c87028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36ace74f9ae9ddd54cd2c7eb143755a3c75fbb6994cd5cbd6b5c02d9f98d3b6b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 40 attempt 0 · /responses · status 200 · 3.896 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 148 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]: [-0.0959, 0.9089, 0.757, -0.5449, -0.157, -0.0898, 0.9968, 0.6975, 1.6928, 1.6211, -0.5365, 0.646, 0.2131, 0.1651]\nstate[eef_state]: left_x=0.2983 left_y=0.0026 left_z=0.1857 left_yaw=0.0744 left_pitch=-0.1265 left_roll=0.0371 left_gripper=0.9968 right_x=0.4294 right_y=0.2258 right_z=0.2958 right_yaw=0.045 right_pitch=0.0791 right_roll=-0.1507 right_gripper=0.1651\nstate[joint_eff]: [-0.1162, -1.8256, 6.8718, 1.6239, -0.1001, -0.0415, -0.0171, -0.4034, -11.5214, 7.4872, 2.2247, 0.3248, 0.1148, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLLlX0X6uh1BQ_JSeO0Sl26k9Se1Z7O8KSB5IsJK-MJnCa-AQloMRnBTqoX9pXHEvrUHv6ziPKlUD1KXtgPDj60yaL-HuKDRn0vrQQbF87QWuwh26IY4IbE3UaqGNAA6eggjzULS5p3pijejGrMWsc24Bc0Omb-B3Bt4ts96CTjEmZmNYtyftXNy39MpuVqn1mjBP-5XtYvhwK2RiOzI_rO6cXAp1HnBFhg0H-So3DizUdybfM6QJVeDaj0Wa3bCDKbemMj_kQ6kh8vM3YkRez2sYUpeB-7MWJcpR4gjQYUOJrTSsS5ckecK34LN8HBaupRwz0EZVPuV_cEhzsWLV75RVqxgUmO2AmNlRxEIO5iqsJZGddOgUUiskvo65htad7QhKRFGLun0983JSVat29hQclsaDRVbLQS_DZ1QtRDnswGZJUB1kDU2wLnvC8ColOIzQqk-giK38mFBg4NwCcEpKXm_J_S2MOnMPzz52RE2o1aptR70uuTNNUZyVSZ2_zGkXwGl11OTLAg97R1pCCvdSwfnE_ImtHIVSJB5PyeL0jX9Ku6D-BmGbPbBdkxZiuoX2BEI002WkEoGQ8WDfRHMRK0VPbB5s40mCIiIAzXjjZ9u-xsz4SPNyEXa67se1_0ace_lHxUu3bTJYrcbQRqvcswz6UUM7IiaKer6NVN_rM7TC4bwF-QN1LxX475qe1Lt3OQiMOa3GX6U3kchCQ-dM_Iq7f0qkW422e93FimjAiMsZKchw4ULejjoAnBEdJ1PSqhrBSrPPuPrTwb7YnvvaXQw_Z9OYIxc_RjvSTpWjbAQeV30p_q59o4Fd6L1XpfWkHviQJH3UDniCf5g-CtoCQdXZD84e3Bs4nta1mjygrmj7tNVQcQPPZkHK9efpxFzNKjnIsPwTdhZ6_AJSDRTQx2ragL4wQehCGZn2rmUMnyrJJ4Zhs9wIwF6oF_lq8K1HZTt84SHthAuLsraBCiTzU_YhmAUA_--M3su293ONyT-b9J_P83JIXDU1Jf-n9JIc5SlQhDfR5g6qp8oIF-biBlx6xVZPCaJtL8YCOmR1JgJDChovNJoKhf0bqOSvCiz-OLUITArMAOOcqQnfQc983GS7dk2UuC8VZOjzUePGqY2VkIsbwcID9a3AL7suerFIxyJcFTrx7no5qG_AJOXZDzJj-9mVYfO6Lzlk_Bmo2ZJkyT-mKkJ5lVFbAW9wiHCN5DFODqoGtrdUysCRv89R_dJxDgWLOvMIhWMguCrxfibQvHPbDIC5QrZFNxdw6QQlE5B5BW0Cjg-dYyb5qk7WQonxg-6m2fdMO0iBt5UmGOermsvC3W4iOlbdGpDY7rSnp2ZGhcE267TVNgwjNTYsYHifmlBMx7itkd14jKwHyBDC-I7rCFPO_7SGHVPw-NuAwFdHG0uZPrBlkZL9qJmXzp9HHeKdhFkyW-oa4jU-4HPjvkcAyuydq1qobxHhS-X",
  "id": "rs_0c3f11eab0aac8ec016aacb2e2fbbc87d0af962a68f5c6bf58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The container’s base is close to the tabletop. I’m lowering the last small distance to ensure it is supported before opening the gripper.\"}",
  "call_id": "call_65jGZJnYnnqRk5KOuqvfpyyj",
  "id": "fc_0c3f11eab0aac8ec016aacb2e48a5c87d0b8cf6036a621e2ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_65jGZJnYnnqRk5KOuqvfpyyj",
  "output": "executing move_to over 1 steps (0.1s)",
  "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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6201, 1.597, 1.0225, 0.1101, 0.5293, 0.2054, 0.1651]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4277 right_y=0.2002 right_z=0.1936 right_yaw=0.0563 right_pitch=0.1626 right_roll=-0.0258 right_gripper=0.1651\nstate[joint_eff]: [-0.1573, -2.0855, 7.0906, 1.58, -0.1294, -0.0708, -0.0073, -0.4991, -8.3761, 6.7897, 2.0537, 0.1343, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a5f76de886706525718ac4872cc0c2b7960ca3645228b51872275c2917c0e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df9e4e8eb7d73633d270a2e66ad2314c81cd401d84f10e89c33c0ab8476752c5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398a23bf67c0f279c53c6a01b54cee0f258d38e63316ea95a6db784f8d5dbe1d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 41 attempt 0 · /responses · status 200 · 5.736 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 152 changed as sent

