adhoc

completed
2026-09-18T05:32:06.362831+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
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
148 s
total steps
146
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two upright light-blue containers, with the red cup behind the left one and a blue cup behind the right. I’ll position the left gripper above the left container first, keeping the right arm parked.
move_to
left_x0.4300left_y-0.1800left_z0.2400left_gripper1.0000right_x0.2960right_y0.0010right_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, -0.3779, -0.0219, -0.0181, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0128, -0.0257, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0013 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.3214, -1.6342, 9.4564, 1.7411, -0.0659, 0.0317, -0.0562, -0.8684, -1.265, 9.9761, 1.7411, -0.1294, 0.0806, -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":0.43,"left_y":-0.18,"left_z":0.24,"left_gripper":1,"right_x":0.296,"right_y":0.001,"right_z":0.185},"note":"I see two upright light-blue containers, with the red cup behind the left one and a blue cup behind the right. I’ll position the left gripper above the left container first, keeping the right arm parked."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe left container is just left of the jaw center in the wrist view. I’ll shift slightly toward it and lower the open jaws around its upper body.
move_to
left_x0.4300left_y-0.1500left_z0.1300
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]: [-0.5804, 1.5925, 1.3197, -0.403, -0.4759, -0.35, 0.9996, -0.0151, 0.799, 0.6086, -0.3862, -0.0124, -0.0265, 0.9998] state[eef_state]: left_x=0.4269 left_y=-0.1789 left_z=0.2258 left_yaw=-0.0066 left_pitch=-0.0307 left_roll=0.0051 left_gripper=0.9996 right_x=0.2948 right_y=0.0013 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.013 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3761, -7.9111, 9.4564, 1.5751, -0.3248, -0.0171, -0.0562, -0.1299, -1.1829, 8.0889, 1.7363, -0.0757, -0.0415, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0.13},"note":"The left container is just left of the jaw center in the wrist view. I’ll shift slightly toward it and lower the open jaws around its upper body."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe container’s body is between the open jaws, although it appears slightly tilted. I’ll close the gripper here and check whether it has a secure hold before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.503, 1.6173, 0.9676, -0.0124, -0.421, -0.3035, 0.9996, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4275 left_y=-0.1487 left_z=0.1333 left_yaw=0.0018 left_pitch=-0.0368 left_roll=0.0074 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.2256, -6.3795, 6.4342, 1.8926, -0.1636, 0.0562, -0.0122, -0.1983, -1.0188, 7.0632, 1.746, -0.0513, -0.0464, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The container’s body is between the open jaws, although it appears slightly tilted. I’ll close the gripper here and check whether it has a secure hold before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe nearly closed gripper reading shows that I missed the container; it remains ahead of the fingertips in the wrist view. I’ll reopen, advance 3 cm, and lower slightly to grasp its body.
move_to
left_gripper1.0000left_x0.4600left_z0.0900
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5007, 1.6287, 0.9661, -0.0139, -0.4191, -0.3077, 0.0111, -0.0151, 0.7986, 0.6086, -0.3855, -0.0124, -0.0265, 0.9998] state[eef_state]: left_x=0.4274 left_y=-0.1479 left_z=0.1274 left_yaw=0.0051 left_pitch=-0.0501 left_roll=0.01 left_gripper=0.0111 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.1983, -8.6222, 6.6256, 1.5751, -0.149, -0.0269, 0.8913, -0.0615, -1.2376, 7.0632, 1.7216, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.46,"left_z":0.09},"note":"The nearly closed gripper reading shows that I missed the container; it remains ahead of the fingertips in the wrist view. I’ll reopen, advance 3 cm, and lower slightly to grasp its body."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe container is still slightly forward and right of the jaw center. I’ll make a small forward and sideways adjustment before closing again.
move_to
left_x0.4750left_y-0.1700left_z0.0800
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]: [-0.4557, 1.8008, 0.9668, 0.1211, -0.392, -0.2886, 0.9988, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4496 left_y=-0.1412 left_z=0.0755 left_yaw=0.0193 left_pitch=-0.0905 left_roll=0.0272 left_gripper=0.9988 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.2256, -8.7179, 8.5949, 1.7509, -0.1148, 0.0415, -0.1343, -0.1709, -1.2513, 7.1726, 1.7558, -0.0611, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.17,"left_z":0.08},"note":"The container is still slightly forward and right of the jaw center. I’ll make a small forward and sideways adjustment before closing again."})
tool
executing move_to over 3 steps (0.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe left container now fills the wrist view directly ahead of the jaws. I’ll close for the second grasp attempt and use the jaw opening to check contact.
