adhoc

completed
2026-09-18T05:25:17.344659+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
232.4 s
total steps
239
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

overheat

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 noteThe two open containers are in front of the red and blue cups. I am moving the left gripper above the left container first, keeping the right arm parked.
move_to
left_x0.3900left_y-0.2000left_z0.2300left_gripper1.0000right_x0.2970right_y0.0000right_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]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0219, -0.0151, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.025, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.5675, -1.6342, 9.388, 1.746, -0.0562, -0.0269, -0.0562, -0.7043, -1.4701, 9.812, 1.7216, -0.1099, 0.105, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.20,"left_z":0.23,"left_gripper":1,"right_x":0.297,"right_y":0,"right_z":0.185},"note":"The two open containers are in front of the red and blue cups. I am moving the left gripper above the left container first, keeping the right arm parked."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left container is slightly left of the jaw center in the wrist view. I am shifting toward its body and lowering the open jaws for a side grasp.
move_to
left_x0.3850left_y-0.1550left_z0.1100
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]: [-0.7071, 1.5215, 1.2217, -0.4191, -0.5694, -0.429, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0124, -0.0269, 0.9997] state[eef_state]: left_x=0.3862 left_y=-0.2 left_z=0.2167 left_yaw=-0.0161 left_pitch=-0.0296 left_roll=0.0111 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0014 right_gripper=0.9997 state[joint_eff]: [-0.2393, -6.8581, 9.347, 1.5409, -0.4811, -0.0952, -0.0562, -0.6769, -1.0735, 7.7607, 1.8193, -0.0952, -0.0855, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.155,"left_z":0.11},"note":"The left container is slightly left of the jaw center in the wrist view. I am shifting toward its body and lowering the open jaws for a side grasp."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe left container's body is centered between the open jaws. I am closing gently around the body before checking the lift.
move_to
left_gripper0.5500
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]: [-0.5877, 1.5318, 0.7776, 0.0502, -0.4862, -0.3481, 0.9996, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3822 left_y=-0.1512 left_z=0.1055 left_yaw=-0.0047 left_pitch=-0.0511 left_roll=0.0254 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.1436, -6.4205, 6.2291, 1.8535, -0.1734, 0.0024, -0.0122, -0.2393, -1.2513, 7.0359, 1.746, -0.0562, -0.0415, -0.0073] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55},"note":"The left container's body is centered between the open jaws. I am closing gently around the body before checking the lift."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe jaws have narrowed without showing a firm hold yet. I am completing the close around the centered container.
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]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3481, 0.5538, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0067 left_pitch=-0.0489 left_roll=0.024 left_gripper=0.5538 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.1162, -6.7077, 6.4889, 1.5458, -0.1685, -0.0171, 0.0806, -0.1983, -1.1009, 7.0496, 1.746, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws have narrowed without showing a firm hold yet. I am completing the close around the centered container."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe nearly zero jaw opening confirms the first close was empty; the container is just beyond the fingertips. I am reopening and advancing 2.5 cm to put the jaws around its body.
move_to
left_gripper1.0000left_x0.4070left_z0.1050
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3489, 0.0126, -0.0154, 0.7994, 0.6086, -0.3851, -0.0116, -0.0265, 0.9997] state[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0062 left_pitch=-0.0489 left_roll=0.0233 left_gripper=0.0126 right_x=0.295 right_y=0.0011 right_z=0.1796 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0014 right_gripper=0.9997 state[joint_eff]: [-0.294, -6.3658, 6.2974, 1.5214, -0.188, 0.0073, 1.0623, -0.1573, -1.265, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.407,"left_z":0.105},"note":"The nearly zero jaw opening confirms the first close was empty; the container is just beyond the fingertips. I am reopening and advancing 2.5 cm to put the jaws around its body."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe open jaws now flank the lower body of the left container. I am closing again at the corrected position.
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]: [-0.5488, 1.6089, 0.8211, 0.0692, -0.4595, -0.3256, 0.9989, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3989 left_y=-0.1479 left_z=0.0943 left_yaw=0.0016 left_pitch=-0.0732 left_roll=0.0368 left_gripper=0.9989 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [0.2667, -6.5846, 8.8821, 1.6239, -0.149, 0.0562, 0.0415, -0.2256, -1.306, 7.159, 1.7314, -0.0317, -0.0708, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now flank the lower body of the left container. I am closing again at the corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe second close was also empty, and the overhead view suggests the container shifted forward. I am lifting clear and approaching from above to line up with its narrower upper section rather than repeating the low grasp.
move_to
left_x0.4500left_y-0.1500left_z0.2700left_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]: [-0.5465, 1.6119, 0.823, 0.0689, -0.4591, -0.329, 0.0125, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.3996 left_y=-0.1472 left_z=0.0937 left_yaw=0.0055 left_pitch=-0.0746 left_roll=0.0346 left_gripper=0.0125 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.4872, 5.9829, 1.5214, -0.1783, 0.0708, 1.0623, -0.0615, -1.2513, 7.0359, 1.7216, -0.0708, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.15,"left_z":0.27,"left_gripper":1},"note":"The second close was also empty, and the overhead view suggests the container shifted forward. I am lifting clear and approaching from above to line up with its narrower upper section rather than repeating the low grasp."})
tool
executing move_to over 12 steps (1.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteFrom above, the left container's open neck is visible just ahead of the jaws. I am advancing slightly and lowering to grasp the narrow upper section.
move_to
left_x0.4800left_y-0.1450left_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]: [-0.4808, 1.655, 1.5627, -0.6167, -0.4103, -0.2989, 0.9989, -0.0151, 0.7998, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4491 left_y=-0.1508 left_z=0.2613 left_yaw=0.0156 left_pitch=-0.0817 left_roll=0.0256 left_gripper=0.9989 right_x=0.295 right_y=0.0013 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0164 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.1436, -8.2393, 9.2376, 1.4872, -0.1245, 0.1294, -0.1343, -0.1983, -0.9915, 7.1726, 1.7265, -0.0464, -0.0757, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.145,"left_z":0.185},"note":"From above, the left container's open neck is visible just ahead of the jaws. I am advancing slightly and lowering to grasp the narrow upper section."})
tool
executing move_to over 5 steps (0.5s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe mouth is still ahead and slightly left of the jaw center. I am making a small forward-left correction to center the neck between the jaws.
move_to
left_x0.5050left_y-0.1300left_z0.1550
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]: [-0.4286, 1.7443, 1.372, -0.3382, -0.3801, -0.2768, 0.9984, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4773 left_y=-0.1421 left_z=0.1863 left_yaw=0.0318 left_pitch=-0.0925 left_roll=0.0266 left_gripper=0.9984 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.0342, -8.6222, 6.2017, 1.7607, -0.105, 0.0611, -0.0611, -0.1299, -1.5521, 7.0632, 1.7167, -0.0415, -0.0464, -0.0171] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.505,"left_y":-0.13,"left_z":0.155},"note":"The mouth is still ahead and slightly left of the jaw center. I am making a small forward-left correction to center the neck between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe neck is now directly beneath the gripper, with the mouth filling the wrist view. I am closing on the upper body and will verify the hold with a short 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]: [-0.3664, 1.8492, 1.3655, -0.2459, -0.3508, -0.2577, 0.9983, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0265, 0.9998] state[eef_state]: left_x=0.5023 left_y=-0.1239 left_z=0.1479 left_yaw=0.0607 left_pitch=-0.1184 left_roll=0.0323 left_gripper=0.9983 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0214 right_roll=-0.0014 right_gripper=0.9998 state[joint_eff]: [-0.6769, -10.7966, 6.9812, 1.4872, 0.0317, 0.188, -0.0269, -0.0752, -1.0188, 7.2547, 1.7167, -0.0366, -0.0269, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The neck is now directly beneath the gripper, with the mouth filling the wrist view. I am closing on the upper body and will verify the hold with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe jaws remain about 7 cm apart under closure, indicating a substantial grasp. I am lifting the left container a few centimeters to confirm it moves with the gripper.
move_to
left_z0.2150
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]: [-0.3698, 1.8511, 1.3647, -0.2146, -0.3431, -0.2771, 0.7597, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.5062 left_y=-0.1287 left_z=0.1519 left_yaw=0.0602 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.7597 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0009 right_pitch=-0.0214 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.0479, -10.2496, 6.8581, 1.326, -0.2515, 0.1832, 1.0281, -0.1846, -1.1829, 7.0769, 1.7411, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.215},"note":"The jaws remain about 7 cm apart under closure, indicating a substantial grasp. I am lifting the left container a few centimeters to confirm it moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe left container has lifted with the jaws. I am raising it clear of the table and moving toward the red cup, which is farther forward and slightly to the right.
move_to
left_x0.5500left_y-0.1850left_z0.3200right_x0.2970right_y0.0000right_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]: [-0.3698, 1.8511, 1.5497, -0.4618, -0.3393, -0.2878, 0.7413, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.5036 left_y=-0.1283 left_z=0.1868 left_yaw=0.066 left_pitch=-0.1516 left_roll=0.016 left_gripper=0.7413 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0009 right_pitch=-0.0248 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.1026, -12.4376, 9.5795, 1.5556, -0.232, 0.0415, 1.0281, -0.1026, -1.1419, 7.2137, 1.7265, -0.0464, -0.0464, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.185,"left_z":0.32,"right_x":0.297,"right_y":0,"right_z":0.185},"note":"The left container has lifted with the jaws. I am raising it clear of the table and moving toward the red cup, which is farther forward and slightly to the right."})
tool
executing move_to over 9 steps (0.9s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe container is suspended in front of the red cup, but the arm did not reach the requested height at that extension. I am shortening the reach and turning the wrist so the opening can tip forward over the cup.
move_to
left_x0.5150left_y-0.1750left_z0.2700left_yaw0.8000left_pitch0.3000
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]: [-0.4438, 2.4763, 2.8742, -1.3846, -0.3847, -0.3519, 0.7418, -0.0154, 0.8192, 0.609, -0.4091, -0.0124, -0.0273, 0.9998] state[eef_state]: left_x=0.5351 left_y=-0.177 left_z=0.2303 left_yaw=0.0897 left_pitch=-0.331 left_roll=0.1089 left_gripper=0.7418 right_x=0.2929 right_y=0.0013 right_z=0.1694 right_yaw=0.0012 right_pitch=-0.0595 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.3761, -14.1607, 7.6513, 1.1746, -0.315, 0.0562, 0.0464, -0.7179, -1.3333, 9.7573, 1.6679, -0.0952, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.175,"left_z":0.27,"left_yaw":0.8,"left_pitch":0.3},"note":"The container is suspended in front of the red cup, but the arm did not reach the requested height at that extension. I am shortening the reach and turning the wrist so the opening can tip forward over the cup."})
tool
executing move_to over 22 steps (2.2s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe red cup is immediately ahead of the held container. I am rotating into a forward-pouring orientation and beginning a controlled tilt while keeping the opening above cup height.
move_to
left_x0.5150left_y-0.1800left_z0.2600left_yaw1.5500left_pitch0.0000left_roll-0.6500
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]: [-0.63, 2.6236, 2.9131, -1.4239, -1.1233, -0.9436, 0.7422, -0.0193, 0.8211, 0.6086, -0.4091, -0.012, -0.0296, 0.9998] state[eef_state]: left_x=0.5233 left_y=-0.18 left_z=0.2375 left_yaw=0.653 left_pitch=0.1489 left_roll=0.1418 left_gripper=0.7422 right_x=0.293 right_y=0.0001 right_z=0.1687 right_yaw=-0.0017 right_pitch=-0.0618 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.335, -17.853, 5.9829, 0.906, -0.7546, -0.0904, 0.022, 0.2667, -1.4017, 7.0906, 1.6777, -0.0415, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.18,"left_z":0.26,"left_yaw":1.55,"left_pitch":0,"left_roll":-0.65},"note":"The red cup is immediately ahead of the held container. I am rotating into a forward-pouring orientation and beginning a controlled tilt while keeping the opening above cup height."})
tool
executing move_to over 11 steps (1.1s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe large wrist turn caused substantial position error, so I am returning to a simpler wrist orientation and a shorter reach. I will approach the red cup from its left side instead.
move_to
left_x0.4800left_y-0.1000left_z0.2500left_yaw0.0000left_pitch0.3000left_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]: [-0.3813, 2.5538, 2.6747, -1.5501, -1.0996, -1.5169, 0.7423, -0.02, 0.8249, 0.6086, -0.4103, -0.012, -0.0296, 0.9998] state[eef_state]: left_x=0.5209 left_y=-0.0354 left_z=0.1989 left_yaw=1.1659 left_pitch=0.0905 left_roll=-0.0918 left_gripper=0.7423 right_x=0.2931 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0024 right_pitch=-0.0668 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [-1.812, -15.1453, 8.5949, 0.1343, -0.8083, -0.0024, -0.0073, -0.0752, -1.5521, 7.0359, 1.6874, -0.0757, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.1,"left_z":0.25,"left_yaw":0,"left_pitch":0.3,"left_roll":0},"note":"The large wrist turn caused substantial position error, so I am returning to a simpler wrist orientation and a shorter reach. I will approach the red cup from its left side instead."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe red cup is now clearly visible to the right of the suspended container. I am bringing the opening closer to it with a modest forward reach and a shallow rightward tilt.
move_to
left_x0.5300left_y-0.1200left_z0.2550left_yaw0.0000left_pitch0.4000left_roll-0.3500
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]: [-0.3408, 1.5215, 1.356, -0.3744, -0.5144, -0.7925, 0.7423, -0.02, 0.8295, 0.6083, -0.4103, -0.012, -0.0299, 0.9998] state[eef_state]: left_x=0.455 left_y=-0.0654 left_z=0.2796 left_yaw=0.4948 left_pitch=0.0383 left_roll=-0.4466 left_gripper=0.7423 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [0.7863, -5.9419, 7.9795, 2.1954, -0.1392, 0.0464, -0.0073, -0.335, -1.8393, 7.1863, 1.7411, -0.0611, -0.0562, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.12,"left_z":0.255,"left_yaw":0,"left_pitch":0.4,"left_roll":-0.35},"note":"The red cup is now clearly visible to the right of the suspended container. I am bringing the opening closer to it with a modest forward reach and a shallow rightward tilt."})
tool
executing move_to over 13 steps (1.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe container's opening is next to the red cup's rim in the overhead view. I am increasing the rightward tilt so the low lip moves over the red cup.
move_to
left_x0.5500left_y-0.1050left_z0.2450left_pitch0.4000left_roll-1.1000
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]: [-0.2573, 1.7172, 1.145, 0.345, -0.1356, -0.382, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.012, -0.0299, 0.9997] state[eef_state]: left_x=0.5254 left_y=-0.1098 left_z=0.236 left_yaw=0.0663 left_pitch=0.303 left_roll=-0.3546 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0022 right_pitch=-0.0729 right_roll=-0.0031 right_gripper=0.9997 state[joint_eff]: [0.4581, -8.7179, 6.6803, 2.3175, 0.1197, 0.1929, -0.0122, -0.3214, -1.5521, 6.9812, 1.6972, -0.0415, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.55,"left_y":-0.105,"left_z":0.245,"left_pitch":0.4,"left_roll":-1.1},"note":"The container's opening is next to the red cup's rim in the overhead view. I am increasing the rightward tilt so the low lip moves over the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe wrist view shows the red cup on the opposite side of the pouring lip, so the tilt direction needs reversing. I am bringing the container upright before tipping toward the cup.
move_to
left_x0.5400left_y-0.1400left_z0.2450left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0956, 1.9167, 1.0889, 0.8158, 0.2718, -0.9329, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.0116, -0.0296, 0.9998] state[eef_state]: left_x=0.5532 left_y=-0.0971 left_z=0.2179 left_yaw=0.0929 left_pitch=0.3156 left_roll=-1.0044 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0027 right_pitch=-0.0729 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [0.0342, -10.2769, 6.8581, 2.4835, 0.1832, -0.0024, -0.0122, -0.2803, -1.4564, 6.9949, 1.6679, -0.0366, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.14,"left_z":0.245,"left_pitch":0,"left_roll":0},"note":"The wrist view shows the red cup on the opposite side of the pouring lip, so the tilt direction needs reversing. I am bringing the container upright before tipping toward the cup."})
tool
executing move_to over 13 steps (1.3s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe container is upright again, with the red cup farther forward. I am moving closer and tilting the bottle's mouth forward and right, using the corrected tilt direction.
move_to
left_x0.5750left_y-0.1300left_z0.2450left_pitch-0.3500left_roll0.6500
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]: [-0.3759, 1.9095, 1.7065, -0.3603, -0.3439, -0.3412, 0.7423, -0.02, 0.8307, 0.6079, -0.4103, -0.012, -0.0296, 0.9998] state[eef_state]: left_x=0.5439 left_y=-0.1468 left_z=0.2443 left_yaw=0.0868 left_pitch=0.0287 left_roll=-0.1119 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1655 right_yaw=-0.0024 right_pitch=-0.0732 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [-0.335, -10.1812, 9.4154, 1.5604, -0.2662, 0.2466, -0.0122, -0.0615, -1.0325, 7.0222, 1.6581, -0.0513, -0.0171, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.575,"left_y":-0.13,"left_z":0.245,"left_pitch":-0.35,"left_roll":0.65},"note":"The container is upright again, with the red cup farther forward. I am moving closer and tilting the bottle's mouth forward and right, using the corrected tilt direction."})
tool
executing move_to over 13 steps (1.3s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe red cup is now directly beyond the container's low lip in the wrist view. I am increasing the tilt toward horizontal to pour into the red cup.
move_to
left_x0.5800left_y-0.1350left_z0.2450left_pitch-0.4000left_roll1.3500
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]: [-0.4007, 2.6164, 2.8956, -1.3907, -0.5854, 0.0525, 0.7423, -0.02, 0.8345, 0.6079, -0.4103, -0.012, -0.0299, 0.9998] state[eef_state]: left_x=0.5585 left_y=-0.1267 left_z=0.1749 left_yaw=0.1034 left_pitch=-0.4297 left_roll=0.6033 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0771 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.5675, -14.4342, 8.4308, 1.0574, -0.5446, 0.0806, -0.0122, -0.3214, -1.7573, 7.0359, 1.6484, -0.0659, -0.022, -0.0122] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.58,"left_y":-0.135,"left_z":0.245,"left_pitch":-0.4,"left_roll":1.35},"note":"The red cup is now directly beyond the container's low lip in the wrist view. I am increasing the tilt toward horizontal to pour into the red cup."})
tool
executing move_to over 10 steps (1.0s)
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 arm reached its extension limit before completing the pour angle. I am retracting slightly and turning the tilt diagonally toward the cup so the wrist can achieve a deeper pour.