message 152 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]: [-0.0959, 0.9108, 0.7567, -0.5446, -0.157, -0.0898, 0.9968, 0.625, 1.5986, 1.0584, 0.0151, 0.5552, 0.2092, 0.1651]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.1851 left_yaw=0.0744 left_pitch=-0.1283 left_roll=0.0375 left_gripper=0.9968 right_x=0.4246 right_y=0.196 right_z=0.1911 right_yaw=0.0425 right_pitch=0.1184 right_roll=-0.0659 right_gripper=0.1651\nstate[joint_eff]: [-0.1573, -1.9077, 6.8991, 1.6435, -0.0806, -0.0464, -0.0073, -0.4444, -8.1436, 6.8308, 1.7265, -0.022, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The base is supported and the small descent no longer lowered the container. I’m releasing the handle, then I’ll lift away to verify that it remains upright.\"}",
  "call_id": "call_JhwKQ3dgW5PXOMsyhzvHppYa",
  "id": "fc_0c3f11eab0aac8ec016aacb2e836dc87d08df996f2f06eb9f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JhwKQ3dgW5PXOMsyhzvHppYa",
  "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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6212, 1.6032, 1.0122, 0.1196, 0.5301, 0.2024, 0.9958]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4271 right_y=0.2003 right_z=0.1884 right_yaw=0.059 right_pitch=0.1569 right_roll=-0.0326 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.812, 6.9402, 1.58, -0.1099, -0.0513, -0.0171, -0.212, -8.294, 7.5556, 1.6337, 0.1001, -0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fe35a8f40fc92d26bef7b6a44033be02ad6b434ed7173fd90606299a1fd32c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc62b2186d22373ba8d5750ee4b5f72b597f83db10ae1234ab63fdd579101073",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 377):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51f513177b45dde0989a9385ef9aa1dbd45b0f1f022e2915e0773047e779627b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 42 attempt 0 · /responses · status 200 · 5.193 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 156 changed as sent

message 156 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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6201, 1.597, 1.0225, 0.1101, 0.5293, 0.2054, 0.1651]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4277 right_y=0.2002 right_z=0.1936 right_yaw=0.0563 right_pitch=0.1626 right_roll=-0.0258 right_gripper=0.1651\nstate[joint_eff]: [-0.1573, -2.0855, 7.0906, 1.58, -0.1294, -0.0708, -0.0073, -0.4991, -8.3761, 6.7897, 2.0537, 0.1343, -0.0024, -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": "gAAAAABqrLLwaNALk00V3ADMFap5eT5D8X9KBHndDsCLJilnYiT9fUlqwX5rK7R9-KPRBruzYiWV5-SHHg0CqDdfjGLRtOto2pTcTDzvpL0sYeoClhYuHejXzaLWgdYCnzsIcuxc0uFLTIHman5jBUrUZBHCpZZOr0KIocj7rms3kCN_-Wp5Ig8sbOEbcJXpBJYydodJUmUNUAOQMCaX-NFLaMGeiIjq2MKj2lnXsov-OEONCagPi0qSCouNQVJLzKlufKZ4oDGolHXeKExG8XGP3J3lCQfJkQmXdVMif6PAjX0NATL2yuZQDkURyrbtJs-o5Zjfh0Jamu3JbIrDxmNHGGo-Jr2il6g8sqaHbgiHDY0_Sj39pzoUpHcmMdd9rUMwLYHlzHajoSGn6EDswD2cNKT2TcLDwZkot2h5ZDl3af8YTdX7OU7XZdBA6BEEugMwvFJvzwpRf096RxJd6V2TYkTcYcPU4_-cr1pYaZ8QzkIdk1Wtzyj8tHNHrRAMZjt_otVrss7Ov4fTb3toVPRn1fyf1tSi3yGvb2svtwB4C3lcxInMGggRv1wetv9TyKJT070VOjE-qxmLSKmSBgZw0VasceCp89evN8lnGl-P6_VYHSt3xzDVnfH1hABb8HsXNTCe74kqHJwS3XkYjrqFl6gXU-2HItSlMm9FuwpfiBBIvoa2INrakI5AUZKPFZVwH5WYS-dKuYiE2NLWZrA-FVo3p2XtnqE4xvLZSZrt_HJvKM78wndjl6SddZRA1go6UlNUvXRVXE4YG3zQmTryvTaPMSuczgZe8oQhCraXlOlE2qBE2tiCSHHzBWM39ywN0cRr0fZ5f8f_00n3ooWLe-TkWrQPJz6mcUitk5uImwZtN2uujpD9TeefYU34AzQeEpSIrd0HAO8KBiSdiWZ-hS_StNMOpUfRquKtFvi1SAH0yvVh9iV0gwV4ajilo8QvpCF1p3c5xXT1cDj8h6e66g7bTmu7yFSWo3Loion1XF0hcupCtQLbnOZ_9WqEvxgEL41XrcVpScKHarLtSFKFfV8dF6QgzzsgyZc6yg6mGcXviqk8bPfrRCZPP-io5qC5xSTMuySVhil0napY7JFXjj7Y53Wo4owVDU46GfIDjOoy660Y1ROlOf5PAWKLhv0AbE891rB96GxWEH0cEX5py-iYui-ZXNZ3dkm1Fs0QqUObrh3libC9nRDuJ_SAbSFQbG3JXBC8kHDRqOhGtJITfSTImpvKO0lomREnWcWo5eVF2km6mlpmi-8bCTmfxnYYK5Q4Td9ccS1lba2oi3f-DacrARPU8w==",