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]: [-0.4904, 1.906, 1.1103, 0.0559, -0.4114, -0.3153, 0.9984, -0.0151, 0.8009, 0.6086, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4695 left_y=-0.1665 left_z=0.072 left_yaw=0.0157 left_pitch=-0.1077 left_roll=0.0302 left_gripper=0.9984 right_x=0.2951 right_y=0.0013 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4991, -9.4154, 7.9795, 1.4921, -0.3346, -0.0366, -0.0611, -0.1026, -1.0325, 7.1043, 1.7216, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left container now fills the wrist view directly ahead of the jaws. I’ll close for the second grasp attempt and use the jaw opening to check contact."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe second close was also empty, so I won’t repeat the same approach. I’ll lift and pull back to expose the container in the overhead view and reassess its position.
move_to
left_x0.3900left_y-0.1700left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4896, 1.9087, 1.1145, 0.0456, -0.411, -0.3229, 0.0112, -0.0151, 0.8013, 0.6086, -0.3855, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4692 left_y=-0.166 left_z=0.0706 left_yaw=0.0207 left_pitch=-0.1154 left_roll=0.0283 left_gripper=0.0112 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1709, -10.0444, 5.8872, 1.6337, -0.149, 0.0415, 0.8816, -0.212, -1.0872, 7.1726, 1.7363, -0.0317, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.17,"left_z":0.25,"left_gripper":1},"note":"The second close was also empty, so I won’t repeat the same approach. I’ll lift and pull back to expose the container in the overhead view and reassess its position."})
tool
executing move_to over 12 steps (1.2s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe clearer view shows that the container is farther forward than my initial estimate. I’ll approach its middle at a higher grasp height, with a slight forward tilt to reach it without scraping the table.
move_to
left_x0.5300left_y-0.1700left_z0.1500left_pitch0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6212, 1.5517, 1.3952, -0.6727, -0.4908, -0.4297, 0.9988, -0.0151, 0.8032, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998] state[eef_state]: left_x=0.3912 left_y=-0.1732 left_z=0.2306 left_yaw=0.0147 left_pitch=-0.1499 left_roll=0.0373 left_gripper=0.9988 right_x=0.2953 right_y=0.0012 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.1162, -8.7043, 9.1556, 1.2821, -0.3053, 0.0171, -0.1392, -0.1983, -1.1692, 7.2137, 1.7167, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.53,"left_y":-0.17,"left_z":0.15,"left_pitch":0.2},"note":"The clearer view shows that the container is farther forward than my initial estimate. I’ll approach its middle at a higher grasp height, with a slight forward tilt to reach it without scraping the table."})
tool
executing move_to over 12 steps (1.2s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe jaws now flank the lower body of the left container rather than stopping behind it. I’ll close and check for a nonempty grasp.
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]: [-0.4629, 1.9453, 1.2114, 0.2867, -0.4786, -0.1791, 0.9983, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.5242 left_y=-0.1667 left_z=0.1402 left_yaw=0.0296 left_pitch=0.1641 left_roll=0.0411 left_gripper=0.9983 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1573, -10.1812, 7.4735, 2.0928, -0.0562, 0.1441, -0.0562, -0.1983, -1.2923, 7.2547, 1.7607, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now flank the lower body of the left container rather than stopping behind it. I’ll close and check for a nonempty grasp."})
tool
executing move_to over 10 steps (1.0s)
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 gripper is still empty; the wrist view shows the bottle immediately beyond the fingertips. I’ll move another small step forward and slightly higher to reach the narrower body below its handle.
move_to
left_gripper1.0000left_x0.5550left_y-0.1800left_z0.1800left_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]: [-0.4633, 1.9453, 1.2114, 0.2768, -0.4793, -0.1871, 0.0109, -0.0151, 0.8051, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998] state[eef_state]: left_x=0.5232 left_y=-0.1663 left_z=0.1382 left_yaw=0.0334 left_pitch=0.1558 left_roll=0.0387 left_gripper=0.0109 right_x=0.2954 right_y=0.0012 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0179 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.1573, -10.5915, 6.4615, 1.8437, -0.1392, 0.0855, 0.9548, -0.0205, -1.1009, 7.2, 1.7558, -0.0366, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_gripper":1,"left_x":0.555,"left_y":-0.18,"left_z":0.18,"left_pitch":0.3},"note":"The gripper is still empty; the wrist view shows the bottle immediately beyond the fingertips. I’ll move another small step forward and slightly higher to reach the narrower body below its handle."})
tool
executing move_to over 10 steps (1.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe open jaws are now alongside the bottle at the base of its handle. I’ll close gently through the normal gripper command and check whether the bottle is captured.