move_to
left_x0.5100left_y-0.1100left_z0.2350left_yaw0.6000left_pitch0.0000left_roll1.3000
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]: [-0.4007, 2.6164, 2.9124, -1.4364, -0.5995, 0.0788, 0.7423, -0.02, 0.8345, 0.6079, -0.4099, -0.0116, -0.0299, 0.9998] state[eef_state]: left_x=0.5516 left_y=-0.1215 left_z=0.1771 left_yaw=0.109 left_pitch=-0.4571 left_roll=0.6482 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0025 right_pitch=-0.0767 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.4444, -14.7214, 7.3368, 0.8474, -0.5153, 0.0757, -0.0122, -0.0205, -1.265, 7.159, 1.6874, -0.0415, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). 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":{"left_x":0.51,"left_y":-0.11,"left_z":0.235,"left_yaw":0.6,"left_pitch":0,"left_roll":1.3},"note":"The arm reached its extension limit before completing the pour angle. I am retracting slightly and turning the tilt diagonally toward the cup so the wrist can achieve a deeper pour."})
tool
executing move_to over 16 steps (1.6s)
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 diagonal pour is still limited by the arm's reach. I am returning upright and moving to the other side of the red cup, where the opposite wrist tilt has more clearance.
move_to
left_x0.4500left_y-0.2600left_z0.2450left_yaw0.0000left_pitch0.3000left_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]: [-0.4706, 2.7594, 3.1176, -1.5589, -0.8394, 0.0284, 0.7423, -0.02, 0.8345, 0.6079, -0.4099, -0.012, -0.0299, 0.9998] state[eef_state]: left_x=0.5437 left_y=-0.125 left_z=0.1774 left_yaw=0.2479 left_pitch=-0.3599 left_roll=0.8484 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0767 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.1162, -15.8701, 7.2957, 0.7302, -0.8278, -0.0806, -0.0073, -0.0752, -1.4291, 7.2, 1.7363, -0.022, -0.0464, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). 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":{"left_x":0.45,"left_y":-0.26,"left_z":0.245,"left_yaw":0,"left_pitch":0.3,"left_roll":0},"note":"The diagonal pour is still limited by the arm's reach. I am returning upright and moving to the other side of the red cup, where the opposite wrist tilt has more clearance."})
tool
executing move_to over 22 steps (2.2s)
step 238
top_cam
camera top_cam step 238
left_cam
camera left_cam step 238
right_cam
camera right_cam step 238
assistant
agent noteThe readback shows the arm remained overextended rather than following the last position. I am raising and shortening the reach to recover a workable elbow posture while keeping the container secure.
move_to
left_x0.3900left_y-0.2200left_z0.3400left_pitch0.4000left_roll-0.3000
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]: [-0.7689, 2.7262, 3.1241, -0.9943, -0.7834, -0.3058, 0.7424, -0.02, 0.8345, 0.6079, -0.4099, -0.012, -0.0299, 0.9998] state[eef_state]: left_x=0.539 left_y=-0.343 left_z=0.2593 left_yaw=0.0259 left_pitch=0.1433 left_roll=0.1332 left_gripper=0.7424 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0767 right_roll=-0.003 right_gripper=0.9998 state[joint_eff]: [-0.6906, -21.0667, 7.0222, 1.9316, -0.0952, 0.2222, -0.0073, -0.335, -1.2786, 7.1453, 1.6532, -0.0269, -0.0513, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.22,"left_z":0.34,"left_pitch":0.4,"left_roll":-0.3},"note":"The readback shows the arm remained overextended rather than following the last position. I am raising and shortening the reach to recover a workable elbow posture while keeping the container secure."})
tool
executing move_to over 12 steps (1.2s)
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": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.5 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, 0.6174, -0.3775, -0.0219, -0.0151, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.388, 1.746, -0.0562, -0.0269, -0.0562, -0.7043, -1.4701, 9.812, 1.7216, -0.1099, 0.105, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cf5f90271e328e806cd977ce1af2b2c602a8eefe7a1b00288c1aca21637b7e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7da5063c7442f062a56c4088df53fd03960c6999ef15d91c3558eee7ae3344",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c408ccd5727a2b4f4107b368217933247efd092feec14ae704a43f39a934fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 9cf5f90271e3
wire blob 5e7da5063c74
wire blob a3c408ccd572
call 1 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMtUqDSqYEH0ZE9WfUc6wIKQmghVM6CGN9CnatX0XXmRTWcRy0KtI1T0QUcuXfwLGleYt_GM-dCAXF0rghzrvtR9M3TXMrqfK4PJucAB_R_9BjqleOtFKBeL7Ka43hpvSH1nozAr8YVPBjN6Tra_nysiARi0fxPC_QL-tk5SZg23LStdLSyoO6ZTql3RTsISBM1bty3mqx-9yRDHeZarO--pyvpgz9L0Obmas7-XKrstwO8trM_UtKmoljP42EF3H9Cigyd3XTW525FoiYNA8ysTImaYtwWbctZRGQ3sVbQ0Njn6iEu3g1Mf9ZRDCOxa3_2nbNdkHhhLkc3eP6lRPJ2Z_Y4okPs29ebE6yOO7R6RbdTT6turV1WX3VcXHlkq63g16wrp284nr3uv4VYUDtzYS9J9GVVbCEI_fxXjKCm1BySB70eJda1Vjl0rFHhatwt4zH8cYtUn4jW8IdqszQkuAMaGvp4r8xFt2JxRVqof9ptfM5fugefwHNFsWtoHhrJeCM_XZ1DQkEmTeFTWi5uWHjEe_cNLbduWqHOsvOQtrty8ikfJe_5GVe5J1GLmM0Cj1hy4t52NREP-sDnve7hFwipAzCZB_9FOWt3KU4bl5rVseNqqj6cc2zfUIoTLeKiildCvn7zbgEqKi6ATdPXNm3d25E5XCniwv2eHwXLN7zUySFy5lslGDTyNsWR8Ffe2aJLX36PNjqZPnF1UpcwfeyOItiO4tV2iG-eeqHvcrTLLZVt8aD9iz_Hz-nk5aj3swS0bHUVoUiczwDGZ_A7iyhSgMtgfmZgeWGb6lOk6CkZbktGlP635MJSOdl0_QraJJWqDB-vdq12IP-zGi0yH2pM9VsESBsf3e9ybEqL8pOXYWrTEFaj_CzpN6OYDSECni1U55lhFcUSXnlU6XZ8vsk9A9ERhnF3SJKt6VA5TtQB_0PDaSja1CbdGMpoAqz2HicbSS2EaYZ6NC2uUZa2f8kMa1HbttMqKuUQk-D8crcWslJ3xu_uwqqqPoAxt0A8M5LALprfsFCWPaDuY68_rI-s_FhmoIATVN72imnHVoPYhXqaRtAKZ0cNL2U_YYc-xAjh4yAnq2PQdISlvqgVzQ6_cM7ekMNUHvY79HlzV2KUrGmx3gONczrM37nBDkaP2Cub-8kF8goNF2cb5b2Nys0kOiPo6WTciEGjGdpfjulKSDzu34rAMfk3EjKT-KkcmwhFpeXk6qjcX6oHUsyr9Sm8pVlRP9R_Xs8I3UsLe5LlHXjO2ye2oX5-SRGIaNk83ftCXhLaBJ6aAb2sie7PaYB1iVHN8mdCMqGdZp1mvEsCplGlmJWfQ_cVarI8ulh-NHNDWujK1byRQ3EFuQERIsAUc-mwp8vdOBRUu_jm3JyRSnk7qERk7NUVQGnheaO2VPV5Fr3YguDrIirlYMxFAHK2WrDgQjTrQYTVEFJ-v6jywNtT6OsbLuBI0uvecCDr3bXfI6Fdu85UChyQG20paMmAuY3By9IYUfRzkA7fCSRXdmcR37FV_aTL_UwnyUuCX_-TJYK03rUI26tEJE7napfjtpv6p9y_kmlv_Ej56oLjbTl2ui4Zw9GIZE-IYsr48IlHzidETWhu8orwTdOqbmewqu1ac1eUpBfOGAycU9SLoMcq6nYamTmnZjYDPqP_sqSFXBLLpTunBSKDpst0twXrtVMt69pe9xBMpB_APL2AU9PtLMEc5OS6u0J_QcXVneQj8ZIkx1oMuliXfDkFPek-qYa4X39i9s_BUVQByiy45xtva57KvmJkkE7w1QJtd8UzB9y8cbPTxkC30DCoWEnRUF6W2X530jpIgsg_ACXc=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb4d832c87d0abe6355e2440109c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.20,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.185},\"note\":\"The two open containers are in front of the red and blue cups. I am moving the left gripper above the left container first, keeping the right arm parked.\"}",
  "call_id": "call_QTO3YZlUimFXRj7reDLP7Fg9",
  "id": "fc_03ba7fd05bcdaaa4016aaccb51c49087d0b3d882cde9509e6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QTO3YZlUimFXRj7reDLP7Fg9",
  "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]: [-0.7071, 1.5215, 1.2217, -0.4191, -0.5694, -0.429, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0124, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3862 left_y=-0.2 left_z=0.2167 left_yaw=-0.0161 left_pitch=-0.0296 left_roll=0.0111 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -6.8581, 9.347, 1.5409, -0.4811, -0.0952, -0.0562, -0.6769, -1.0735, 7.7607, 1.8193, -0.0952, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d1a1c8206b99732b456bb4a7bcfd2b93b9d15d713550d6197c7c4f7fae4d82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dc44f2e7fb6fe4f1a1f0795d3348859016f147163f4482a21bbbfe2dfbe95f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:824064001dff88f689c8418db0bc2ff4c2317be254150de6ff2b776be7729720",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f3d1a1c8206b
wire blob c9dc44f2e7fb
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 7.822 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, 0.6174, -0.3775, -0.0219, -0.0151, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.012, -0.025, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2966 right_y=0.0011 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.388, 1.746, -0.0562, -0.0269, -0.0562, -0.7043, -1.4701, 9.812, 1.7216, -0.1099, 0.105, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMtee8EoRag2GRIlRhjj0mG2sL53VExAvUZ0fMyd9B3WP-AZ4UJP-UNCM6WSK-m21Kea_BCFDuptYRsaVa-6TkZ2nkLx4tNMopZZKNTXELIxXn2kqypRxjgloGrMqto9d6OV3lJLAoXTBwQM8k_huXjcTw4zZaBnGaefPJMmVyY45PP2ZxzJZGn89t5OLcdMTX8m9AwlFoloNanHwoc0pQEZ-f4IdqF8n2wcI1Ao9v7kf7G9FFJuDxUn8cjBPG3Y1E8npKfV-0Lf0lgHpctNSJQr8naonOSinYBON48w-oXm5bAGxSEIQAHGYwVaquWaeArS-FhqXsfK2HeTqDj611QKIhhM8AHPh-jRzHRx3JYl3TUr0pu__sqJSpcV1lR-0IJHpW7iX22YTDdO0w7BNL7Ysl67pVGuE2okB9I0BWjO6Lq_iFx0ggMBhO4VWiGtW_F3BbMsaxnjZiRJ4fguCUYtOFbrj8B6bmd0O4G4clOJWPemOfH2TzWHO415pxkaqHZu2ZoeCaoO8ZXi4UUDrTNz2qDk6mGY-bUOSsLJnnTd7jXbiBnOMynNOjSsEjMLV4JEz5M-8oIeNEjcCCQ3BUAam7flbp222Ojz_xDu5cJkmlMDHZIfwVs7uL8nNu1H7RQDOuIcWCyhM6p2iA8Jfa8ENQB94gbezafumeLh67UIwT7-4hd1qkWxvkFH7lYH8Dy01Sm92CxMfosQhxpMKgLxx552nAR2H8OT_yGHas3WI8m9IO1Ld8_b0EUH9CghNbzrZK_gioprApYlcjQtZVGilFd6sdjhXShjSXcSRPqsnd0WwtEXOKDraIIM2zoz_c6gaKvTiO6fcGzART7FEr643HmVyNiTUq391DhDexRJDlOvtUEtote_bynXoKn3IiACi72T3X3NJC2uXkRF4Q-H6X_VJ2sAV780gcTdKI5CTnhDVHtVgDYW641frrlNA87sheeEGHIidCWjG6CT3oVWbTi5V3MmTnCpoG-wcllgwxRBHZaF1Ga1O5Wp2jzEC6n9_-JjAHA2X43jA-shSCyjZnsb50GNN85mg8KiAI0dJz7Ff6RY4jC6TFPmI3f5I0xQLyUfFhDuXANO0gMPlyqsDVxVogVsww2bMjEevIGeIqlr8Du3CKob8dnxNK64pLE1CbgAhI5g3PF2VFsTcVYTh4QDun_nd4ZafmtxTB7UvLIb6OdbAuNmyZ6c99C7EylA-1SK_ZGKcApeTM6dFEucwC5WgXA-lE1VVB8HxYKDimFzRbMJh_jkTx-FyZyes2E4Mfcwn4li_Cb1XwmGL0wB8ykBWy_ilEXtr2Kp8kN8GSwndlJ1b6_X8Q1xEq9KUUSu9-hDY9XA9j5A2ACJzkXbGpg4qBXhWt5ufYBP70EeFzZs4wYM9KyngIpEl1dSaGZSS0amrOO17VZ3FHB6a_WGP16gixF7pAPezqKWFmVS_hfBVP3mo4A-fUKuH7faKlN3toCLvZlbSbuGdWqGMik3J9eBdr-68AX4xGlEBeMhPLDthRm27Z48IkJe1c5Vf_Caj68gWM0Mt-RNmkYjHkZd9GOu-5Hdv9cuJhVavlQmiwEQBsTQL6PYPnub85nonSkWC41kvH2T_NtYn4iOaR86xV6W0JE7YFtOS8wyUFr6XV4=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb5ad92087d0b7afe803ad154f30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.155,\"left_z\":0.11},\"note\":\"The left container is slightly left of the jaw center in the wrist view. I am shifting toward its body and lowering the open jaws for a side grasp.\"}",
  "call_id": "call_XSkV2r3sICuQUQmImjMCvc2N",
  "id": "fc_03ba7fd05bcdaaa4016aaccb5d5ed887d08063f0a664939f31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XSkV2r3sICuQUQmImjMCvc2N",
  "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]: [-0.5877, 1.5318, 0.7776, 0.0502, -0.4862, -0.3481, 0.9996, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3822 left_y=-0.1512 left_z=0.1055 left_yaw=-0.0047 left_pitch=-0.0511 left_roll=0.0254 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4205, 6.2291, 1.8535, -0.1734, 0.0024, -0.0122, -0.2393, -1.2513, 7.0359, 1.746, -0.0562, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17e07afc01ec7929897141d88b33587c5c0d865377fa5480463e44e5b10b9162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6041df0377b97089b27e79642dcd2edeefcc5e6e7477af3f8d8047bb39e800f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b858d214648c8fcb987cfb4c362e3a0d85cec703c81d0946190bbe3abd46ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.37 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]: [-0.7071, 1.5215, 1.2217, -0.4191, -0.5694, -0.429, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.0124, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.3862 left_y=-0.2 left_z=0.2167 left_yaw=-0.0161 left_pitch=-0.0296 left_roll=0.0111 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0149 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -6.8581, 9.347, 1.5409, -0.4811, -0.0952, -0.0562, -0.6769, -1.0735, 7.7607, 1.8193, -0.0952, -0.0855, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMtoMaNdpx-2DAOoh1VSlrZAddwCU7NIxhnc9bAS-0WQQFdfA0QIANb8iSdVbV4TqYPvvMrJ7Jj3Gqlxmn4X_xf8nBUxAq09LULYkx_pY6195LL-TwrQ_q89ouwsLpiwjiLviJB96U8p_afbXhdyRlj4WKx76yeDFRe8IQ_S5oCFEtgguw5qvIFp7cIiiy-VH4qsxf2xyOjWuCHmSvYqK_OI3SLuS4kK91_Ldyb9bwRfk5uEcFi5RqmpPqk-wH-GHoQEeESb5rMI_OGvyH50aJYo74Vf0op4PMNCq3quY4PzRbzqE7eU6H2XM6_OeBVGM2CsrlU3Y1TbXthArVAUkd-CRlFry0c9d2U3fMqGzT7RAOAEAWn6PLPqktdvfLJbCKbiOuYqwYt8AO-6huo1oyd6PlTExVc2l9OZusaVWTcZLOL7M9UuVcF0IddNw0NolG3ni-k9JgVOiZhitS9OUu5DHnVjEGpgtlGomuvlvy0GjpDCHbD2o9iEdbDV_0yO08E17NLZ9vsOxx35J0JY4F0VmOYeAYVMgySWNQ_pzHXSZDDJp1N3RWqVi252HGVYt6tITmP9kkphQqg2VIW7TBv2Uj5jY0I78-n37HOcC2wCqxYMJ2ao_p8-FY1Mwt-wdW1UcZ8_5JIAotLfodBAMhu8OdCSXkTslST7R1X1g0TC-wPD1i5IJqR7h8MXWQnBQM0KzksY0TzkqHn6cd2ud-SMEUVYHeK2zMpiB2JXF0qlY_PgkOv7mYGd2F2EicMX5jAifdPAwAdgpD0W3H1h9RTRcdfQeTvwkKmpYwTHUefzlWqitlG43Eb6PNgGhhEE_UY3m0P8aju_sqmKW_0GVqiRVjMmZaRyKI2SbNfhR-UmyjK8spiPYbsbGdIvqVT4lySfzo4PV3WRdWm4AcfWJtHAU20blmQMVOSwosxv_ApWvkdO_QAtdJZm-g3fjRc65KEhm4LjPp71BnERH9i_7PTgIv61UdQb80dzQETk4NFs-GsfNLh1Idh0S3uZmkWBjiT5wenxDZDS0rsEJKHac4t5V7Acp8ayVvixn-oS4uuvVZox_MbkNI8767Lm5Gxa3ePqAxp49rDgkNFFzoNdZF6Pl-WYzcywj6E0yQJukqg6vbxyEsHZD7cW9rq1hT4gqeqWoaHWibJeYyPTbHeSVDzatktcLFKOfMvsmyA89YexMp59ST6DLSL-JCATs6oeuFKpgtswZBOJ5g9xLunXkPTzeQVSkXkreyITvucTHbyBdjXVkfTbhwk9pcDJ1lrGWWds_hXS__70Kt_V2RLmT5B1Ab0ZMvlBkywNLJVEPxN2w3cSHkxoaaTagSwaaoFT_k4vbEjg5XDu29ngmoRMI604ZnfsAzD4pG1gNUi-27aiNIA_Nqm_Nafa91n-guY1Pr_QkHvpMnLA-dZPQ-xxJvFvF9aJ0jIR0kbonzA_wK1AHeqj-P3vK-MS1FuKQyxFJnrKw6tS5iZlgbFLP_td-gmBF-EqfSkQY1m684VTRzDxQpR20uk3X8Hi2s5ioDHd1TWloa3u0dmmRJDorYWi9JfJNxPFRVAz0OND5oMQbLEJX6NCmQ593Mer84mFuNn2cCpIZ4RTzOHEKS9tuwvQWiLy82Y-0rePn4Nsly1HtOOu8DSmLQaYw786ICFYQlD0IOZHbHInyHBeokzsvSHSPKVzerOxF7VgDfKImAf8dNCcB8pVI6FPCS8L-ILrvgvRpyxDLqELvy4h0jf2YAbhw8GGbtQhT8HL62cZl1XDAvEfm7XmepFUcOXk9O7fGAWfR1MirN4wlH4p1bN5afpFOkEZCsW4Z43YTI-zc3ApZkWvtmwVgMG-QOdLmpqfXHQg7jTs_JtJcb3Iiz3CDJkcS7kFb01rxouMh_pmRsLXISpgW9uZY1_MdQx6IPsvJ2ztXQ_bz7blr5EiDU6C2S9vuBLVpprOgD37MlUns_rL9ZZq4SY=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb63343c87d0bc1b39168f9743d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"The left container's body is centered between the open jaws. I am closing gently around the body before checking the lift.\"}",