  "id": "rs_0c3f11eab0aac8ec016aacb2eed5ac87d0940468a9cd46d26a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.32},\"note\":\"The right container stayed upright after release. I’m lifting the open gripper clear of its handle before parking the arm.\"}",
  "call_id": "call_nOwdnhPbjWdnmqHSkJKDtONI",
  "id": "fc_0c3f11eab0aac8ec016aacb2ef74d087d0b1a272de06e8049d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nOwdnhPbjWdnmqHSkJKDtONI",
  "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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9968, 0.6212, 1.5749, 1.4437, -0.3519, 0.5201, 0.1986, 0.9968]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9968 right_x=0.431 right_y=0.205 right_z=0.2998 right_yaw=0.0702 right_pitch=0.1444 right_roll=-0.0386 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.812, 6.8991, 1.6044, -0.105, -0.0366, -0.0171, -0.2393, -8.8547, 9.5111, 1.6777, 0.2125, -0.0171, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1328955768541368554b5191e6d36a1b422c164b963101e7d7fc2878c24fd989",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e666fc4dd2f8406008581535f501aa6bd38e94a0eb58df63237600192ff1b397",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 386):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff9836339ac41ab64a0dd515345b0b1a4ce471d298d3de043ccd85f601720e1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 43 attempt 0 · /responses · status 200 · 5.275 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 159 changed as sent

message 159 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]: [-0.0959, 0.9108, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.6212, 1.6032, 1.0122, 0.1196, 0.5301, 0.2024, 0.9958]\nstate[eef_state]: left_x=0.2984 left_y=0.0026 left_z=0.185 left_yaw=0.0742 left_pitch=-0.1287 left_roll=0.0378 left_gripper=0.9969 right_x=0.4271 right_y=0.2003 right_z=0.1884 right_yaw=0.059 right_pitch=0.1569 right_roll=-0.0326 right_gripper=0.9958\nstate[joint_eff]: [-0.1299, -1.812, 6.9402, 1.58, -0.1099, -0.0513, -0.0171, -0.212, -8.294, 7.5556, 1.6337, 0.1001, -0.0073, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.2966,\"right_y\":0.0011,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Both containers are upright on the table, and the red cup remains in place. I’m parking the right arm after completing the left-then-right pouring sequence.\"}",
  "call_id": "call_CB77gxl6kWF0IcwKISWe7bpk",
  "id": "fc_0c3f11eab0aac8ec016aacb2f4c70487d09c439b6ddb56f0e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CB77gxl6kWF0IcwKISWe7bpk",
  "output": "executing move_to over 17 steps (1.7s)",
  "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]: [-0.0959, 0.9127, 0.7567, -0.5449, -0.157, -0.0895, 0.9969, 0.0109, 0.8234, 0.6876, -0.416, 0.054, 0.0135, 0.9969]\nstate[eef_state]: left_x=0.2985 left_y=0.0026 left_z=0.1845 left_yaw=0.0743 left_pitch=-0.1306 left_roll=0.0381 left_gripper=0.9969 right_x=0.3015 right_y=-0.0027 right_z=0.2029 right_yaw=-0.0492 right_pitch=0.0089 right_roll=-0.004 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.7983, 7.0769, 1.5849, -0.1294, -0.0366, -0.0073, -0.1983, -1.4974, 7.4051, 1.8193, -0.1197, -0.0611, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb1da79a1949eb4e1f0a99e404c5462ab6d03fc281428024526fa4be7faf882",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a47f3ebcfd7033b1b300a1402fe2b4b5d94cfae3d808dc66d29b066c661a4c82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 403):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:964a3bc408e6fbbda21da4bd57873afe40604deda14a8b6d5fe90f4e95f151e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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