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]: [-0.4644, 2.0045, 1.3048, 0.3378, -0.5018, -0.1413, 0.9955, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.5472 left_y=-0.1751 left_z=0.1603 left_yaw=0.0357 left_pitch=0.2426 left_roll=0.0439 left_gripper=0.9955 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.6222, -10.4274, 9.388, 1.9853, -0.2222, 0.1685, -0.1441, -0.2256, -1.306, 7.2274, 1.7363, -0.0415, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws are now alongside the bottle at the base of its handle. I’ll close gently through the normal gripper command and check whether the bottle is captured."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe close nudged the bottle sideways rather than capturing it; its body is now visibly right of the jaw column. I’ll reopen and center the jaws farther right around the body.
move_to
left_gripper1.0000left_y-0.2150left_x0.5600left_z0.1700
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]: [-0.466, 2.006, 1.3071, 0.3302, -0.5014, -0.1497, 0.0111, -0.0151, 0.8051, 0.6086, -0.3855, -0.0116, -0.0265, 0.9998] state[eef_state]: left_x=0.5468 left_y=-0.1759 left_z=0.1588 left_yaw=0.0377 left_pitch=0.2367 left_roll=0.039 left_gripper=0.0111 right_x=0.2953 right_y=0.0012 right_z=0.1779 right_yaw=-0.0002 right_pitch=-0.0183 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.2393, -11.2752, 6.5573, 1.8095, -0.0855, 0.0269, 0.8816, -0.1846, -1.265, 7.0769, 1.7118, -0.0171, -0.0415, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.215,"left_x":0.56,"left_z":0.17},"note":"The close nudged the bottle sideways rather than capturing it; its body is now visibly right of the jaw column. I’ll reopen and center the jaws farther right around the body."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe container is broad across its front, so the jaws have been slipping off that face. I’ll raise and rotate the open gripper to grasp its thinner front-to-back dimension instead.
move_to
left_z0.2800left_yaw1.5700left_pitch0.0000left_y-0.2050
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5247, 2.0827, 1.4593, 0.2283, -0.5564, -0.1875, 0.995, -0.0151, 0.8051, 0.6086, -0.3859, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.5562 left_y=-0.21 left_z=0.1634 left_yaw=0.0431 left_pitch=0.2255 left_roll=0.0341 left_gripper=0.995 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.0187 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4718, -10.8513, 9.347, 1.7753, -0.2027, 0.1294, -0.0806, -0.1573, -1.2923, 7.1863, 1.7216, -0.0659, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.28,"left_yaw":1.57,"left_pitch":0,"left_y":-0.205},"note":"The container is broad across its front, so the jaws have been slipping off that face. I’ll raise and rotate the open gripper to grasp its thinner front-to-back dimension instead."})
tool
executing move_to over 10 steps (1.0s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe rotation did not track the requested position and displaced nearby containers. I’ll stop the grasp attempt and lift back toward a clear, shorter-reach pose before making any further contact.
move_to
left_x0.3200left_y-0.0500left_z0.3200left_yaw0.7000left_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]: [-0.3168, 2.4199, 2.1265, -1.4158, -1.0084, -1.7851, 0.9967, -0.0143, 0.8089, 0.6071, -0.392, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4726 left_y=0.0061 left_z=0.1105 left_yaw=1.3589 left_pitch=0.0023 left_roll=-0.0397 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1748 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-2.947, -15.7333, 6.7761, 0.5201, -0.0171, -0.0659, 0.1587, -0.1983, -1.2786, 7.1453, 1.8584, -0.0024, -0.0415, -0.0122] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.32,"left_y":-0.05,"left_z":0.32,"left_yaw":0.7,"left_pitch":0,"left_roll":0},"note":"The rotation did not track the requested position and displaced nearby containers. I’ll stop the grasp attempt and lift back toward a clear, shorter-reach pose before making any further contact."})
tool
executing move_to over 14 steps (1.4s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteI could not secure the left container. The grasp attempts were empty, and a poorly tracked rotation knocked the left container onto its side and displaced nearby objects. I have retracted the left arm to a clear pose. Neither pour was completed; the setup needs an operator reset before continuing safely.
give_up
hindsightThe large containers need a deliberate narrow-dimension or handle grasp; repeated closes on the broad body missed and displaced them. At long reach, a 1.57-radian yaw change produced a very large Cartesian tracking error (requested x=0.56, y=-0.205, z=0.28; actual x=0.473, y=0.006, z=0.111). Reorient at a clear, short-reach pose in smaller increments before approaching these containers.