  "call_id": "call_Vi6n4KstMC8JUDX0aVc2Kdyw",
  "id": "fc_03ba7fd05bcdaaa4016aaccb6760e087d09dd21337841147c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Vi6n4KstMC8JUDX0aVc2Kdyw",
  "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]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3481, 0.5538, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0067 left_pitch=-0.0489 left_roll=0.024 left_gripper=0.5538 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.7077, 6.4889, 1.5458, -0.1685, -0.0171, 0.0806, -0.1983, -1.1009, 7.0496, 1.746, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a7e4f6a7045b02226b010df7e18951750940e9d2ff4e9cbad57d1558e44f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:913312b1a8be7184a40dcd1e92353ca4bf3c01bc7bb5cf7d1330c65f94638ddc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d7d0b2f15de5ae071581ff7d06631a8f99db9d46e828f9c115c8744ba08528",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.177 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]: [-0.5877, 1.5318, 0.7776, 0.0502, -0.4862, -0.3481, 0.9996, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3822 left_y=-0.1512 left_z=0.1055 left_yaw=-0.0047 left_pitch=-0.0511 left_roll=0.0254 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -6.4205, 6.2291, 1.8535, -0.1734, 0.0024, -0.0122, -0.2393, -1.2513, 7.0359, 1.746, -0.0562, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMtsp97hR2SgONc3H74yKtBgcFV_farGiXwnI6cTB2P6Yp5R8hT9VQPxBxW6gIyT-kZPi7AfaVVCfXBKBaOlodrpzzyVk_-GUnrqoMl59-X91-FtkHRhjnYfWmqWPH1m-cbZ-_ylggDDRybcEwv6YCqMW9PQ0i7DgT1J-okqa-y2BJA4a2lPHGv7bJ6PUlZguqJ45mtw8mYGwAv-a0vlSAAywdnxHRU4w6SAyCN6fHVjjSmfPOCLDLivQvhOb-8mqkQoApRDHjKJFQB7E9Dv-4B4G7-33VLqf6lzz1SpRH9WlOaKg7EAInjBljpIft7VxpxYKTbn_-g4psvtZfG1ly0W5voY_UmJ7bO6Lc5ctb9fuAgzjpHfk1LcLaQaTOL9I5mvIYuwXGZkBT4n_QJCEUWXG5VM5nKLv_wZjnhVnUeCsLvDxgjWGSL5lFGujikX1LnSotEPulshV5su11SQsZQKrljPiv7fjTfUAZoWQauNCZ7YrKfA1gobE4ERksQ7JBcJdlRN1E9qkE1jouDOPwDsRdSN--Dp6_Y1rXhKhK-NHZ7GrNpLmFr3AobDZsGp6niizNCiY3LLAcOzkgVCuvQlDtYJzfT4gNBeQhSaD3o9zP1h1inzsR2G3nr4kIgqszpWyY13nSi4zCqoda7UevdPh1TKZ6rPy513jOWeSLUs4PUGOs1hOwEZU8G5Bnjpj1-gAZBNRCYOrhj6x77G0Kgx1CFYG5hRUQp2v428C1xz_K2EGzbkOJwrV1uLZCR85lOjy57PIiitMzcQe0bH4A9qfAavXTK1ddt7GekjgrOV75F46_tYlvv3Hh2Dm_NMg7u-szgetm9lB6DAQVWKsBg9owI3Ab-xBPn5nT6O_gLGwJFm0J5EbYm3h3CAuqA0vejCH1hDnD7s64l11OWH2mWriltsixuFK-qhKebIV8rUVkdUL4wcvRGDQqePwaoc_1OYFh8Azm_1mM6YKlLot64wmBW_hFrECOWZB3fNxKgF1MIMltKkZmq-RHD7HPGRS5ctYUco0kXTP4PlpV2B2xTTGq2a94XwTiq_2KX3i9U-rlEjo64OhcLEO3Re4KB20JUuidcLLjnIyiBvdp8V1NxDQsDe38TmH_NJSWR4j93ltLBtokuPeFQNHqr8gpILt_3BBJ-waDwYW5EqRaWTKXZNixHZ2kaqi9cjRuGzN43JcSEla_Faf5Ka05WTDcFNmDf1wIjGYqinTJDriYnEcC-QpkduPEcYBRVN_n2JCtKroB8=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb6b256487d08e849daaf5745630",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws have narrowed without showing a firm hold yet. I am completing the close around the centered container.\"}",
  "call_id": "call_hIeu8kbWdnEdf8sEoO23mRXz",
  "id": "fc_03ba7fd05bcdaaa4016aaccb6bc2b887d089c1ef104e2a971e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hIeu8kbWdnEdf8sEoO23mRXz",
  "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]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3489, 0.0126, -0.0154, 0.7994, 0.6086, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0062 left_pitch=-0.0489 left_roll=0.0233 left_gripper=0.0126 right_x=0.295 right_y=0.0011 right_z=0.1796 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.3658, 6.2974, 1.5214, -0.188, 0.0073, 1.0623, -0.1573, -1.265, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cd367bbd28a770a9fe0de3acc182f36ee3be4a74e2c4e16c99ae04b6313d7d7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef6d12edee0dc45a84ea58ae954e8af7d1473eebe0c086f8b6064f3bb2772100",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c449ebd8d0a183fe7e0a4bb0ed09edbd402ac60a5fa5fa07f57135bc45dcf80",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.151 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]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3481, 0.5538, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0067 left_pitch=-0.0489 left_roll=0.024 left_gripper=0.5538 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.7077, 6.4889, 1.5458, -0.1685, -0.0171, 0.0806, -0.1983, -1.1009, 7.0496, 1.746, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMtxX--YzF8nKbzW7mIzE5BO4dGqghfXbD5Wf-IBruhx5yJJlb3uO0G8cH2vgA0XB9G0FGLqcv0PJqr71J20hBLS67rXNYO-rMDvncMK-yk4jMj928zkL4r-r1ME6qffN9BNgp22N9b5xrOfDhLcfwPVArcYGTR88RPnt8-isW58Mu_m6qzN_vDE-0HyhbJX0p6eZ-0w60tt-IueayLYdiCIvYfMEsUnI4fOWfSlGWskKWP5x2LtdKoTw31uARwkCG7rD4zSLbpoPcHV6FpL1ZbriCZcJG3Q6Oh4wwaqIeV0iwL8bDjM0MyT_l4L4MDDa0qdz1BW6b-wXssBTKS_lFTydio-vm27KBUfFz-sne41sWYzAY4oWKZTrTZMznNHPpINbMJcwhDpxsPt3tZGiLfG7M6KBaYQ1izcj77mnuEV5agqJbWN7aD9y_-4T6SDR1aUHdvTTQdD9RmTLyUwR5h96xhYc4BFUc-Z8VnWyjsoVPa50-Q8lpYp-haaEO7GmGA8nqwuvbUi3KdHcu1LwHV-m2QIXSUhLi-UrgOS53-xo4F8OEscUMERGGmGj2RpBPd7FXEpPWxflj_oHeXCgvbTIpdoIOq-_zDCanOzw6h3UhaIh6IzagtaOjoKEdt_9MsSggyiD58rOA75ddVGYFdB_DaC0USNk5S-Nyv8FcLnNgCi16p9ox0_MI5Gg6GnygoFnSFflIrNJHExckMfYoEyKiV7UJN4021wTJVf35g9czgSXjb0ScvayInblF3i50UGN-f2Op7BX9V05vMqf4dD_qCj7kwB01jt6dMWh9jEjok2Nfp-Fcjp2H72hYFY5YBYobZ_k5jsCd-4d_Kt4mb1gyIqgM7jtGr-94GBnpx6iMppFiknCkycupmcDY-uBSXB7HwCPOPY_USVb0do0W73FjNR4ji3gBMmh6cLSdGCFTHdLBI4htQ7rvSevLMEMBz3wCATsDG3LrNX4wzUiVNy5aw59OwnazllC2a4aBS_vJizj5NMpZb0jBku1oec7m9fvWqUJQQslUz0aRIb7wnwtcu4SmeXMrsqSD62MoZJt3fVcKuEeiDNmwf_BpF2suOBYfE9VtJXonzvPDM52vM_Ur9TKEomQ-UZoCIYpGRg6Zl-i9lhwelLGmM5z9RDJHzamC2jPLntfknS4mULcUIvYgTMHemrEm4PQvtIgg2voeY1JYDSGhHXIx6dtsG0xR-YgJaKYeKa_rdGoQyoYtam4g==",
  "id": "rs_03ba7fd05bcdaaa4016aaccb6f4bb887d09c82bd997a22e0f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.407,\"left_z\":0.105},\"note\":\"The nearly zero jaw opening confirms the first close was empty; the container is just beyond the fingertips. I am reopening and advancing 2.5 cm to put the jaws around its body.\"}",
  "call_id": "call_crSevVlVVjlDtQvC2LnbWIK4",
  "id": "fc_03ba7fd05bcdaaa4016aaccb6f8fb887d0bf0912b4f42811b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_crSevVlVVjlDtQvC2LnbWIK4",
  "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]: [-0.5488, 1.6089, 0.8211, 0.0692, -0.4595, -0.3256, 0.9989, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.1479 left_z=0.0943 left_yaw=0.0016 left_pitch=-0.0732 left_roll=0.0368 left_gripper=0.9989 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.5846, 8.8821, 1.6239, -0.149, 0.0562, 0.0415, -0.2256, -1.306, 7.159, 1.7314, -0.0317, -0.0708, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca246503ea7cd99c8067dbee58d52b68d976188e81628f6bc13eff554384a7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a6fd2c897008bfbef72cf9dd6ca1e444ad93d61cf2996017ffb50c11f1edf0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce3d0790913235a07761f715ef340e3ccc65b9e6a080bf0f5a28bcd09367aea8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 8.534 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 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]: [-0.5896, 1.5326, 0.7776, 0.0536, -0.4862, -0.3489, 0.0126, -0.0154, 0.7994, 0.6086, -0.3851, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.3824 left_y=-0.1522 left_z=0.1058 left_yaw=-0.0062 left_pitch=-0.0489 left_roll=0.0233 left_gripper=0.0126 right_x=0.295 right_y=0.0011 right_z=0.1796 right_yaw=0.0002 right_pitch=-0.016 right_roll=-0.0014 right_gripper=0.9997\nstate[joint_eff]: [-0.294, -6.3658, 6.2974, 1.5214, -0.188, 0.0073, 1.0623, -0.1573, -1.265, 7.0496, 1.7411, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now flank the lower body of the left container. I am closing again at the corrected position.\"}",
  "call_id": "call_o33ny04YMAyOK1T4IgXqXxqp",
  "id": "fc_03ba7fd05bcdaaa4016aaccb75744887d09c353ca6228e125b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o33ny04YMAyOK1T4IgXqXxqp",
  "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]: [-0.5465, 1.6119, 0.823, 0.0689, -0.4591, -0.329, 0.0125, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3996 left_y=-0.1472 left_z=0.0937 left_yaw=0.0055 left_pitch=-0.0746 left_roll=0.0346 left_gripper=0.0125 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4872, 5.9829, 1.5214, -0.1783, 0.0708, 1.0623, -0.0615, -1.2513, 7.0359, 1.7216, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faed076efb0e4dea1f58a726361d91e6607c80a68fa05ed57f7d9dabb7161709",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f83214865e12084c056e060ca11af371c113c2c97f5ca8e2ee4de0a1edcf2aa3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233d93a22d5073dcc44c81e63b581a5b73a4327aefb4f0a0e85288f170b112f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 4.449 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 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]: [-0.5488, 1.6089, 0.8211, 0.0692, -0.4595, -0.3256, 0.9989, -0.0154, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3989 left_y=-0.1479 left_z=0.0943 left_yaw=0.0016 left_pitch=-0.0732 left_roll=0.0368 left_gripper=0.9989 right_x=0.295 right_y=0.0012 right_z=0.1796 right_yaw=0.0007 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -6.5846, 8.8821, 1.6239, -0.149, 0.0562, 0.0415, -0.2256, -1.306, 7.159, 1.7314, -0.0317, -0.0708, -0.0073]\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": "gAAAAABqrMt_po5RSaXosrJq_kYDNz-pPB2Ie_2_Ztimu-AvD-XapRzTMr23zYUa_pZayM71Laz3e2uzstiyvUMfrAGzwF97u1-Aa3uwnd1Usk7VOOpUuXemKdykIZ325BZe6XJGGxpbhqV4AL3Kwgmt918sWC8ZywDh4poe8b94IlcySdHyAcBJFlCKYNyKNO0nBbs-NvoV_SA6woGS_9WVk6AaBrwqdKUX-MY-5w-eRv0v77y0j1BwqFUm5ujoRVizpWEMqR-dRdxswDsevTxyDdAGFblV5SlqaTL2UtkeGDQC3BU_HOKLhPX835f9IeTBTph-0fJf3TG9jsLIoyOgR4-kiQ-4l0jh-oz3mxls8-rUj8OXrD4VMS28Be5NC-yCjE3ukIy8q5wA2mhJGjoH8rZ25ZgyZKtilehm-J0V_RJ5lvw4_uL-ZDo8gUI5zMDh5PkDDdGDQMykVo_YiCHZVIwYZ4thL8yQoyWpG-S-VAORyKaF3KHDCVAA7t46NoD-Ncp-BvFNzjE2opjTckFuK3gAdg_V5GROP7aG4SGBmkcrWbYP4C-L1u2x1lJih0t7EnXfMIKeT6phKgB6Pgd2cE41IBMlE6RQLCUffxL0im7wqh8JrU25D860JpyYRbexKRulF3GLDp2Pfcgx_0x2Pp1CZoALAD85Vc6MDY7UxwUm7tIzXPOgKkUtJyfflYa8KWzYWTYcNH56U6w1SqH2bO4mRPT0RO0xumdaEE1vul7GJjJmsFP-F7Wea32-4eU6s9xfBYWxzaZCXAmgBB1x05xFQYqwcPifoWA5zdU3BH7JFdfEK01LEiMNEaegVxU6-e9yJQKqDqZHGAqOP_-I82_gajmy61kbNqYuTEieygcqzv46TlTmoMgOcYuTohrxDEAh-jIqtyxTni3JB74UwqqO94lZOmXjEkRLScVROcwVkBxM8XzdSvO8jaiovNPLYkehJcnPIKrTbKZlP70rtsTAbTkGH2X_RtJvW6K0_cCLr8Ig7bkMDqhcBxBbmSE9r-DSDHek3QZjT7_2w3vwJ_NLKw3O1qr_gVzfRhc_RP-Y-Nb-W2AkXfTLDrbSsJehiU-eStqgFDA8JuIhux2Tc1dQ6S0ITl58Lb7pOrFunB5WJwfDKlQPCKuGBiiAE-DiEumBs424kZC7UPo-9ajEDkBZh_JtUqW8_i6ZXga_ycT86gxqho5yDUkTWP0EjLWnEri9b2hBeWwXPAj06kV_w3Vjkd5FLgqoz4ONQiiAqLdDh998DrPR_nc96TmfJBpY5cbiwbe7IqcTatXp9-l4jpNNzvZwm-613SqqeP5TG84NKDUrkT0pQpJ5f9NvU-n3nBXP0nanmgNj1NArzSYzldIoCWWK9-1bWGOmy6XXXg8nNr866U-jg5SwWu3IQBj0Zg5sn7x6YHeHGTZqQ5JpLk9D9PaN9sYMN6aghIAHPYQOMEU8dNRzLapCkSMSrL-NQ2f3Zs2RPBzNVx2wYzmD9-tRQ_IUY-BGLH0c0o_cMS3scxaJQiq6zSQgR6zGv3CPy1QRRvrqPQr9Zmnsd202Bk2EF567AR5gvyy5vsG9yvPRySwzDDstPWaB4GueQSzFIHqse03dC60ryhIbcWlyqpfvIIW2E4YI5XGbhJ5cV8LWgS-flcGAXuzXRn-3x_5L0k7svrnyNUITt8CNlu8oUOXOTtUxYlRSp9arBUnjJNgdb6kpcSH5awbAr02lKlXDjv7Kx0muCa976mL1EbPz7GM5lhB2GtyH0tDdSoML_CL9TDQQdEZwqe3GQSMq13pLzbxcgGKsTPq3UGy-dQ-C4p6wasxbWEpMVQ1kqrwqBhyedbKQcfKlaYzZz9u8LwAkZomCPvOxD070RBDLT5SjPTT5Bx-XChcn9yccf93G01nOjlUtGRi7V18gPPSOh5sMNovdvEPTim6XV8zt8lXKoBT1CNHqj4qiLe7WG8UJ4ey3q4E4Wr0AEgboPHDy7yM05o1xwAwip9lNY76qVrBxUxeaoXhuZ61wnmoh7mX21b0CvoKmAsThqprU1DCManUeZhY2dxmW5yhx5kjC2-NKaOfa6OpkABKZVC9IxYZ6ZlsoB8CeJUOkVbimQiXJ2292dHk_Zd8bfBMMwxJdzzDJ-Fph0UiLOGVHz9NhCsymo34GxlXQt9-cHl7NbKmplkNzWIuUMu-XPeBEhsTrfTcgj-NutNTK5-pQCnv51hSS7vZXNVMA9q8=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb7913cc87d0b4f95dc00cf19a9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.15,\"left_z\":0.27,\"left_gripper\":1},\"note\":\"The second close was also empty, and the overhead view suggests the container shifted forward. I am lifting clear and approaching from above to line up with its narrower upper section rather than repeating the low grasp.\"}",
  "call_id": "call_FeWZYj4Bmw2xNBoOlvghOug5",
  "id": "fc_03ba7fd05bcdaaa4016aaccb7e8e5487d0be357780e22af50e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FeWZYj4Bmw2xNBoOlvghOug5",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4808, 1.655, 1.5627, -0.6167, -0.4103, -0.2989, 0.9989, -0.0151, 0.7998, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4491 left_y=-0.1508 left_z=0.2613 left_yaw=0.0156 left_pitch=-0.0817 left_roll=0.0256 left_gripper=0.9989 right_x=0.295 right_y=0.0013 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0164 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.2393, 9.2376, 1.4872, -0.1245, 0.1294, -0.1343, -0.1983, -0.9915, 7.1726, 1.7265, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f40dec8d4a98d4db0f99a0e524fc3dbb6a492cd0f8a9ab574658b881eeddf87c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e023ede16c806a145086ca7aea80c13a731f055d9d54a851ceba68076a8d78a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f9d6715b10aa6c4ceab0eeb5bed64f64c88ef88909f529929ff0e28cdef74d7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 5.131 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]: [-0.5465, 1.6119, 0.823, 0.0689, -0.4591, -0.329, 0.0125, -0.0151, 0.7994, 0.6086, -0.3851, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3996 left_y=-0.1472 left_z=0.0937 left_yaw=0.0055 left_pitch=-0.0746 left_roll=0.0346 left_gripper=0.0125 right_x=0.295 right_y=0.0013 right_z=0.1796 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.4872, 5.9829, 1.5214, -0.1783, 0.0708, 1.0623, -0.0615, -1.2513, 7.0359, 1.7216, -0.0708, -0.0611, -0.0122]\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": "gAAAAABqrMuIgE5MxsOjZvEys1zr6JQ2GwwaGZZcwQVgbInCJgIR_HSSLiNhwjBMsrVRpMe16VJJ1U1DDHbdgyvNXgXCGFXwZJnUHXLSznpCKvYzEaLNpjKRae-a4ysIYPIbpzk2eNlIky90v0e-5_3YYn4n9VR3xDCI_LGGxx_NKg6Y0nTrv4hXtxIF60jdDAq1LjIbxIuTYQl4rZ2dpXKSEow0-qqjL9TCSWewzI5dD5CqANxI_pghK_eQlWyuy0vSlLPRbt_Hd1lpxQM4gv7l3EOM6W8GpDmFcPVWmhfgAhcHGIXuQE55yQOVhVmI_sjzaZ3fvwXn2HDWHkyUJamjEEn0MPstRQcynu104zntzecYrrYm2ALjoUKU-KzOpZaxd4vXyaVV63vITlGA7o_qwUZkVFJN2TWqFTTmeeQrMxhZGVa3mGdcQ15BlX6aWH8c3j1330cwjWh_FdG8baxVKro6En112cfKwUhfRYDaKSpWjFW72REYoSC7BIDDyaScFCGbItdO15gpi0oaCIaU48i4xNIGiwZAdVuZlGW7mA3apWYr6H-OMzbbylz5igQTgfL8eLMF06iLobU8Vp6Gn3__jNrHMOR0Wj_KYX3QpnVTgRhAzMJcThoUFKPksWUoHbuJV7XkXLvU-UZPby_5kdg2zGNRlX7jdilS7wOJ8ipBMKdFCIcPkl2gZ8LULDYkVctS98NL3zTuWkzsq8zek9MOo_7IKEq3eX-rqDXg6pLkoCoeDqIdSHIe_miSwjo_j5i9fZG2H8GRGrqXXDJJ3bSYCBqM6WlKik3oMy3rJrW7Ks-XdSsa6aAO7R7MWbsjA0CuH_MnzZG7vgAnADdNYGEMH-n4BRjry3FySmicBhTt_IFoBZ9ZIS_HVrc3kXIXucC0JgxTGxwV4i08-NeR2f1RaNxyCL30g3vULwxNTJ3gb-yIuiS6jVxq8raMH4NOVZLuB0rgbyicR2HKRv4uIpyDS9vlBAQkk6ubv-bYaD8vaMtdgtFMSsXFO-7VZzCTzkUiYe6KQOVIsXoTYG7Ta_QqF2k98qfn4smR5d0Hfz_9vsr2G0DKbvYiAYWFlPH-5X8zUXAsFqKmGuFQCKmHa0I4YDhcA_jhDk5luXVG3KctCux5vrKSpbcBqvVMXSWJywIcfLg-Z34-j7zXr0k3jn9beDnj9IsFjKEG-5bnksfyTavEOduLyYW9NPDQmEJWW8H_TyDpBQK_g3L3WGDVdHY8p4SWGN1kt2IQ7bNZzQM5zoMlLfEM3w1NsvJbGmDTVH3cIWQ6tj8Nb5YICgHmTbmz-oIcPBT2w7td2Scq2Y8CTkRwVaSZbwoo7ZpHV7OGFIZYPKlxGUMwk0LsikqFjEu3K8mnh9mdqFCVQtws7o7J3aZqPEea9qplBFdIRevrlH1k6506xzdYd1wd5nQFkYcSkW7dxdPI52adkuRmZKvxTgJcvXNsfDsyWd1YYphcln8VVnkKXF3qLvkUquTBC9GP0SqKBDlblfNK6F6ntULGKo8YatQ=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb85a0a887d0a8c6195695764fc8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.145,\"left_z\":0.185},\"note\":\"From above, the left container's open neck is visible just ahead of the jaws. I am advancing slightly and lowering to grasp the narrow upper section.\"}",
  "call_id": "call_pVPdjsBYVo1RrDVIMDCGHaGy",
  "id": "fc_03ba7fd05bcdaaa4016aaccb871db887d08bac3582a3cb5562",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pVPdjsBYVo1RrDVIMDCGHaGy",
  "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]: [-0.4286, 1.7443, 1.372, -0.3382, -0.3801, -0.2768, 0.9984, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4773 left_y=-0.1421 left_z=0.1863 left_yaw=0.0318 left_pitch=-0.0925 left_roll=0.0266 left_gripper=0.9984 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.6222, 6.2017, 1.7607, -0.105, 0.0611, -0.0611, -0.1299, -1.5521, 7.0632, 1.7167, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72729a55d51f9183cb6a29ceffb3864b22fc1cb68b29a95d46ba9324f9719610",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a56e09706260f0c864544b345ddc7d069be53c794ace80606f3504036ce8d35",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ccd058b0a4eed138ffb1d36e4e0bb8a07e35a640aedc444f3c00787b2952c78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /responses · status 200 · 3.77 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]: [-0.4808, 1.655, 1.5627, -0.6167, -0.4103, -0.2989, 0.9989, -0.0151, 0.7998, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4491 left_y=-0.1508 left_z=0.2613 left_yaw=0.0156 left_pitch=-0.0817 left_roll=0.0256 left_gripper=0.9989 right_x=0.295 right_y=0.0013 right_z=0.1794 right_yaw=0.0009 right_pitch=-0.0164 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -8.2393, 9.2376, 1.4872, -0.1245, 0.1294, -0.1343, -0.1983, -0.9915, 7.1726, 1.7265, -0.0464, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMuOFHiB457jfkCcRsqLWeooDHgiL9Qmanx2QizfzvBCf6V71M-_rno_DGyf56Y68PVSceAAUbhpk8acLjsrFrp-UhE_tt5TXMSiSBl47GPAdOvd9Mk1rdcRuC9Os-doE6XJmxNYOtD7Downl7x9mB4hmAS3gukfyBMV96-H_cute5TsQjBRN3-4CIOxg6OXHcRkrnG_cPqlMf4-chxhkOpARqYEuCSymdwoZQjOWN2qseNSCWlwb3asJKA1KojA-SExTyHJub9ZLRfl4-DV3Tri_efdAWDnxyi7vdcDjDqHC4tZvQ9F_xpdBeSsyDcLIaT2MXuMP-laFUt5DF68x73izAUGs1THkZTGyrsj-jerE055V0xthDwCRfyyLpXdhQW_Sb5duwj0V4ku_gK0LwKQjAmm7LQ-e_XV41mf86IQ0WSL-FxuKefi_FEFgJpWb8sxCqwYGuCfPJoW0ggam4-kH6r8Z_KGZSH7SFJIotmeyaJZ1TVZSfYjW4Oxaw8oVbVk5M0bgs5LZTZjU2_zFl3wOLYYqC0foEBJfVBoVkTzeXVuJPGmxnqzWsnFxE8izBYVWrxdkvglb9JTyB976bWYBzQnGNDvY-3kEU_wou6yaRQJnKluEhRo5eFtt4WLQI8QFRR3RlGBx0QZWdCsH8i1LHRUWtAUtrFGxUSV-de1C9R9W-JdpcqJUHK1sFzNVv8F-t43yBDlgH6ZrrRgXLnkmPPioeSu6E3TRL4op5Tfhv75f25cgkGeKTHCZLMLhonjAYlWRITZPoHHIRAIQsyFo9SM9psUerhWxksFsZ9y0V8CYF4-dCDDwFLa2Tn8M_KuunO0UiKOIr4W8xaRUXXz8p9NWotGBLCjQ526R6uhIS3D-CGTngYCwOelEfuTyh6gyV65EGAk_KKHgsDTr0xjBXeMP61zCIyN7mnzp4tRtr81zYhNOBl-9pFf_leWFq3HtuViBkmWv43Ev_09qRO48g4XbG7sG6HWe2ozZ6_BL2hii7yyZN5xtXgJDF5zQby2TcW3bYDyqsd9ca7CaLFR5BcYfHgqIICUpAFAepL-nLhATBXUP4iTRAJXfgoTdwve5JsQK8pBOSqhSu89grdrAhrRxm-zOmGRV1GePsVCBaZ4Kb3ZWeul3NikYrWYxJWOkOrp84IRjBkqHd6n51hshElv4y_aaipDv0RmxkmdH3Yo7p2sevnNcXOc_Xt2TFhAF_Ch9garRC81zXABIJ-oUdxiS0JPYJ1p5ZqD9DGt5VJ6k_r10lc-RhofJDimyO-irl3L7WctKWnbloR9jj_Z_c0lN1sA6dRzKRuqi2XDmTUGqHxvNYd6LSs9YEe2r9WqmdgNl7uf1G2RgGGr8OJn0a5lM2iR72a2nuQo7fgKiEII2OKjuyu5Nh5jjBwoEQ5Ed7VIO2xsnw21J2RzptYD4K3SMA-7Fyrme-xuM8X5wRBNi8ShoCGea_u-FsP4SN2Ba-OdDYXxurfHtiADtuQ-DZ-O9Ba_Sdxq5wzR0cjNJgw=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb8b38c887d0a25fc43246555d58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.13,\"left_z\":0.155},\"note\":\"The mouth is still ahead and slightly left of the jaw center. I am making a small forward-left correction to center the neck between the jaws.\"}",
  "call_id": "call_9O3jP0msY9PeHVxLZXOxL5cY",
  "id": "fc_03ba7fd05bcdaaa4016aaccb8d516487d080391b7e28a1facb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9O3jP0msY9PeHVxLZXOxL5cY",
  "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]: [-0.3664, 1.8492, 1.3655, -0.2459, -0.3508, -0.2577, 0.9983, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.1239 left_z=0.1479 left_yaw=0.0607 left_pitch=-0.1184 left_roll=0.0323 left_gripper=0.9983 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0214 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.7966, 6.9812, 1.4872, 0.0317, 0.188, -0.0269, -0.0752, -1.0188, 7.2547, 1.7167, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06c276ed907b37b0be348c1f8de6c24f4d1da76146e6a62666a3b14d774f6ce5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed286aeb9eaa7d04de34282f7fb66ed0350c7e43f863439c7329ecea378c5ab5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b0c91fc6b06743bcbac1c6ee490cff74c46c44629457e125d488f0802291452",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.25 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 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]: [-0.4286, 1.7443, 1.372, -0.3382, -0.3801, -0.2768, 0.9984, -0.0151, 0.8032, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4773 left_y=-0.1421 left_z=0.1863 left_yaw=0.0318 left_pitch=-0.0925 left_roll=0.0266 left_gripper=0.9984 right_x=0.2953 right_y=0.0013 right_z=0.1785 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.6222, 6.2017, 1.7607, -0.105, 0.0611, -0.0611, -0.1299, -1.5521, 7.0632, 1.7167, -0.0415, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMuSPHgLhBX6B3lgGn6V6eLQ94pEYefzgZW672APl5n-gPMsi-ZGwNo8q2FcvlnNoVT0BrEq-ADQngsmmF_HW7MTSorwA_gGN5VA1zVaE_SYC5AAGTAjCLXNkEKccW6HtbZPGiCSr0BMUQy_X2EvxacISAgQaRsxU5-yXeZkk04ByVhCQWpAHJ5_FN9pUfEqNpy0PGg6_i5X3dLmCAwM8XxcpwTdyoSal4VvZD_4thxtvP-R3hvbVzWTULlNjrxDLUoRq7yOI8XVVaEpyvsAWZ9YJ2tJoFHys7MU2U5_ldF1Mz74nA60O0ktbqh0xGNddTWrd25goRufT93J1h31mtBDdzcDev5vCj6fNy2PwptLmtDu6qPKp0DGGc8XTUpfALi2v9PC79AbTscgXd2ygxp1loO9QZu2JOAM7n9J4A3RY8WOWj9Gsy3tOHSdiptNL00gquOXz1qHKstbVz4e_CZ35aWHq86_OskUhTXFt1aDzs8AmQFh__oo5DPHo24bViig08MHeAdcca-MZLpTmncD6hJ6mZNfDp196a2dy0PuDt28YIvyczQS-0BiNMn1BG8NwlvMhum44traX8MCLJXijYlBgJnck3zTK3qxBgUL4hda6x-r7efj_PGvuNcjZIC3trRuQrwmOviDBmayAi1VYJiN1XS17nlcq7h349EHDtsETpY16XkLJ7C_JWMngJopsGHZ_8TLYUlxXZIGiONv6GrMQRNPHS8p_e_5akaXduFU1eM6b8KDfwLSE5I7kQOgy56HczHCAzZSx0UcBpn3XgND3Xj9t-R4tJX_zxXEAnAmLBju8Z0BjK54BpO5RsUF7qI8ioGW1Wo1IQa_GQS-bWFvb9wIEYqMiiDXGAK2BuNlpqGBqLyqx9EcirhEDU2ej5D8r-flTDt2cZs8QCO2XKScVNdlnN4juqfpZgnQO-DzreOFzps24M2mPCqqLbzs2ytOxzJUV7KZC9DD7p7kxBNFvuVirsijs05Sbjln4XIz6vdagNYHoWAO-BQSD7X0-FS1pwk9D1w-z6GJZJg5jPKJwROuwER_7sPTo6TDU9FtVKa2kEh3LC0NNjTNb-r-ktyUusSbLtKnQYsaFZxeYQ6dQL22RQnHsbFKQHeQokV7J7zJU50Mle8CC5CG17YGo19MDPOskguPB2UJKOON-T06takunjUDqMZukcZ0Wb76qS7Sku8b2y7V-c0fjpRQb935-N1hMu4nidfAOZ_BakzQjMs66RvUxTqW-IMGJyc=",
  "id": "rs_03ba7fd05bcdaaa4016aaccb90b89887d0a925301298e4efe2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The neck is now directly beneath the gripper, with the mouth filling the wrist view. I am closing on the upper body and will verify the hold with a short lift.\"}",
  "call_id": "call_ShRIeMSuJM5saAlXwmQfss40",
  "id": "fc_03ba7fd05bcdaaa4016aaccb912e9887d0b670a87b9bcf931a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ShRIeMSuJM5saAlXwmQfss40",