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]: [-0.6224, 1.5284, 1.6379, -1.3537, -0.9634, -1.216, 0.9968, -0.0147, 0.8143, 0.6067, -0.3927, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.3308 left_y=-0.0544 left_z=0.3005 left_yaw=0.7394 left_pitch=-0.0122 left_roll=-0.027 left_gripper=0.9968 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0366 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.0906, 8.3077, 0.6032, -0.5885, 0.2418, 0.0024, -0.1026, -1.812, 7.0496, 1.746, -0.0317, -0.0415, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the left container. The grasp attempts were empty, and a poorly tracked rotation knocked the left container onto its side and displaced nearby objects. I have retracted the left arm to a clear pose. Neither pour was completed; the setup needs an operator reset before continuing safely.","hindsight":"The large containers need a deliberate narrow-dimension or handle grasp; repeated closes on the broad body missed and displaced them. At long reach, a 1.57-radian yaw change produced a very large Cartesian tracking error (requested x=0.56, y=-0.205, z=0.28; actual x=0.473, y=0.006, z=0.111). Reorient at a clear, short-reach pose in smaller increments before approaching these containers."})
tool
give_up: I could not secure the left container. The grasp attempts were empty, and a poorly tracked rotation knocked the left container onto its side and displaced nearby objects. I have retracted the left arm to a clear pose. Neither pour was completed; the setup needs an operator reset before continuing safely.
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 · 6.79 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, -0.3779, -0.0219, -0.0181, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0013 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6342, 9.4564, 1.7411, -0.0659, 0.0317, -0.0562, -0.8684, -1.265, 9.9761, 1.7411, -0.1294, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1922b563f66f6a97bc546be987d33df1aed184c8b08cfbe8ef74f9364b97f366",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d325a522511a4861b22da183908de5063c8c35a5eb5c821420fa10feca4e218",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5f2035e718b40f8515671842bc825db4daea6bc8cbaeaff4b04957b6e9d288a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 1922b563f66f
wire blob 6d325a522511
wire blob a5f2035e718b
call 1 attempt 0 · /responses · status 200 · 7.492 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMzrm6hmUMAn_n5Q7DqCZKvLO7uPpD9xVXbCoS-HPv5U_zWKdPM4iR0jDJklO0CJ0ECjLkE2rsTTowxu6YZImY0c6bZSbRtosNVMsCKcWEBPDtmLkwMyzlYl2iYLVLInHcIFgOUQJvLJi4Rn5fv7oQXfWnzJ7AFsOpOGmXAZz4oKY3BS9-1JqNpDaUzWy6wFr4c0HF_dVg6m7kwiW0pggU1BZVw-FHHJIBp1sZiGmHrs9uA3xJliarQNMYwNv685cLZGli49M6TTVOoX9JsIxWsweblXwExuCghqTjr2trSJA7wflPQag5DYaZfCo_2fphECUHibD2nW7QQnfkXLX8MA61IDDTnO8z3wPul2PRnqgF7Vo6ePFtdLHDKfdtSjkvOyNIPT__aCMN-PUtr1rW33z24Og_PfvZaTkBaFHwRN-q74tpV0LouiAfGoZkrTG2UUoeteLEX-oRs60ec_01AM01hpf0xXLeUKLNkGA_7YOFBwDU0RxetGcA1q5pkWoSJptHhjDbkn1sd7oBmyeQT89OCiAcG497keOE4uSkY5ywedvIToUCpxzFShVLh617D95fT9Dwa49hwD0WVU_jz9Zl4OP24VBQWi_TBuCFGqBHy3TMJxboVLJYm2mhEaXGqLtrUpjGtiSasLbWsKIAhS_hLWWX3Uu_3hG-FNtaD8avbwgSp3uyCQnHB51bLChDnxMzfYMWTo12rYTaR0gV41kYxHr1rAaKP8Mu7zJD5vs8msZ4QOygF6tOgRmVAsafSUKFLYeCWesT9MACFJaBHADU2Kkh0kUTGPo-2vUpjM8uwAzauQTrCDfRMxx6VPN7-AbZvMGnrrcsQxX-Cvq1I0TG4iGSCpdSad5hw7ztyyIKyuUVqr-_nbRxn_Ya2jmFWPpMnwj7yn_MsOGVtxHL3XJBx-ay56xueJCqz5NE-6cw0W9VQbpoIbElJofbs6TCQwt9iiVm9lEYNB0ZIv61vNbGfP5_07l2_Wex8G0Nslxsxl3GE2IY8MLWTgkqQQZ2U-4m9EHKQZSPS1tEh7j6LiynPAPWgodzZJoKLB0_Ygyn-jQXpjhzSVjvoEp0fKXgOYjH_LA5O6ro8ApymATntrVP2UudNIxKWxdT49HsJbrmubxK7Fki3ShwuispxYQUMBTTT7eX7qndja-Hc_vLtU2u0AtcgwWIWCYb4YuDsNEbS2ngGVFcV_or6IiDenSp0Jjoomwn5FSQbg9ehmeoQsqB9Xhffcpnu8EUDtGldgbx0P-o-HZYeR1dRsZl-K-SEd-rV5q5t2F89rBSc9QB-g68RVBH24lz_BmA2BIW4HxNG7RwaM8RIaxADUCpWMHVpEhGt_1sDoRDlFIkW7k2V7jh-oLO9zQgxazFnsmbdEPWkOigRWCNf7r2pQl_i7JByJcW_V8dvPrbKCdCh70VdKHOrSphVr1Z4xQCr_dss3sA03GQvi1ffnULLV4bG8b_vH6eX8k1JbCHffH2oGeEs_B6EhQwazOrQck3NmVRZD4dXt2FVo7j-mRXUPWkZhbdSNHPur2AoMh505vjV6rL8fI4-ytIDHCy2LSdMwgLEBjattW3JPjzS0FCGoDeP22klZ",
  "id": "rs_0144e19b34e0ae86016aaccce634d087d086325271614a9d38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.18,\"left_z\":0.24,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.185},\"note\":\"I see two upright light-blue containers, with the red cup behind the left one and a blue cup behind the right. I’ll position the left gripper above the left container first, keeping the right arm parked.\"}",
  "call_id": "call_Fd4TsP5pn2fYTmPLA9jaXMLO",
  "id": "fc_0144e19b34e0ae86016aaccce9557c87d0a42018f79649cc99",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fd4TsP5pn2fYTmPLA9jaXMLO",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5804, 1.5925, 1.3197, -0.403, -0.4759, -0.35, 0.9996, -0.0151, 0.799, 0.6086, -0.3862, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4269 left_y=-0.1789 left_z=0.2258 left_yaw=-0.0066 left_pitch=-0.0307 left_roll=0.0051 left_gripper=0.9996 right_x=0.2948 right_y=0.0013 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.013 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.9111, 9.4564, 1.5751, -0.3248, -0.0171, -0.0562, -0.1299, -1.1829, 8.0889, 1.7363, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46bd7f4cdf784dd19fe039ab9b54724041ce8696d194f9e54f760d8ec4a502e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2cd724a3a9ba723c6a4eb9f74ebd9f50f0a52c40113efa5e17ad3dc967fe7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dcb118b4326399e02374f16730d118c628bee3ae0eb64cf846553f410a6ea08",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 46bd7f4cdf78
wire blob 7b2cd724a3a9
wire blob 3dcb118b4326