  "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]: [-0.3698, 1.8511, 1.3647, -0.2146, -0.3431, -0.2771, 0.7597, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5062 left_y=-0.1287 left_z=0.1519 left_yaw=0.0602 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.7597 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0009 right_pitch=-0.0214 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -10.2496, 6.8581, 1.326, -0.2515, 0.1832, 1.0281, -0.1846, -1.1829, 7.0769, 1.7411, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6240c32c2e44cd3fd7125ebdf703b94b4a18f8f9d89c7e8bb8c406d7b5056487",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f80644d711ff102bd766dea8deed9cb8da5c5a48fd79b75b495554d45f7de4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be63f2f8aca1cacaf4dcebc8ac46eeba2290e9d7f9da9c1143d686218abfa279",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 22.71 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 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]: [-0.3664, 1.8492, 1.3655, -0.2459, -0.3508, -0.2577, 0.9983, -0.0151, 0.8051, 0.6086, -0.3847, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5023 left_y=-0.1239 left_z=0.1479 left_yaw=0.0607 left_pitch=-0.1184 left_roll=0.0323 left_gripper=0.9983 right_x=0.2954 right_y=0.0012 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0214 right_roll=-0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -10.7966, 6.9812, 1.4872, 0.0317, 0.188, -0.0269, -0.0752, -1.0188, 7.2547, 1.7167, -0.0366, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.215},\"note\":\"The jaws remain about 7 cm apart under closure, indicating a substantial grasp. I am lifting the left container a few centimeters to confirm it moves with the gripper.\"}",
  "call_id": "call_VPs0fMx22O1RG1rbtKd9UvTn",
  "id": "fc_03ba7fd05bcdaaa4016aaccb9b33e087d09be1c8d0b56598df",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VPs0fMx22O1RG1rbtKd9UvTn",
  "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]: [-0.3698, 1.8511, 1.5497, -0.4618, -0.3393, -0.2878, 0.7413, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5036 left_y=-0.1283 left_z=0.1868 left_yaw=0.066 left_pitch=-0.1516 left_roll=0.016 left_gripper=0.7413 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0009 right_pitch=-0.0248 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.4376, 9.5795, 1.5556, -0.232, 0.0415, 1.0281, -0.1026, -1.1419, 7.2137, 1.7265, -0.0464, -0.0464, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a044404632b2d4692ec9eeff07f8773f2faa960641c9ef579704fc380633373",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1505a240dba67ae104b299294498488fae799266168bc11d41edbfc98976ecf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b25dfc3f5b7048b57bca610177b9085e55af8782646e77528d706aa5880ae77",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 10.79 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 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]: [-0.3698, 1.8511, 1.3647, -0.2146, -0.3431, -0.2771, 0.7597, -0.0151, 0.8051, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5062 left_y=-0.1287 left_z=0.1519 left_yaw=0.0602 left_pitch=-0.0942 left_roll=0.0004 left_gripper=0.7597 right_x=0.2954 right_y=0.0013 right_z=0.1781 right_yaw=0.0009 right_pitch=-0.0214 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.0479, -10.2496, 6.8581, 1.326, -0.2515, 0.1832, 1.0281, -0.1846, -1.1829, 7.0769, 1.7411, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMu2yGa6Y_bDf-k4oeKyy5YEeIqrLozjsOtagr8NwXs865zOhmlwSb9N4VsPCGm1NSnF6qf8ThN-A3bSPftQFgXVhr9_bktvyEwtV3YHh70PYSJsOBxCGMIsuvIjetCyuqZ3VyXRwIyiOpyfZMjWTpspeLMUJRCMafZsdhbz8kM1Edb1sh3rVYmDVM7ShU0llmNkom8Yun7Sv_VoCqD4BXggk_fm0tq3xnY_Ew7VdGQ_7eE1KobqPrYW0vTnUbYqwCFE9SyxFqk1JdA4s0CIO5UWV25F5BavoIYKJ2NaWfhwTPwkixKuCuj7vUdVqkAuYpkixIxyArnfhXPN_iBSTVoPGMTQoCFs-Dk_VZqJ1zn-5LVfB_agfzWqqZakQFll5fpDntlN5qwaU20H3hzjhJ6nzDkewakJ5JUzFm58dXPo7VJiVUfH9YZx981Q6RrVw1J7xu1vjD6HX6CB3qP0OCNs-dd_G2aFx7LLem1NBwkARZX0hQFbDTVMCGV__eeh2pppuPb0r3Jy6bveu1-1MH51ND4tsiUTEJvW4S4kcay_6TE5dC0cNdFKg6-qr0bQJxNWNNj-hK5TaTDeKQrWUtVPOPPoMCgFCBVurxOibb3hk6dCAV9g4H35IpzTE2xFPZxJoh1bEFRx0_47fBO9vkuZqCTPTZ2Cd-uqribW0pC8es2sD2ZL4hk8HptefXD6cbmXW53Qiy3zEx-9d2tK44KeRkNw0wktc7cX1Js8TNJKu0XpQrIBcenXQa6-jA0n7Vu52BtA2iII4W5709WcZUweV3LzdthUQSeAHzHog_GW0aXLCfDm2Njb5rTXVCfQEySzTO7zY708U2Xl0ZgiyFD37ZMEH3zini3RVcJP1TtGNdVPCAjBkgjIuJfS2wNeSIRNkvVSC0MJ9kL_0H4QdX1PWCoAcHCze5tYM-En49T19DQxKYTDN0cPCi-EX0uyDEhnZRrbC3M5upYrTKbMjdUewVQLCzso0Wu3FEQnNxoOMB5hM11YbjUFA0pUydnSv2tu2Ga2uxgSdH-nCaGDjpX-gPj1Lwr9BwK6FbgbQJzv0Zhz8gYik-C5LIoiJQThfV-zDO1XgLIfuB2Za4cXaHdswm5-rbnqZtpiZm0DnWpDt4L9EGF__C78DzhdM-8ZlzgMNmI7s-6cr3KkftytB2SOpjHs55Hi5MU94wm0i_YNTRetBel-WT3-qlxGXEuqeAFQkEGWDWAcgFOuMnLzGoWt3Tv94lw-G-P7B22HdzqFtUgwmNQZjuGXbM8v7dA7QzbgvvaDfqzpayDtL8qJOMR9FTPLN4P6YFMK3e7UkD8DVB2zno9fDh0L-xaxbQil3UOpyTpIe8qqBuswtTpfpzaiF9kWfmfqEPNIZK1sPBitf1EIm1AyTlvGoBbKohy9P-R_8rjORGdDetb1ZYd0x5q2JCajeFjrbgCFuQA0VkOU2KSgDqACkjr8-UgbTfl3J2icbcX71wckcCGnhcOQaUwgDwwjm-kgUNek-XA6ZppIYTg6CGYau3tds5EuQnnYL-7uKCdw3wdIG5Mom-tWFGVP4HcKeFPq3abXM407_FrKgnaHk6YAvkP35uBdM9-KK7vPeFENkvSMxi2yd_r0MVnDfKtpnTlqPNxp2sOX6K77zUDq8g0_5ZUWm2Hq9_oGmxZKRiau2lKv5iLP1mTCGODy3ssS2tX0Oyd233n8Porv5WH1Cx_D3jlzF65bMtpWQpV554l4Kyt6ydb8AE9EV1l1yVzeKZjvZ5kkp6M8DDq0WBi3mUoPD5QDGChjBeWm41iuHOg5ZmJaQY_U0oFJw_7tEcDUNh-g_Y9L6chM2zYBN5_P0Iz9qs_zAd8Myd0SjKS8SqVi1r3RECHlQMxIhYZg2c193p2kP365JMFCxUsK_8r9iZC8omwAkvsrPoSANSuo0VQEIM3SRVCPO-gmHIXNRQxQatYfiwepFms6uh9FnQintmWJfiyqftIu5NDlENOcyrZqtbWDJlpvHUuUQ-XfRPJXy5a-azzhybzunmO7BroDWREBuKOOwKyWZnLgg9pBJ_DYQdB5ETX4o4phuXkyLHM6dbo5BeCx11yN--aGvu0v229wme9d4tflyWvs2PzRZ3BHV1H9Rg_YnGMq---f97_sH029DLM2ooypbbh1SgWMAzJBmtt--A2SaM3NJaRze8tnfW9887vNCZ5KReKlFhvrTGUnlV7Bmxpeaf2QIgd4hqTzcJGyge2DwItvtbHlC2UbS_XPh79cUjcX8G5hKN68gKeBNK9cE4JoBTPR4WI3q7kXEpdNi5aDvjU9QycBYWWQj2KjzeUXkTz7zg4QScKWSx3u3DpzfKNu5Athwp-0vjGH925LX_GJTQPxW0HUPzrZybNVxxCdOUtk_t0sWNKeVYDau4px1Ovcd8tfXi-dQzzUiuBNV1yukT_kmVew3rHDSlwqprFuTRVnXXoO53d1WKBqmwM3cO76GwdRqIwjXWNrFIDyf1BtYF2av65roIBrkXQo4AiOhCNMltYzO0Aq8nf9jPMRRJetxMITex1tdeKFSGMFSl_RE3BZWrmmJO7XP0AYk31Db2w07PGTKdSjxavlH9qT5lNX40YdL1kjhFFlNffscYiM9XtvPqy2NKBVXex8mMXVpJbWzvGm654btkKPmYIysxJ8GY_u8Sqz5CqO5iVdYDAm8yRGH5i-OJMEsoRKXjjsenxTqhhPfdiESSoAnbQz9tfuzUXsmHDlY4sQ34Syphse167UMjLYjfgIvqyo9EcZ7c3XEUNUmvYSWICFnzrH05oGhtiLSoXv3IZiglmi85qvWC3PIrGF2SAhBvesY7DRA3Yxtnv_XluK1xgfk0E_hlf_AS0vk-MGvfsg7k7xiL4vdDxiO-sKkdZYr577rIPn2heMTMDm99gpJLR49pJedr3leFoeNDmJ3EdERexd7OdLiAY67YiM4vmP5QaNF0jZ_n_J9g5FbqwLrAuyfFzKsXwEWNa_usKiaseYyCi8RaBrQjrXZv5CtSRwcoDiZjhBDTyVxBCK1nWW3Qjb4XWUfN4j-8imSR85Kh-89vs76Ib6FMsgX67S1f2qd_cY_cV0RH3PXySd9Ev596taqCSwDFtQQmw0sigTGwQ7CsE7K2nm80XI8DnmS9Pj5Fe1HAYE4nyaNbi5CiBF_AzT0OzFF8wlcbltyI_rlOYb3hgXWgdWVqO5ldMSYoT3Ok3XMUlvnz5VDFhYJQRMqQ9ccdgCheAkiZUQJKliHPjlVhbvIXgWi2-LE1Vt9Jt466ndtXaVShZP-wTuSpBRFp3KrW6LVzgf26T__d-4CgSETSn8v3_fwpptc3dQ9BKalABzxRSdFJMhmOT4MMpwartwvWiR_UDNHhI6rpN1yVGM7Jb6NX9n0P9SkiG0_yQVBuMr26YzaGXM_VucrLQc3JJlaIC_wWEmxuoAWY1FNxKwWgQTPjd_H7ickUIJARLUNSUUiF2GxRkBWrT0H-6WN2-eeI0eMVWzqaZd8R8W_x4sU9e_cNbOxp1ITYgIm9QbrD8BwbngGkHd41erciSU4RvHLLq99s5uj7UkZPxS-QtfcxGTNLQ4PledyyH9_CQI3sLSbXCeW0acWL7Wotonh04GMoEN-41bLZ9G4CKjlZz09dQ1edLcwYaDye3crDV3n8RYKNi-cYs5wVbba1cjOqxCWW5HcHTQDFbjuVdTFfC2qBZdPB9K3vYaiTo_",
  "id": "rs_03ba7fd05bcdaaa4016aaccba6802c87d0a6bbc7d983fad85c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.185,\"left_z\":0.32,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.185},\"note\":\"The left container has lifted with the jaws. I am raising it clear of the table and moving toward the red cup, which is farther forward and slightly to the right.\"}",
  "call_id": "call_aYpanM7Wgf3MKHojmMfVhDY1",
  "id": "fc_03ba7fd05bcdaaa4016aaccbb52a6887d08791c2be18a22371",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aYpanM7Wgf3MKHojmMfVhDY1",
  "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]: [-0.4438, 2.4763, 2.8742, -1.3846, -0.3847, -0.3519, 0.7418, -0.0154, 0.8192, 0.609, -0.4091, -0.0124, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5351 left_y=-0.177 left_z=0.2303 left_yaw=0.0897 left_pitch=-0.331 left_roll=0.1089 left_gripper=0.7418 right_x=0.2929 right_y=0.0013 right_z=0.1694 right_yaw=0.0012 right_pitch=-0.0595 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -14.1607, 7.6513, 1.1746, -0.315, 0.0562, 0.0464, -0.7179, -1.3333, 9.7573, 1.6679, -0.0952, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f986f7987ecf77d74d3ffa67368443d7ed64765799bc065abe28d6751142a7dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1999fae7d2381bb247f58fb7e672d94b6a382af65c38df3a992462a1a22bfe9c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e32a21e74e97555e3796e0b7170e039cdfb140a3b6d293364611cd818caf5ceb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 7.193 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3698, 1.8511, 1.5497, -0.4618, -0.3393, -0.2878, 0.7413, -0.0151, 0.8082, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5036 left_y=-0.1283 left_z=0.1868 left_yaw=0.066 left_pitch=-0.1516 left_roll=0.016 left_gripper=0.7413 right_x=0.2956 right_y=0.0013 right_z=0.1771 right_yaw=0.0009 right_pitch=-0.0248 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -12.4376, 9.5795, 1.5556, -0.232, 0.0415, 1.0281, -0.1026, -1.1419, 7.2137, 1.7265, -0.0464, -0.0464, -0.0122]\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": "gAAAAABqrMvGdUxTeXQNo2J_GoQrR4hSdTu1KXw05D-Cy7m-0ELWN6BBLP0cWgQKhsIr29JgDIDjT9-PAmgzWvkOV_ySgfO96_OZmY6ltyJhj2e9-DPLYa9DXNg1xTzyUPWlvSq9USjDPA4qK1WDZ-az2r4uwmfcJ_cPpOsWw2bMoNymdAVLtXr-utgchshwVyFZDKMaNptu-Iwuz6srePdGM7UNpA_igrrXyrxnXrEPt25Rb1zBmp6kCs2z99xSpWfz9UEZFPZNzga50FJv6GbH_FdMyH6qIbOwmCe6Q-FWsVUEQwLXnApIuG9ctkU5CNOtkPBevhRXBIRcYZi5R8nSO3Ferj7iKBjNUyAzLjgS6s68kJzoyhmGKTKOM4lmST1pgEpinuW-IpB2xqGlk_Inn5etqpZnnkIJCCjpQEA8uBhxoqAEu_4bG__kdJRCeyrT1wkLc3eiCQHLwustV8IpkvTM7zyMObB9qMVSbbUoyVKV-XDU1CFTacgCn_AEACP52nkzBchxmOpDQhR17sctq6INU6ar-RjPR0wqihkdl1tC1LE7F7pdeeWdvGohuTNioIKK2p6m9s6BFANlL5KddjKnUUNrK9rY1SaYZeqIMKbEjagE18Li6ARo6Z4kykD3Jkv6XMAmS-hPnZdDTzHozMlpjmF5rsosX46oCCDKQCmHCbfrayaRGabIITWkOmzn5r3Z7EzZYCKtxcjVZ6RGvr3ySsJzgyYSwBdoDlOjprWYZcza-3qs71E3mQtU-u5q4btoTLhCtFHp7F3Ko-UhEx0lraArWikU0ZzEcxh8L2CeF0deyzmTfQqfV_KTR25GozTzDTAGWtwY_ihOnAaBJtbQJknmEYLyKlyU54yB7dNRn7WMzhG187kIwqnqUJLP2paRRFgRhWyqYvof9-kVOhaGbY4T5tL22uvbWNmX8pKCsYFMUm9w5qyb9SdtvD1hsqI0981E6zunRuKfci45Crk1WuROPLc43zPcMPhtfmMrQurRjYke1qN3AHPGtK3IOB5lbbjA4tUPI8lGCizd5E9qhoNNf_ZATtH2Racefr-6K12SJFETNSHoaGh03VlyuTvks4CR2L5bmKZHXz1THFQy5pYt6qnV4JFLYVYs0Vrf8CGB0fPJAkiAW8rICMTYbDFlEn_i_ST_lFXmwhlYRPk9rNeID7x0jUjz7Hq5wGJzFzeTY8uf12skUD57JxuSkGYwK47M5NGobmvwoLLFdyKuykLqaGSJAEr82bpLBz5VccDFS6ewKnTMwYUd4zadZiTRjNbQWYB0YTYcFEQa6Va8Yl5oXc705aeRbO8bXZVVIVRXqQy8LEJBNiDJred0NSACCh0xsJ4Jqyulfwf1L-lfgDZMQC2AO8ux4B2JnZ2Qby9bK30B6XViCjHTHlgK1b7WhkETDCnisStMuJfjKbSGW0m5IFL0ku85YnqoR6Z5kzuym3kV8aGkStfeUCYlTtsTVxLFCVRP9inndpR23HPhxEdHWwQ_bnpL4iCVgoTRVeEQBuVHdcT2QhkfZoS9aiT_Zrt7-44mU5aYlw4OBSwsRTETjMw8P2MovJLTDrQPj1WvnlxJGNkv3c8Y9W3PJ9IBA7W0WOZBa8S_OGJGDcYv3TMcQkvxoKyf5NXC9cRHE-OnN6FnDJ5uC6kS0owZieMlxHtAzJC6JeXFKQStdqzwtWwn-wtsYZzJ1UYNw0ukbmvG0cTm_9NRba_sUEJ6CHEEKynlD50dsrbFN6QIJyscTC9G_MaHyDCTvrqDZaa7Xh5MsrUGLA37lOLIS6eCiF8ODx8FQVvPaJlWUPb4Oqq-coNKAg==",
  "id": "rs_03ba7fd05bcdaaa4016aaccbc1674c87d09987c014523335b6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.175,\"left_z\":0.27,\"left_yaw\":0.8,\"left_pitch\":0.3},\"note\":\"The container is suspended in front of the red cup, but the arm did not reach the requested height at that extension. I am shortening the reach and turning the wrist so the opening can tip forward over the cup.\"}",
  "call_id": "call_Mfw4DgSP1l8y1a3NRkgFtGrL",
  "id": "fc_03ba7fd05bcdaaa4016aaccbc4423887d0a7923f84eed18f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Mfw4DgSP1l8y1a3NRkgFtGrL",
  "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]: [-0.63, 2.6236, 2.9131, -1.4239, -1.1233, -0.9436, 0.7422, -0.0193, 0.8211, 0.6086, -0.4091, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5233 left_y=-0.18 left_z=0.2375 left_yaw=0.653 left_pitch=0.1489 left_roll=0.1418 left_gripper=0.7422 right_x=0.293 right_y=0.0001 right_z=0.1687 right_yaw=-0.0017 right_pitch=-0.0618 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -17.853, 5.9829, 0.906, -0.7546, -0.0904, 0.022, 0.2667, -1.4017, 7.0906, 1.6777, -0.0415, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1cff8d5e5bd663bb7f9efe785938d75f8e2ce998222108f1ed38d777a8b3ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11909821312908760db481331aaf43c17b67f330d260139bb1673ea22eec8e20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3411d2b0943dc5b982533e4b994e818e8e22ded830314c22a605905a8ca93d4d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.828 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4438, 2.4763, 2.8742, -1.3846, -0.3847, -0.3519, 0.7418, -0.0154, 0.8192, 0.609, -0.4091, -0.0124, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5351 left_y=-0.177 left_z=0.2303 left_yaw=0.0897 left_pitch=-0.331 left_roll=0.1089 left_gripper=0.7418 right_x=0.2929 right_y=0.0013 right_z=0.1694 right_yaw=0.0012 right_pitch=-0.0595 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -14.1607, 7.6513, 1.1746, -0.315, 0.0562, 0.0464, -0.7179, -1.3333, 9.7573, 1.6679, -0.0952, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMvTybgk4u6_25UfqZbKxKWJ1AdRGunuZNR1eOoBvOkW_juBZqIH146PJJQxz3oPkne1seFVp3LEvcXSgoOupjJLQgO7sRa_Fqi7ZrrjVMRGQw90FykVuV6Y1bReJI2ttspvboqAyV0NHVLlPcT2JoVYrcV-NHQDI7I_1E5yd8wfyf-Rkc-B54kexsVg1RT_RWPa6D-B0cPDFTCxkTD_E9UQop1JTuENupoblTDgaZQvglYXYu2uyUMQHRpW1fQbc1HzaDEn-drKnHakJnKIodOmBYLDkYmDB7JgzHezwOOgqF-oATZCoaB_POuWkUycypDiWF1ZguGLnwwkcJbTVQEkNS88QNdA8-LBW95hEwBKFMdJuFcnTwnf0fJ2PzOHND9Kp6GU6XbeacNE4PcxjennuR0oDP-X6qLl3WJvN67DQhal3_jqXAFqMYhdQgBFKKVusTCApmLnmfrgNwaEqqFLwLeXdRRGbD_omzWtxTnEqpgyINB5c5KB5TGikw9EKOWqMDzWkK2aGfRMj7cLMqKFTog0Tzey1cj9zUWE6k-VlS-55PyFvITEFR4JWh_pVamVO4-RmR-PLbikU0CRK2n2gZG-iN_hdbu9-n7JFPN7B9Zj-yYfWYK1WMG98rNGrjtZVebmmZL2UdjbmiFSXbuS3_AtDNTeAju-TIJt0Qgs-bVCkaF5HB7DBKk3GOsXkxl5IGjS03kDQBqV8G5hw6V5ynVNDl8M_gXLVmU4VLhKlmX9ntlSa0L_yhZRdiAMl16j6oL9V6gBGS-aRbSXjZVXHwg8uQ0vO1CyABLXPoGlY970h9pA--WBg6q48OZs6YR9OEyxQLShFwTtSt521swwz3c45wy5WfWf-H58Nq6uZAPXEQPqKXmozpO06iT9Tdz2RE0STA0q6if-8Lz3N_5X3LxhUonHNEwd2vugKeFWJ-SanmVua0jy-DoMPnajW6jRn-eLTIjWB--PRMgaLQizCFqpfVHwA0wz7SogGTHE_81bJXPa6Jzlp1vlz7YALh9REmw7WHcqqWVVAfuSviU7nl_v1MBnjmCRxNhRu-k0VTg_m1f-b1bIatQQEBNWBvD5Bm_VcR7qysVqdH0pGoVrbLIWpmMp0wsq4m4MmfedJ8ZzYvnx5JoMD3iv7N1gII_-hIJglU7coHLCOx33yPhv-SFVzJal1K1jK4pveRb2SizmQPWKRep2lhP9NWjpYDx1qDD39BklA9Jc1RWGvEsCKBwzGjhGRzTYq5drXOua1RUlzAZ9JIK70yXDlOWIv3gaZfDDc3pvTbsmTMFrGWjBzqJnJuaEuyVo5LaOvg_aN-dYfpdUqFO6Iy-b_iuNkxYuwjl5iERX8jfJe8rc2BOBDfNs9SJhWXbQF7m8liW0lQJsTPY6VmVU4Dh4L0x9sBUVp6I6OHrFE0MKSuZeIKhIH4rKCc1zAN-eyDvh5ffjDrmuARGCxrkkLW-75iB2Kw4senIGRa1gidAS66tUekoO1cgtIuL4p7VMZqDKbD6P2LAYSKo3Gi6vGvAfp4C2a4gAz-itGDb_UM34x_24-A4XvWoViw_30WMhBc8U6QKV_ZP1v264UFnxnnITekUt_7ZzVX9F2l6myVpdklKD2qnKw7zwk_9XCrd41MEizA_LiJp__zksdl3TomSTBZuBItW1P_XzPCH-KOJtgjaCAQAMeYls-p_7XK2lnejP3A37_IGqKZ_EYVIUKvT6BtS6DvJ5GM2Epx6eWLY1gUBDm7R_gAvKI7IUwU9edMduAvjXgU0D7Q2yNyBKQlrbFyFGGbRnJIQ5XK3Th0SpwuR7dZI_db88UlzkLy9Tf0SpyAg9Prk=",
  "id": "rs_03ba7fd05bcdaaa4016aaccbce908087d0a5e66bd63d81b97c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.18,\"left_z\":0.26,\"left_yaw\":1.55,\"left_pitch\":0,\"left_roll\":-0.65},\"note\":\"The red cup is immediately ahead of the held container. I am rotating into a forward-pouring orientation and beginning a controlled tilt while keeping the opening above cup height.\"}",
  "call_id": "call_P7L1lQnZ0lhY4ew75sJuuMaI",
  "id": "fc_03ba7fd05bcdaaa4016aaccbd20c4c87d090120e228c1d549a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P7L1lQnZ0lhY4ew75sJuuMaI",
  "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]: [-0.3813, 2.5538, 2.6747, -1.5501, -1.0996, -1.5169, 0.7423, -0.02, 0.8249, 0.6086, -0.4103, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5209 left_y=-0.0354 left_z=0.1989 left_yaw=1.1659 left_pitch=0.0905 left_roll=-0.0918 left_gripper=0.7423 right_x=0.2931 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0024 right_pitch=-0.0668 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-1.812, -15.1453, 8.5949, 0.1343, -0.8083, -0.0024, -0.0073, -0.0752, -1.5521, 7.0359, 1.6874, -0.0757, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be3cd2c45b8a2247c7c496a0a6e9ad81731cd7a8bd3ee127d722e90035fd091c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:356a490b818836cbec7ad361d6c4474c2dca4057b40b8576979823853b5f94eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:697a271c7798de64bb097b92c3182ea1ff1b0e08c09d2047a81a71cd84cc21fb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.583 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.63, 2.6236, 2.9131, -1.4239, -1.1233, -0.9436, 0.7422, -0.0193, 0.8211, 0.6086, -0.4091, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5233 left_y=-0.18 left_z=0.2375 left_yaw=0.653 left_pitch=0.1489 left_roll=0.1418 left_gripper=0.7422 right_x=0.293 right_y=0.0001 right_z=0.1687 right_yaw=-0.0017 right_pitch=-0.0618 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -17.853, 5.9829, 0.906, -0.7546, -0.0904, 0.022, 0.2667, -1.4017, 7.0906, 1.6777, -0.0415, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMveCukgfrtFLI3kT102bd35K5qJPn4MmzUIcGx1PEhWYJHfIYSDzoaGJyY9u-Nt15QMYQiW1Cg8YtossMktcYYTJSNuLMEODg46uzQcFbT9l5862XdgYVrgQ3FjRErEm2Mp7mwVcqk-ZLvGqVpgiuWTgWSPjxl42c9-pLxGJMnwiZeHBjvyAOlYA6pSmeJ9XDJujLViLwIRG7DSXxfgu2cktchr5nqvxAUTePHUA0g4Ok0yXWQQEI5E9kih0CtrQx6VNIySylaCgQxyWgTZSYuTVX-QHxUxMfx8Q8azVBIvn4HD5wr33BN7wWd02ESpsX2ytRJ1PuOtlRxB0rj69vNnhurUekWSoFgQ4vaasCAdXXMNrnsYwQZqAkKAcxk1YvAzxA4CjJy7AC0TrQodNAJrv4wReFGtzYJt1AFfQR-d7PniMItXSxx_z7uFULBk_ZAmUCcYN-OmYiEn-TZjwItiI8XT9KlJ-WRDNgPypLAwhwuK550iF1Hv9A4La43SqVHY1m20QxdGMpa-a8VMmmgwelhsCESzIlRamJgW7CibnfNlvWNOyvT5BtewAtl-uYplIgsEVgVsAtBNnA5lwcj_dfdesXycWpu92UAY7SHinIYKkdSkeZYU87TFu2__cgZzN2IP2iCCdKFeDYc2L28RHh3w9uq8bHLUF-cGX2VlNTWZ1oRieS8AJo_wdAW7TWoA0TGRYS_InmSLvsrYt67VcS6Yb0ngLm-7AT3s6eVozby63yWRDsSkL0IELqxTptmC4u3SG6IIzb726CpJSv7LJQFwqx2QcJ0ntRd-U51JAPFeJNACgEWHcLjiUJFbaxS6HeyW1MhkndHDWLWZzi5X3-0mihOfgCGx7YmT2loeV2duW1FZrLVKX2dkSK5vrIMQWybkz2kitkCYDPOpjv0p_YPDUBzdOA1U2GDWinOYtDCMxCwqcqj3HutRWh_5OVZZKXKaWb4seFT7ta1RmcZKBzn-Jt3TuL1nqfeQyTCYTq3X_b-fTaV6uMEokXfvokZjca3rcjRXDzq3LL0-6sy8bxvHAjOeunTO__3lfZNiD-ejvSsRoymot8MQxqSW2npwLm48jDWDUeU33xReqJxtsfdHJ-FtzgSaKFWmTxGvHv6VbK25n8L09ojoawYk3RalgiX38suTDwRMPQ_l5Do7mKiqoZR6HT0b20FCWbbiC2rOAVM9UPKZStSZFcG_6D6BN5tIBkkjhvaL0klWZVwoJLtxcXFbepRqzsE2NhcSzANlAvazE3ILATxDD9hv5GMFUDPUM_r9mB75-yEDA1Z6VFf_a8P_1uedGgjZlLXWqJrvQFdFFnZucAytualTraGkMrqTIoURrhTi-2Kv5MT3PZvplcBDkPZcYojOyUkNQLZ5DKFGniRhkZ_m1M8LNzFNzx-x7V1xAl7O_QfKYGmnXewUMoHwVOS5MI_q4Qd3PkRz4TTsgbrnG9P54dO6tIxuHMDXNfEPnEG57IWr5UZWgyEefQ2GaWPtp7_oHwMmjPpak6_HOjrEiXMsAH_kXA7FEAXj5P3Jsfr5fRe9PSJed62yFPuJ95nnNCG_8CQq0eOIia9ayKzDIzP_gGKuChn2s2Xg8cn_JpYtoAaBbAFDeRmksrEvfxTRZgYyzq5fSfk6kf4UfeGQVyVrLF5Sv_Em9LNCmk1oSzjJTbL33BgU6Ecg6Eic70qwF7KFWMsujdweVQhZMs78A7au7Xble4hcNo3zfBXCEqAWMEV6cm5CrKGZ7jGFO1fcsL2IEGen2HeLm4kI5iQXFpRVoO6lIxdF",
  "id": "rs_03ba7fd05bcdaaa4016aaccbd95fa487d08c3fee66c26d26a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.1,\"left_z\":0.25,\"left_yaw\":0,\"left_pitch\":0.3,\"left_roll\":0},\"note\":\"The large wrist turn caused substantial position error, so I am returning to a simpler wrist orientation and a shorter reach. I will approach the red cup from its left side instead.\"}",
  "call_id": "call_sP88SDdktx50HGWEb26PLGGd",
  "id": "fc_03ba7fd05bcdaaa4016aaccbdcce5887d0bc94ba3b73cca76c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sP88SDdktx50HGWEb26PLGGd",
  "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]: [-0.3408, 1.5215, 1.356, -0.3744, -0.5144, -0.7925, 0.7423, -0.02, 0.8295, 0.6083, -0.4103, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.455 left_y=-0.0654 left_z=0.2796 left_yaw=0.4948 left_pitch=0.0383 left_roll=-0.4466 left_gripper=0.7423 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.7863, -5.9419, 7.9795, 2.1954, -0.1392, 0.0464, -0.0073, -0.335, -1.8393, 7.1863, 1.7411, -0.0611, -0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cda186dd464e4bc3b95f34299f550da8a222fc6c88f34f33892f27c715346f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36ac2ce7021284da96979c069a1592b4de1310758869e72d7e577a8d97c94eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b91571d83d6a38e2600550f71ba2d5c7a5a7d4ad1ab5b2e4f2b0ec906d81844d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.236 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 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]: [-0.3813, 2.5538, 2.6747, -1.5501, -1.0996, -1.5169, 0.7423, -0.02, 0.8249, 0.6086, -0.4103, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5209 left_y=-0.0354 left_z=0.1989 left_yaw=1.1659 left_pitch=0.0905 left_roll=-0.0918 left_gripper=0.7423 right_x=0.2931 right_y=-0.0002 right_z=0.1674 right_yaw=-0.0024 right_pitch=-0.0668 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [-1.812, -15.1453, 8.5949, 0.1343, -0.8083, -0.0024, -0.0073, -0.0752, -1.5521, 7.0359, 1.6874, -0.0757, -0.022, -0.0122]\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": "gAAAAABqrMvle4TjoMsupfUffcWbtPRR59F48iDiLFnMPiFlEEJ44Hda2maLFQ5Jqu-8VEwHpM3z_c218vJPNhnvVh7WHhTOjcWcVXfz3wLPtjhIrBvg4EFiVDpKLhSg3RsxP2ZfptyqqHtWqJZ4A5FeAz8QejntCv3yViY9-l03SquOOPW2lt8__yeGHtudmWYpkxHaYUStLDj7HZmtTQ_mZQayvbxmmwfhcDLDNKk_Y7IVh9jbNWNbgpNuo2hN6Nxr5VKz_lPgRRa9joz2WETtJ9Ji2s7qM1H0TgzrAJhoVkEiV4xn_gTnaqMYOgn-FZ7JE0JRYkpZLRGalmLNCu5MqrRdpsyGrFK-sK1I3fWVVeTEhFv2NM8urUlVtJVMyyj6ZqRenKhPgedwr5g6Ovnmax8DqpU5lRS4nhb660gzB-IUSIYgCp_r_rFEOD7G99fruMgGN7kXZb5zDIEO0SZ71UFvAl11iARKiyyIuf1xVGoZP_VEceJv3MxJe5ZLFq6OSDIpLxUK0WeguUoRBxfahDiBV-nrmrXZZcX_7tGE2LkiGEUupL10nK5vS55DgFna9vV7WirwKFSOQxthG0sOt6wFdDpGndj3Ooc61apVm91uI8NBbkE1esH8F-OjZmLh0v0VmklTTskncwHngBdqS8f9ekLUfv-QFZvZY8WeuW2ShQg4h8nAIWbtkk8Jh10VmTEi-KROfUga05zo1BG97rPcLrnYFdpPYwLAJfYZvJW6Z7xiLgf5tvgxmnoMKaFCCU7NHU_szMKQLjGf4kYIGubArbrI5OjNbbkYRcaOZye_Bub54Qy0kb8QdBufY79BP241zFqHHzqLZ_NWsVVZnQAdOrxVmqw0GLk2udcU9rrgwik0qIaIrf39fCfDW37c4XCDGSQtlKvf5Q1hZXtpHPfOpTTdCy5YP0MYejDn1bcq29b7yZoEUh4iQT84-8h_xKGlNzlfQn3nKdlvMvFZ3q4ecyFuj5RBqQtW-0HGEy9wn0y0iNi52974CBIbxDieuMebFRyK9eHikj9Vh4ICoJRjlMn-Ble5DkxgLEeWqbVNfgkAPXDsjago4VDOknrh6IgKFZRD8-BEEzKv4SExq325viwVerqVqRGNB_lXcMOmNLYAxwv08qIbCck3zYStXfsP5HocIjFSiAL81l8rGTbU_Oi1wzv4CbLYI-RmMoE2k8z5vhZ28UaHMG-KgfOp_zf2K8BoI0l_0CP5eNGYN3l5c9olrewn-gACzK7OjqH3ytX_Un4Sd9Xo14FveDCR3rHTyJqp3p7UabDnLl_lIUOz8FW4ZEk6WhitGrVrA81_Q7zMtwKyOshGURcP5NsQakIU02yEXx-5BeEPFBj12V5srFHEJq2qMct48eMoGUcTtD0SXzxp2nTunVcO4WIXQx5i0CZmfvYPgxMLKaKBW6yoy4DikuwjDEBCPHlwYLu15t8oRYpL4Bb0C6WEw1-rHj49w1_GXekQtwyVd6bYntTIDuyH6UJjslq1uLxkWe6b6xDfnINVIWOvHqxbbXTPWWJFGyUuVOi4Yaf6x-b4WrYpr0tv65k4ZfeweiqmzDhbfzHu_JbddCvWgENpGs-IpRhxtR68lwLSxN6Z2JoR6iR3kwRoow==",
  "id": "rs_03ba7fd05bcdaaa4016aaccbe1c09887d08481ae826c729e00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.12,\"left_z\":0.255,\"left_yaw\":0,\"left_pitch\":0.4,\"left_roll\":-0.35},\"note\":\"The red cup is now clearly visible to the right of the suspended container. I am bringing the opening closer to it with a modest forward reach and a shallow rightward tilt.\"}",
  "call_id": "call_WBqJSlCnHErJRuVwSqlMvxME",
  "id": "fc_03ba7fd05bcdaaa4016aaccbe3fe1887d092972f25ce6b1cce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WBqJSlCnHErJRuVwSqlMvxME",
  "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]: [-0.2573, 1.7172, 1.145, 0.345, -0.1356, -0.382, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.012, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5254 left_y=-0.1098 left_z=0.236 left_yaw=0.0663 left_pitch=0.303 left_roll=-0.3546 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0022 right_pitch=-0.0729 right_roll=-0.0031 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -8.7179, 6.6803, 2.3175, 0.1197, 0.1929, -0.0122, -0.3214, -1.5521, 6.9812, 1.6972, -0.0415, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ad69d3f7dca68d303090223dc38b026615d47d378488835c3aedb1ad74f4087",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ee9a9ca57adc1f0e9338292e8d280d7bcf329a059448cc014fcfbb6337eea10",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:215ecc4937d5aa3333290c270ffe44d39c27e989decd163ef6e03b6f43103216",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 8.751 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 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]: [-0.3408, 1.5215, 1.356, -0.3744, -0.5144, -0.7925, 0.7423, -0.02, 0.8295, 0.6083, -0.4103, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.455 left_y=-0.0654 left_z=0.2796 left_yaw=0.4948 left_pitch=0.0383 left_roll=-0.4466 left_gripper=0.7423 right_x=0.2932 right_y=-0.0002 right_z=0.166 right_yaw=-0.0022 right_pitch=-0.0717 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [0.7863, -5.9419, 7.9795, 2.1954, -0.1392, 0.0464, -0.0073, -0.335, -1.8393, 7.1863, 1.7411, -0.0611, -0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMvs84HyYu14e2rhUuozTnUd1qtDGz9R5jxpuAIBg1IxloQz5veac5my3XP5o2alwGPgmfptVNpl4eL81Cl6dprUTCQ7IheXRAv8a1_6o1qDD7QA6EY3aKQ14WHIYYuQhz7RqILJ_aKeogtqhuqkFg7-eHWAWtyhhq6cNXUcO-eWpzQ6chtCLVp3MFr5pWAmoqAXXoZkkO0mRDxaMXVdkyFqEMOrHHs46f9pcTns_h0ChDyQulcH1DA4xsIrdCJ-yVqEz9LBD3TZmqgA17X1KKY78ieiMdFzn5Gkg8H6gmwV_EXftJk3GgqPC-zziaxC3Ew5koL63kMZVda20sCeN1u-lUYTfFbNXYacgKZReJ4U6Jo2EzVQk0KR2Vzn9QVkyRbLB6U8Y3-oHQw05l0zOhhL7f2aSxHZNjIWocZUslgmuV4I9LMmodsUsmcag2es7FrJaeagi9FeI7GKG1XBLHjKAs502vFaPMq6TvsHOXOZQeW7LL8GbEC13P8ubjgkMvu4R5XgqH2GBHRTrzOGe7tTadab79MDkvBvI_sVyy3ZqJOwWUCZOKOBpJmIGPIJkor4QVWX0SU1NIXNVSMgsREvcf_-ap-2Z4TSrDMG-IxcY8HYmC1Q-aj4UWoMoKQWDkEfB6BwR1urMKLylue8cTrkwrmhxD3LUbO6Eb0Geu8DOga_6k2-fLysKglYHolvS82aYX_X5IqVG1t1Y-XPlmodZQx8HQDDQmAquOGV5OXxIqa82OCd2bPYSMKoqc-k6dV7HKRVnnZwM4y6Um1bW7lcSEf_DitM1wSBG2i2-Q7Mb8g51hynrvwc9IDhI2uHadLSdUWlzhUUvG1rN7KeUCy-yl_RZlXHFQo_mGHclzUrUJ6xZk1-1jz3XYQ2Mj6c3s2oBmLY9EI00YXDSG_JVvz8WzrDhskNF3Daczds-NMdSOiPaj-df0S0_d6Bl4o9nAEmHTSJegfG3voz5FuXL3-ijTqtpu74R93N84FwPo8qaMUZ5Ut2BgrWPL0REMJ7lR_mlDqJX6s4JnNB1iBGj1mZ7pa3ED_lZnhRIjohbQnUUPrTAi5SdCJqE4OLeq5yrA2OhUKjxGFWy4G9wT_h6lT7te1M-XRtS-2kbLv8le10NGrujqGTORSymWMYx5XkExVlSse12Lv25XD0lDhsaIpCnyJ4uusv7CYWEDyLpTfSWfE8bDwi4ipkztd7BxfZ48AENJYJijdk88BMWXC3OS3EJXhAFkFzzY6SPCG7RMZGQrp9eFAopEPBtF56mZAiMTtf0UeVnVdS6F8QrpECwR860Fnxv-us7uERsRSJrlgmtdbI_bMS63FBRJtIheJ32XeAiDwmEAXMnQP7ZuZPCgfVGSa3UbVp_4ejG0fet-EbB1pVCbhVe4O2V3u81hwTFcfawdk4Z2bdku-suKs_cb_VGz8fN2MFOOCjPKCYGYiG7dbjQyCKjeR5UjHEAWJxB-vI",
  "id": "rs_03ba7fd05bcdaaa4016aaccbe91bac87d08ca5ceaea506550d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.55,\"left_y\":-0.105,\"left_z\":0.245,\"left_pitch\":0.4,\"left_roll\":-1.1},\"note\":\"The container's opening is next to the red cup's rim in the overhead view. I am increasing the rightward tilt so the low lip moves over the red cup.\"}",
  "call_id": "call_hZPiMWCad3LfDDCYXU28daI7",
  "id": "fc_03ba7fd05bcdaaa4016aaccbeb326487d0935cbedf805ebf0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hZPiMWCad3LfDDCYXU28daI7",
  "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]: [-0.0956, 1.9167, 1.0889, 0.8158, 0.2718, -0.9329, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.0116, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5532 left_y=-0.0971 left_z=0.2179 left_yaw=0.0929 left_pitch=0.3156 left_roll=-1.0044 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0027 right_pitch=-0.0729 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 6.8581, 2.4835, 0.1832, -0.0024, -0.0122, -0.2803, -1.4564, 6.9949, 1.6679, -0.0366, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d672058547c088fa9ff2dab1a138c177cf4638066f0904ceb5679da7781e1efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc53df1eaa88ae43d1a7608c4f1baa1d0d37c9024f475872f11b7e199957bb9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9613eb61377e985f2ed69eb581abcfcd439207e3d4b835d1ff777a343ea00bb3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 11.57 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 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]: [-0.2573, 1.7172, 1.145, 0.345, -0.1356, -0.382, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.012, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5254 left_y=-0.1098 left_z=0.236 left_yaw=0.0663 left_pitch=0.303 left_roll=-0.3546 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0022 right_pitch=-0.0729 right_roll=-0.0031 right_gripper=0.9997\nstate[joint_eff]: [0.4581, -8.7179, 6.6803, 2.3175, 0.1197, 0.1929, -0.0122, -0.3214, -1.5521, 6.9812, 1.6972, -0.0415, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMv2FUapsFLqfL9Sq1ew_lJQxf1vEejOrWJTDnqWoZwPrIGKBF6JiNu2fUSFpfl89LuKSSlXqFdu_Uc7vS0QFeQVjB0Nu5kJF2u-VXEjoDnCrTgg7mvMdds1P5UN_cFkE4UROIAUrgMyrqGnSsnItpLgSgJb6N6gedew5gC_esUt5YrlX7b7ETZQiAxvj1vLLI-64q10HXt3VdFpNgL3u3PKOTsFjLAFYNG4mSXZynEw8UtlXKCpbdwe1iAOtw88hNKuu1hpPAzZR6LD3c5wme4YMvK7k9ywTuzTXvuL1dicwv0iAi8snYR1wfH0ET0iNk7ZUamsyFRhcR2OA4qpQ-XRNS6CysP5dgzbLeVevtC8UhWkTKAXuPN94Dnh6umgUyHnf3rI_hT7YcOwnqi1xHf9BtgWD1fp9x2AAggdjsr-3Nwh_mS3zXkr5VpMWZMiiImBjFnFLi212WHCQBMqo-13Di64nvoU2nOCxCC6uHXb1q19q4Jr-H_VytWJAGDTTNDvsyQGzWqclt8URPL_5aW7L9YnBFQa1BVdNVDVS9L4tynIbcxk0ZXIv2-3-qEh0HDIuoM3yuPyA60xMSu9CVLtJ4bStzwAjdXlQWY-ba-JcqgvK95DMCCJurh_terqEw94-GKj1M3IAIY6XZLkpyJWLJ_YWNuq1menTOA99jCDL8szfKEH3wp9H6DzFuQgEiofylmToFMezMcOJwXT0HPsF1kGwwjvrTr2jx_Q785E-u5LlxRpMemsW4w1S4LACxz3tuqV6iYQFnpABVZzCSnULdVrgdC2ERvT4UXHZM0K3ay-zVCZvAKUewgkS862z3DK8c7rrTNcQ8G8xP3oeVaKU5mxpF8FdXOFBT_cSZ1VjPfTzjcgMqMUDLG6MxFko1v2gtwdPHmdML7BF0xSY03b0jbmuOSOFk1gO-9AQZ3WQtVBxizEfYXp-RWLcxfVPUGI_UzaKV6PKwjs83CNfIqjG9Klz2UzpNfQjtCLg5zWa8Fuc2Oo5VVhedsXGymiVQFvBwwyk6_06zbEvNoLZkEoP5kRqtBigY8g-5iHa2ZUk-GKb_adX329X3MoL2SODuZ5nANf4M6SlF1TDf1W3CpBluYfh9Y9xyhxia4cE8xdHAfURwUgPIQFTuYePFN6BfHA0oP2EXryu5LUfRO0gAZ1_ujfizMPLWi-bO1LIyFtnGOIyaqHlw4qYO19OIMEWyubNuAEFM51NqW3EZXZR4KHmkW-I6zwlzkpO6yH3fwTsI3KADh5pTwC1duSSrXxa0UV9puzDE0znEWsLgWGcdn05unmM67YuhBNElMfo3vtgyWeDnXGuq6f6MTH580SiI3yY7m8R-L0cvfWpt0QgMScERQ3281TNw1p83-kL57dx1YX5-tKtpBTDz7openMxcWHQgKCxsd5TLW1iwr9AyX6iATSmZiYB-rcc013o3foIrz0mLmXoHZX2gE4hhP1bu2V3aC3uPg2U-4mGIdKJrAlivAWZdfpsIBhuC2nVIb36pWJPMnXq_rhKr6tK1Dghp_mvijuXBLIuv2wXWHdrzHqV87yCxKixAj7zP3YjaHmK4aejq5-z0TPiD9W6sUOAiJrJkF4sBK9YZ2mND6lXj8OcjhQUnGAtdkCdXe2vLlz2a27I5oiC7CMlX7nQGIKpn5jPQadPGdF-xchmjm1scdeYypfiG41FLeqCUfPXh1Jvt5_tEim906Lmh2Nyb8equjdmOhwfiCBYI6NdRUnF4rgsTp_BSKinU3Wos-efev3EEiceCzfrrk1nGmO2sc6fNmTNSNOA88xSByInDPPuFHB4jrJRJ_n2yQxVV-tebo4XXjTi4XJxlyH-EFNghPEC7loznOd2KSOd_nVnft00zkM3UMttMlyzI5a0pYEMg3AQK0ypFXcXpylGtRRQ5pDJMZSw7xT2uXjMIGl93FXgzBEoyYDzIURPNA6non968tNoOmjan_sthI6DygOfb0M8sMs5SJOFlB4wD_1IYBV974ee6b_M5SIAesPkdTzmew8Ls37aJZcyYnwNUL3-qFhFFvnTs3RbuvKxZBn37aynnewkKkaFfTQdJoGvp3ENnNm7kjXIs_HvdmstGEiV7z296zw9tCZ3Wl9JQAcKrKBKOl1Rieh0LvAen7qsjApo111LLuMFQgx3CPooQpQvlnNQU2DJXDyOpw34YL4MIydccm0rb2jvBsPGIkCjFveUdbvV4kEyyjSgBfxITnv5YVtBp89S7jMPYdfB0UpozXKRBnYjdeobxldsraHwh1pQPoOaDazOACEFWtScw1jxMEKvM10dI-CJDwNWBR2clFuVLFmwEROW4k34TrOHsnW4IKXV8k=",
  "id": "rs_03ba7fd05bcdaaa4016aaccbef50f887d0b7b26b44c1630125",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.14,\"left_z\":0.245,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The wrist view shows the red cup on the opposite side of the pouring lip, so the tilt direction needs reversing. I am bringing the container upright before tipping toward the cup.\"}",
  "call_id": "call_xmWhjlm5MVmtjl8zHIUSVpYY",
  "id": "fc_03ba7fd05bcdaaa4016aaccbf43a4087d0b86de0c6cf543d2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xmWhjlm5MVmtjl8zHIUSVpYY",
  "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]: [-0.3759, 1.9095, 1.7065, -0.3603, -0.3439, -0.3412, 0.7423, -0.02, 0.8307, 0.6079, -0.4103, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5439 left_y=-0.1468 left_z=0.2443 left_yaw=0.0868 left_pitch=0.0287 left_roll=-0.1119 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1655 right_yaw=-0.0024 right_pitch=-0.0732 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.1812, 9.4154, 1.5604, -0.2662, 0.2466, -0.0122, -0.0615, -1.0325, 7.0222, 1.6581, -0.0513, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb80f27784b08893bb40143405923d73a944e9ed4e048cafea44b26e23af6a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87a4892e90dd0d11b04b9b2bedd9f6ac3c58fae51753c24506e49505014a4ca0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:769a7738c92da94545eca0cd498a961a0c0da5603e444006d88f5a8d82842622",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 4.154 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 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, 1.9167, 1.0889, 0.8158, 0.2718, -0.9329, 0.7423, -0.02, 0.8307, 0.6083, -0.4103, -0.0116, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5532 left_y=-0.0971 left_z=0.2179 left_yaw=0.0929 left_pitch=0.3156 left_roll=-1.0044 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1657 right_yaw=-0.0027 right_pitch=-0.0729 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -10.2769, 6.8581, 2.4835, 0.1832, -0.0024, -0.0122, -0.2803, -1.4564, 6.9949, 1.6679, -0.0366, -0.0317, -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": "gAAAAABqrMwCaGiw6M4dLbkNkDcL5w_d4eW92rrDv3_kOLjPXN5TFV9LkJOgJOnUazZ-BYJaz8gr2WhjXstWyLPUYeRxz5SDoehEK3HhrXE8WYxSTVR2HWDJP9ZLvT3Jf2cM9l4tJzrxdYk_V9Mow7Ga8cjEYBMvH8ECNjdUYHWTnlP1Y2iVt0ZAa_oSWKZkPboNeAu4v5oeyPp-5d70WmIl-TqsBgB7R7dQ3YDxhwnrMB9fdRWz1YkP-So06z6-m3ejtvs7GaxiYo6cVAYPu8-O28H4oI1AheAXu2ZsdbnxrSQ-kd5A5E8uMqW9l-jTei_F9_pPvzJU-Ih3ke-mxV6YS-1ivrJLfB-AmZmWXF9Bqh5Pqa_XSO47RDOuvvoHcsXgxGPc5WjkgxxTKZ7lDh58fOoKP37gRVLa4ElRedov4eMqv-EP_p1GWwIlT_1zfMsBEXELRoXcwf-sxf0JLbTLN2AEkDs04hkCauWtbYGbOfn7J7luBjPpTh21AjL_53p2NvfTrxp9zQhWCCBzax6XysI-I7_tmvNTxC4YEi9oTy9KkTPBg1QZhpZIVMrOJ3xxvlgoLHLE6ufiXaod5f84KPsBeDyGKq_Q8foAuUvAj95Yq2--r72p_O8Nbcg6dBywptby7cJxyk5UsmyK3lDCk5FYk2INd6jiVVGHWTVqer2m1A6Q4o9j-uht8XwoupDagR8PKApPmUpmkl7SWKOJ-lxk6ZukaL64j3HwdXpBGTyfsvBA1f8fAeUixAGkNWpc3W9K2nQDv1Rl1ecNRL0t6yOWdwJle2O6by5PkYnyBQHqRA2g9jR_3mGmzRPeVnJ7GPqkWkvXHrD9WiXgXb0AvfSzhnVZEVj_b1oXMOr3FA6IFmS4n-NIZX9bOymtbEN98E6_GgZEwS590DEFyi8sdqP5YbnBi7SjxwwoEqLnEKuPQhwizEnjEka0_AUwtsynmoloGC_0GhCOfLpSgRS1gqQDJiPVj2TSnl7ROA3K1NBjqiGZDGK8B1VTvFc6R7RuezhPqK7Ku8sgnwQ2F_HAmZDsG4Gtt1I2OasIdAZhPbqtUrbb5RTmtU21nycrE6eoObtFDNATIg_6r6kYRQ0PNMZkioYOhZP9gRkGJrLonNqhegxtjMr-urT1iA1BQbUV806zjrNr_eutIxhm0P9QuXXhy4EJ21F-gBwKlzb-DGK7My1m2IQ0bugwcZhGpkb-PqZ0BIx_uSA2-nWottS6VwcVw5-QJ0npmf43ICPa2U9Qtztl470r3B20DpDTf-GdymU-aH5r4szk8PKHS9Pu2lkCLoQRFaL47w4LAUr-Zg9_HLLoOcXziaTOjMC9felX2r1Q06WQB8Zy5CF47W79Lp12udD6cOszn7OEvmz8NHfnyspu0kSMl_LQU3jtImDq9X_zxGz_-IDpLdBOawNoinEBdaqVSKyQYuNVQhS5W47im4Y1onOSCf_M6BfDywNoU12bm1h7tgvkCAZSQuhwbBIEjvbpzIjcKX2rQlRfHYZwGghvioI1medRQcFYz_3WNGpbqGEAk0t48nYHhCM5r5pAA78fZTTMY3xkYT9qzq_QM4DiBz1I-KGbT5-ZeIiHR39V7mNPdO-BsNYvWIy5kBjngQnbd5wvUCzolLojVCYUg4JEJHqxmIsjkYaBpBWidOYe0gbEkZDaD0sChO-efgQ-8UkJ6Szp9sw2ZPpRpxX1iCUhTzOfgw-vgCEyTmo1hbCiNv0QzAk7Zanx6J9csnaQXncc4gTSSa17CLh3DQbRfUPSGy2ny-PRJ5-UfHtJe4wwvQv3cf_CJU44RsusrW7UK4-8LuGT3v_KzoC9KpCMs6R3BNUplPIVi1p_u6--K2gMgywKztMaplIOlt7wpVr5Kk68IucrrB3-2UUCTqnPMeqHx4rRYbkD1KpS-NESJD_rxE8JfDv0nxeiL3wW5Z_rnWQQx2WCcdRtjUYFQoh-lvJxfBtRgmnBLhuqY-D7XkoodeGFhrnz6QOTiwUHVCZCqH4YXRBCQevc8d8kIkQFvHFRRz9rT4SpS4rToOsJD0hclwtPhzLtBPeCufOPN5xrOg9SupAbSnGdFjueJHJohFelFsQ0y7epdPzAsKPve-5bIvuUmm0Sv412coL0telTMoL5fsVMLr9FJyS4Efc7YHITf2fPYREZq9GmDcnGBOZ1w17SWsql0jKRaQO3ISEcsLsfGKxqUnXYpbQD0E9uKNnMv2Qwn8lHXwVxX67LM3_5s5LvCXbOGd34k1uELKxBtHJF5QnPb6DTAIml17f6yuWvvMsmDEwv236ao-N2zeX8rXkeo6VByrv6yv4GOiokp2V9lGK0P3a-fEcN4DjEy10Tbtg=",
  "id": "rs_03ba7fd05bcdaaa4016aaccbfb1b7887d0872247e51da4cc21",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.575,\"left_y\":-0.13,\"left_z\":0.245,\"left_pitch\":-0.35,\"left_roll\":0.65},\"note\":\"The container is upright again, with the red cup farther forward. I am moving closer and tilting the bottle's mouth forward and right, using the corrected tilt direction.\"}",
  "call_id": "call_BP45QwZvAAVMWYYoYOH2oLgu",
  "id": "fc_03ba7fd05bcdaaa4016aaccc014d9087d09a3d7d641e814c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BP45QwZvAAVMWYYoYOH2oLgu",
  "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]: [-0.4007, 2.6164, 2.8956, -1.3907, -0.5854, 0.0525, 0.7423, -0.02, 0.8345, 0.6079, -0.4103, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5585 left_y=-0.1267 left_z=0.1749 left_yaw=0.1034 left_pitch=-0.4297 left_roll=0.6033 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0771 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -14.4342, 8.4308, 1.0574, -0.5446, 0.0806, -0.0122, -0.3214, -1.7573, 7.0359, 1.6484, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f899cd320dbcd7304f56413fe463e84e2f914e7d96d4c66742c284bef73f29e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c56495fe86346353f0d85a0885a97a5ce7da77441af50a26b43ae3f348d8fd64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf3da2d8866859ac96cffaf654f7eeebd108d410890c765050473be781029949",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 9.118 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 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]: [-0.3759, 1.9095, 1.7065, -0.3603, -0.3439, -0.3412, 0.7423, -0.02, 0.8307, 0.6079, -0.4103, -0.012, -0.0296, 0.9998]\nstate[eef_state]: left_x=0.5439 left_y=-0.1468 left_z=0.2443 left_yaw=0.0868 left_pitch=0.0287 left_roll=-0.1119 left_gripper=0.7423 right_x=0.2933 right_y=-0.0002 right_z=0.1655 right_yaw=-0.0024 right_pitch=-0.0732 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -10.1812, 9.4154, 1.5604, -0.2662, 0.2466, -0.0122, -0.0615, -1.0325, 7.0222, 1.6581, -0.0513, -0.0171, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMwI3ehMGOqcA90p2AgEjsFV1c_v_yBwcitnYnmHFE3eFJUksXRjTYTo4OgRwP0m-PSqS6puda24OaTt5cJ3BUKp00EdSNpKxXVShBf6PlMDe3RczQAIOqipQX7FyPC36v1LTHHhqzZxMoqHkIWJapRQEL0nOwvOtx-xUElMO-tDgLXkl1HUajOq4wgc6r-isOHz93YUHlOGtc1P7GDvp9czB6iSfdyGSze0Ocij3zcifke6OqhoJ6xBxHDeq6f-93KdzfW2Gncl5JHBQdlfuxSyt6wS1eWsMbdwuCXpkNLnfXoTHZUndttXkAGOA5x-Pw5u0S5JqbBZgappVziv6gqpD5LOZPyFf_e1ELBQve96QQYKwVl9TES56p_QzJu5P9qnwigxv_ai-HwSipZ3aRwWxnCuAXTszrnBevUKq3uZd5FbnjpZxiCi6pFhriQHj9bnMHY1OXt0HjFtWPFaAxhFNWTdjlbZ6zYda8Pr9zHa_qor_BWoqU8gvATCEMM6nCqaH-gD5fMI5T1TEoNQbTpuPDyWTs6B3GPEWwf1jzuRXN5A1yvKNG6qvSUCPtMxnXzoeNUsKSZ2hspK4yfDGiIHgXyIC9b893sVyVAh7x2THhhpdw0Ojo0-0CWkXIE-EH5N_XqOQclUnMwjrNIbHReXwHlckRV2XzocxkVxRVKqdtznZuHswgP68lUo8fkbuxuUXa7WbpE3TdReuXpUKsMtJKCJbv5X_ECt3SI9ixK4Ccb933_paOUBtm6KU2B9LB5rqnOmH66g_kJiKwr5bKVjTK5YI5pzCUWV3ISGOmFRyDnHYrILYBNHEaSQCPh0neUigUuSlGhHNppaLomaADjRX-IKNdRxzubBWA74qo7gw1zDujquOmAgvH1kCY1azvhFvS1VI2Jn6Cw-sF-qnGcUUhKRqUYRMWcyjbSft81f9LjvgqhlDKWxAWeh_rDA3-JcF07B_-_cy_yZuI7wwytJ90KDb1MIVocHyFoASqghPpTOqKEBzuU6WV1q5mFaJtOZK3I0Uy814964mRNnJM-K5pRuAZs38ZHg76-xHzTkyhZD0zQG_XTXfPTu6jhTMh_u95z8HKMnF1ajNlqqPr28QWluGNtqLJC35lt0mYrsTy1u8Xw5nADw_b0bt1VSJfzKTNrcsYvW2qkZQkN_0nmFznKI97UVBlhrjlhbpYcKQCyG3FC2Lu1NhLymtnPPQZCjEiQ0kgLenEtAbSuKQIPl4DqCny3QUnRnC0Fqj5LY9hzlUZYg5-xtq7DwVZ-UVCJGBIRhF20lSFuestGEzsJ8NoJUequs8bwwtcdOjmbMIxv4A69Y-0Q-zpk5qSi8kZKIO25Vq0tKVS6kLZ935yIZhcD3tqP-z2QdX4wJIv-iWEhQH5slGQNhE1QHgcHL80PonsIyXys2Y8zoNMBKaBxUYw==",
  "id": "rs_03ba7fd05bcdaaa4016aaccc05c8f887d08c25781bc9f9dce8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.58,\"left_y\":-0.135,\"left_z\":0.245,\"left_pitch\":-0.4,\"left_roll\":1.35},\"note\":\"The red cup is now directly beyond the container's low lip in the wrist view. I am increasing the tilt toward horizontal to pour into the red cup.\"}",
  "call_id": "call_BRm2uJkOdCSqntZIWa4TZ9Bs",
  "id": "fc_03ba7fd05bcdaaa4016aaccc077d9887d0ae4f17b80dcb011b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BRm2uJkOdCSqntZIWa4TZ9Bs",
  "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]: [-0.4007, 2.6164, 2.9124, -1.4364, -0.5995, 0.0788, 0.7423, -0.02, 0.8345, 0.6079, -0.4099, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5516 left_y=-0.1215 left_z=0.1771 left_yaw=0.109 left_pitch=-0.4571 left_roll=0.6482 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0025 right_pitch=-0.0767 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -14.7214, 7.3368, 0.8474, -0.5153, 0.0757, -0.0122, -0.0205, -1.265, 7.159, 1.6874, -0.0415, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:452ce6ae1904d6fc0413af861211b59ac6acc2baf544be57ed0f9e884b95f753",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5371b333f8fe73b05df669d1be70bba3b59faefeec8a9ebb63846801039ab4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7813bb585760224d4c9f359be87ee6e08a88bec176d023ef7003399da6e77b3f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 11.49 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]: [-0.4007, 2.6164, 2.8956, -1.3907, -0.5854, 0.0525, 0.7423, -0.02, 0.8345, 0.6079, -0.4103, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5585 left_y=-0.1267 left_z=0.1749 left_yaw=0.1034 left_pitch=-0.4297 left_roll=0.6033 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0771 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -14.4342, 8.4308, 1.0574, -0.5446, 0.0806, -0.0122, -0.3214, -1.7573, 7.0359, 1.6484, -0.0659, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMwSTOEc8iKAtXX3qzDubPAE9Qr3eAp_7rbR__4F3ZtcfWCxtBjS1xrKDzarF2V1tiPmtFLN4XLr4cuOblYRnZf-j5plqw4H89gCVVNe40E-lg101odbnjmZoRQLTaSFxpqHYy1NQZUsPiEc8Kq52MYVM5hNgcfLwmJyWWKypjVJA0cMLIEFMzFLuvwNEZt8XWsE0eCfQowpihxzOKBMJA6resN18keGlfcBhohgmzFqJM02u-jTL2jXZCf3sBqDSzcSFpoDDZUGSjQkO2qcWcuqg4VUT0MhN212GbTEGUCkSc005g5s91qc-TVZu_2_6WKbl1Ew68t7EzOfdZvP9PAulgdbK_fnXMVkYeER184JLFrMqL8fVT6bVJNpNFlO-NuN4bmth29phFuLoYqUqLH3UvEAb0h7gksoFK9OTvVA44rF9oyiYIlljvkB_V8yDmmzGfXKQxKB4Cd0nI1B5HMRMn0O7MUZ9SO38CFr9cK0PF8-jnm9E7gWQKK5l7faB6Fyd7dwuqBsNYoWx9QnBeMr2Wf_6inGZ-H8peAudbq-AE8qcx6TibLctVNjIsk2tfNJn_TeYYvqjs31GbxZ4g01qT0N4OGvgCPzQDI-t9fohTs4DspkLGHGjwJjkEejKucq3Rtz0toUuLsfZgEtOp7nCE5gUmEOAuN0FOQXw3mP4MTMPeu_QBe0J_Xz6iTEbLTVKf75irgpvD0wg6nQ1CVU8s-Lv-r41yI9KQMyTfGzO3gG6McwT1Uf7CZXUpAC-3vm5jEW14FiRqTgg-jFFUYoaXn2qaT9_Kkw1o7YwAgo_4WWI6k70Vux2MtgFkReZC5HzZI26VKctVQpStgK02zplMFGDKh7Wogl2iAk33wL4VRuvRUCyZ5zuSiawu6-EmxaIca5L79lTAMyceedvUqdcVo1fU1b09fHZiKRdfsvvCsVss_lbJM6AQzVkM62FVAsQ553YvW4sXYFhZRDBbWRqsXlcFUtX_qukr07gz85DA9kMuEHJaunWkmXQ9FSLhoCRP7PJwT9RdUFUMNCfeaATvjl_Sogn7rbwYeV4VfOuPTBEygAXPT4S6etlrYCo5CwCqtlK1L9a9pmip_9hJmoFCQMFGTaQqxnHxFK1UdRhe4drMceLlJMIDGSJoDunKfhL4pzduey9sJvctXmE-pjRAkP6eHa4k3eOuptomaMRqWmT7wNYlGfFGuCEMP3CRML6vKvUdP2P-negqu96Q4Kbh1c88VCBdoGRfZbIFLK_-H1h-uTCtq6HaRfWFtnaO7nuaHB6Zg3JzweUlI5CFgY40miS8fEBDvEwf18zdKQDErprZ7LJS7Y6AmffgproR_RFqcODRAsm_3JqWVhr0BaI4L0XcCy-nCJp5w2G3GxnUyXdBkQ6jRY48fcNrUNaepNMnzhbrz_vgMWS2DiCzARUt0G84bcbwUdplYGrdn0SXgrCRfmQzWhqi7LGzCidP__mSVLD7dw3SFoH2gRhZyu6PfOR97-RmcAHwzQ5AWxlYfN8YbM8MYi30wSYfFmUZCWruditcwQEgyeg8cQNR-wKPBHl-rGPyuamu6dkulaQO5_SsqzR59Vfa1LpyClOxtadk1f3dP6Ns8ADxE1AeDu4O9dllg82DvaAk-obxK75S9Fw1bw2vGuhNlmJujfS2_9lh-lIvckD-ZPQYxOYtJk_7wjVvwmAlFDqFrtSsFpGEtQlaVC67zQ5phg19k9xLIonpODE5PhNh42l6ihcz3JER26jytf3cM2MEygLe5mv4LQe_MPpVjWMXXVwYKHq2gv78zvcEH3o9tYYca5o6IELrKPBwlAOaC2LmAsmrpehEdMqFLLyUr5TUwzu-lHnNf9ETLhaFcc128GTmLP7jwnh-GVqUUSznZA1vygARHHvVVU7a3xi8-T6zmMHFgrpanncBC3qzMRjRbWCbxvyTIpA5QCn8wNvoda0o2KNEYNCSmWl-alEttmmjot79zqQN1A2DveitkqjkpHntlKsWAWUE2wechrhSQu1atTJ7vyyJU=",
  "id": "rs_03ba7fd05bcdaaa4016aaccc0b1b1087d0a75c56e48d3c2b79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.11,\"left_z\":0.235,\"left_yaw\":0.6,\"left_pitch\":0,\"left_roll\":1.3},\"note\":\"The arm reached its extension limit before completing the pour angle. I am retracting slightly and turning the tilt diagonally toward the cup so the wrist can achieve a deeper pour.\"}",
  "call_id": "call_WTyDkaZRcXoX6DtOuybzUW6X",
  "id": "fc_03ba7fd05bcdaaa4016aaccc103cd087d090919eab3bd984c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WTyDkaZRcXoX6DtOuybzUW6X",
  "output": "executing move_to over 16 steps (1.6s)",
  "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]: [-0.4706, 2.7594, 3.1176, -1.5589, -0.8394, 0.0284, 0.7423, -0.02, 0.8345, 0.6079, -0.4099, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5437 left_y=-0.125 left_z=0.1774 left_yaw=0.2479 left_pitch=-0.3599 left_roll=0.8484 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0767 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -15.8701, 7.2957, 0.7302, -0.8278, -0.0806, -0.0073, -0.0752, -1.4291, 7.2, 1.7363, -0.022, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e09fe348f475f1424ec3ba87ee8a695eafa7f337e9b29ab3fe0870377d7ee037",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0b4af39df83278a70c4d94fe3cc3150760b62d90e42cea2173af8a2eb9221ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4713bc8522d94da620cb299509e53654919293181b8c8d2b2a6e8d9f1b58b466",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 6.098 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]: [-0.4007, 2.6164, 2.9124, -1.4364, -0.5995, 0.0788, 0.7423, -0.02, 0.8345, 0.6079, -0.4099, -0.0116, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.5516 left_y=-0.1215 left_z=0.1771 left_yaw=0.109 left_pitch=-0.4571 left_roll=0.6482 left_gripper=0.7423 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0025 right_pitch=-0.0767 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -14.7214, 7.3368, 0.8474, -0.5153, 0.0757, -0.0122, -0.0205, -1.265, 7.159, 1.6874, -0.0415, -0.0806, -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": "gAAAAABqrMwfhQ-yNi2yF1_4yoQqikHjAFOdgmOBFqF6YaQJ7aQTHFvuUaAS5YLusJ56misPHtB0PY13uW5H7iCJ99zqgZJLZLgZZ9xg9J0gpIivIpaVUrj3wIx9IpZ64GE_PtZV7wWRazP6J5L01hYZp3oGp5z5bo1SBgjYmYTf0N0zOT8qnaPixxJpq_OiaLGB13-AfTCVbaq_dAksu1wMxRqUu60L0sMX-1xH5E6Fy70tEm9oofHtQfPntm5tHKGrPfYMz9wEzhHKZiaJ9S_KsfZ0WQZq2by6rA4MvxlNsNxxZM3TIxvT9WVjDP84zwKgZ5wP2iA_uDjPa-RHvWR4jBgPU3y-yhemBLosbxMPs3bJ3QL8TPaZNiJOsSSPGYMk9YKIiGnAMbwZ7tIvebiVCnyUic9_ufKu2DC18ipEWumh3FdpNmz4DwDp0CwpUuK3lhcQ18mKGu49kw3Gx-ry5JpBmxYbpuWF5HHr9JfEFBwYfgRAXwsT5Y933CqE1A6-gd2wKXDeyqZh4rNns7KOIj9YHBMdp9kkooLP4B_VJTB4eKYD1kmzW3IQmUFmfgIqDJ1T-DmvzS-lfLOCLUDfgygb9Z13nhk2hw5DHqybhPtybHc_zYYmEjhP6G-H3agur0AK-cg_CqObGmYUcmS1lsavil_XtiLUZS3cGiJumKAVxnga5Omti064QbDCBsseYLGBJ--anwAcoRhYNYoRMEkaOwQJ87NcjfBn2BN4o-LDTsIwOAJ_k7TVNgKiPmWzVsCb2gaYVay4wSN4FvoUZTz6QfgzS5AfvERfEGxtYv_5pHJOkpYvoalIjlbw-7Pp4d0KYG11cLIHbvaWHiIkEjhTjmpFkeg7XtZc4xQwslNAWdnyrSQCI9IFAK7LTNMspS4Xn5ps0Qk87bdE_6iGGrxGIhlKerUVGhMEkUO66G1IcLmYR6Aliza8hwIsX4f1NqNsjxlfhvt8aDy8YCQ-BHCkkuwP7aEaz1UJrmaXLWIDdSieHr3L0xbdtVy692oz0rfOM-YcVSxvVuk2wqpEon5MmJhYYz3r0RmXwhTZnt4B5AxSfiJ2ZzVNBMYZn3XUpypZ0N_KRkPIRexLdNn2fityOBBM27Vj4NPDRTUahWBQGgtn9mGvB6wjaQvBozThts7t_FjBzVfOKOTYcynhAA_A6a13FEtbvGPCS4zTwmICv1Kt5YxHZ8ZktvN_OGWI2q6xNm7B20_4p1F1yof90bI9R7oLetlTIZN8FO3haHWu35rza-RVVD3mMUyNNzY0ea-lCCJqlRJlcZOLMvuK7tOaUYobU5_gW016yKV97uW0MbeKOJatAD-5oZxXRAlGQ1bG9URcSoKa0NupAAcvJmWsBl7Hz8n9gz7Gj8hUbfNzomR3yyZ8XEdHj7KyX2oKi-8YdHEdIOtqTmWUOATsWyF6xNxDGCI3PkTFVxy7eGFsoeWG8zglKfaItKAv5c1flKKu2qteO_3yH43FpsSbWNqDrmJAioNk97jw2O-dLNjQplNT2-2MiTQx5ONwELmxWENcyADBWMJs9KpyGmEkB4qv7XAiinxY7x-t-KoPWBFkAn5DoyrmjW3iB3KN3S_5ZE-ZDmgJJuQF6tduHmF5YvDgv0fKsYpRn11uZDCUsJW2aS2P6fEcTLz2IHqMFkOSnmEDXGcpZtrDNYWlr-N2CdxTxC501c3zFSKTKlMQP1XRDC6Ah4V4nxIecoS5mnz6A1d6_OzHRJbiolDLqUre8R0CjsPsFJWUxyIQ1aFCnZ_ekCDiPihCY4EXJ1y1-QeB6ZvxgtJnET0MoRPsq3B0zQLxro-y6hZt0oGy1ZPOzDV_2Pv86kTRroucwv5yBSeyQiQbF70GmRRue5Tm45aAhFtKQlw17xQ4o81QBug1RrEO5eJ95hTbsu3kKW_beu4G0shxfRN5iY_3o5x3C3DxTz8TyxPlVjDOhPqZRUexIwUVlS37dlZhWfyIGgQxYe5lmT9iUqEBzyK0YJ6HHFFxCzMMV-j1fZuZ3RWTmPHE0_zcMnHqGVcbPUwSjfjS_67st0pOqkCDkmu2QekO1qoXiZroOddRXfLbFLQ63vkMZDFMBRXiNG7TmE6jsG5qrYV3nwhgbWY8i9JyGp35McCr__HyDft_JBNuSBi3AJqjcKqsDGKMo6D8NHc2D-zeMb-agS524hlj1O9RP9SpWJmNiX0EKITGyqEGdyTqZH3gwXKKNz8U8NUOF5D9wGwIPrLu6gZUtY2_-FX142uS1rfGKgzvkfHw4Uvs9GVDWuAToaxfeizXlIBalSTHQnloASLYeJW6VAsnSvYil_EBiUBkK4wnx8DNZh60lN0whzIvBhhzfqby8Vd1kVewHwLHJLKCaD4rMdifR5Ae9ulpKknbOlpGsvcKF4xhCX-P9fxR2oZWUtk8e6Oj5-VVUnNseT4JDhXQqJdySjwcUvPH5DK99H3oNYXFdyWNt0bMAlfikNP4wWz5LXYrnqrG3uCWAkoZETdiODeJ3rgZYYbe3b_Mkeo6QzNKriML5SNukuSIyR1Cd2qBiTfREmcSAD8pi9ghatNxio9hEuLcGX25g5ZDQyzHKfwaF49F0aUNq0_HyC_IKAZNdQEpWrqAizsbLMwOYwmYQSOHzxqCAHztz_z5DeQLPaz0bkKUPJyOaK6BVhx3zX3lVzY=",
  "id": "rs_03ba7fd05bcdaaa4016aaccc15c9ac87d09325732e1320e087",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.26,\"left_z\":0.245,\"left_yaw\":0,\"left_pitch\":0.3,\"left_roll\":0},\"note\":\"The diagonal pour is still limited by the arm's reach. I am returning upright and moving to the other side of the red cup, where the opposite wrist tilt has more clearance.\"}",
  "call_id": "call_cPh0JDyS3q2a8oTtTvZ9AEva",
  "id": "fc_03ba7fd05bcdaaa4016aaccc1d7b8887d0a408a14df0f904ee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cPh0JDyS3q2a8oTtTvZ9AEva",
  "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]: [-0.7689, 2.7262, 3.1241, -0.9943, -0.7834, -0.3058, 0.7424, -0.02, 0.8345, 0.6079, -0.4099, -0.012, -0.0299, 0.9998]\nstate[eef_state]: left_x=0.539 left_y=-0.343 left_z=0.2593 left_yaw=0.0259 left_pitch=0.1433 left_roll=0.1332 left_gripper=0.7424 right_x=0.2935 right_y=-0.0002 right_z=0.1645 right_yaw=-0.0022 right_pitch=-0.0767 right_roll=-0.003 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -21.0667, 7.0222, 1.9316, -0.0952, 0.2222, -0.0073, -0.335, -1.2786, 7.1453, 1.6532, -0.0269, -0.0513, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5277fcd8a818fa28e8df178aba145d371d7acca6fb2482e989e2abc163d81e87",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141840a92fffc95056631bf0030748847ae511545106ad40110e4328250d46e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88299ea677a8720ab139cdac6cf3f4a8045865d242891d053e0ce964f93af5c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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