call 2 attempt 0 · /responses · status 200 · 4.409 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, -0.3779, -0.0219, -0.0181, 0.9996, -0.0154, 0.7967, 0.6109, -0.3779, -0.0128, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0013 right_z=0.1828 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -1.6342, 9.4564, 1.7411, -0.0659, 0.0317, -0.0562, -0.8684, -1.265, 9.9761, 1.7411, -0.1294, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMz4QzHDyt4FwK0kN8B9URFTo7JIY-wzrQUEh9SWQdWd6LTWUQvZ8SUk69NvfdCF6eXAGX_5bPBfxLmd0VYngfrLTIX_WNiXApmKA_YYhZ_wVb9HgWNCbB9KJL59VnymKbtOqbCF4pXuPrzPw3OuQBGYa8yGnXw79FKN59QVRjNIFD4_nRo6ZFDncN1LEMHq2gNWAcP8r84Mfck3LppI11ssFMFkiiThOUWQFyKP8G6qLrbFLE-PMwLd8zoWybNO0Th3LCkmkP_oik6ppWjwjy2w86sPYTBc4WfS_LvdKtluhl6saNDoup_sL6yrmWmltafAjAUYG-1SRN2YuodEqnXujvZpUiHdPqbh4kwPIFBSvQ8rPMUXKd2TOMJG35Is4m11F3T3ecGBJ7zSac30XLLEDYmGOBt0WlwcM6cKP465Yo-D0i8Kxl4QIhxCuXweLoL1YqhueEMiTfNWJsvrtQcF-HLFGLq8Wt2lUWpxt6Xm147YadWBm4kzQORyYnEWdVsWMzrBFsC4tLOg_7NaSwsk1kw1dxRRjaTnGzCQL5d523IUB4IAylWOuGzbihPMHYNX_zevoIi8aK7Awap09ruGsATZlXyYEGuHXIs3iILc__2l2ZvuPdw8fX7RDYbPSLyQ_5X3yTSq0JFhNv4EXNFEmx_lKrlkWaZFc_KCK8KhFdxyxP_x6dKvhYYSadv0e-kKViNfOU68EB6G54E8tFi9YMJdeUYghfttjiGA3DpBsUnXuBWzhg2CPdq3L0CB6RzvUDKvHplAlXOdt7KeMlq6-tZeK7B-z5RUVLLqDgglM6IhmfiuSaHOTZunDziVrhP27RlSP19OAZKdrQy1XH9AsvMwQrN5Medbsn8LYLootrdg9_gQsrFZDIAHzfgwDZyaf38QObONvxIOL6P59tOlHsI6Z0OlWEEABNbK9jV3yjybif_4KEtoupVbX-dzCGWAKlMHhluNKtlWrjc9VkhlgkbEHj9B38UQ75O2DKophu8RAQT8tFBvPmJJKj1QZoPEDnTC7HwpVvpLxw8fGdhzdUoiYMBLGL7-b0z0GphzfpYhrSjRI-U8fXJLax4RDjvcUMQC_x0C6MrQHp3Gra0FcEaYnNwJkJrst5c_Y71aPbPBc28MmvRJRL7L54XOw9gBJKQYiTm53ClPg7GzbbjUOF4W7z9rsggS59OuN8QbBExneNzhnssrFwuvbOwZF0IZ0nmMqIvIs-eW1q7UJ1BVo3scNEnpVz66UPux0H_itYDlWn3gxwnFqxjrG4UgGNiBRPzstwrWAYTLqmF9FnrU5yQtsRdVgSTx92cUcP0_LE3UMeknBSICM1BHqp36QPUMVDZr8UUMNiskbGstxR4A6fHLJnwOb-Ei5wD2MUKop0szj4Y4CrcEbB_c1_RXVg8oleDaqEBUnZQuoX3brg_XMNX8MH7aLRgZVdyeVaCCgP4dxj1pMuWZw7DEx8Ov97vGVX6ndrUHtV0NdQnt5X78BcDtiuLU6yvVYJLA_CGf900CNmEscB3fOKIlFXzXVgZ21aqMKw85zXOwZmxDJYzCrCRUVcPYa2tV65D_0U3PlgividkdG2B98a7X8ZLtntcyopNHt4GDNgZyjFVpZPnHvGWNMM17pkN584xpzFxXWei50EG8rVVLH5bzeynGZ6_SNBNyBW6oYa4UzBk_eyhvBSTIAl9GTcmo3xZQ9ifDOmXIoO90o0-Oj1QM0KINmgSXRL6el7BvAC256xJg9YbWRwHv4DLcGHhQPstszV1wh5Qboib0BZGDIYhQ6FHvsmwyUiusabKRnpX6ojCT4TSf5GdkBUPpY0pSvPzP1Hw7dIeKhJ3qbvH92lojYXWYY1px3gRUBht6ZRh07eM2waG4Fl1P79bFNKrvaCfRydbM2Tw=",
  "id": "rs_0144e19b34e0ae86016aacccf3086087d083c1997d280814bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0.13},\"note\":\"The left container is just left of the jaw center in the wrist view. I’ll shift slightly toward it and lower the open jaws around its upper body.\"}",
  "call_id": "call_bGKi83eNQnx0WvT2I9D1N28W",
  "id": "fc_0144e19b34e0ae86016aacccf792c487d09a7ec44af4cf9adf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bGKi83eNQnx0WvT2I9D1N28W",
  "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]: [-0.503, 1.6173, 0.9676, -0.0124, -0.421, -0.3035, 0.9996, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1487 left_z=0.1333 left_yaw=0.0018 left_pitch=-0.0368 left_roll=0.0074 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.3795, 6.4342, 1.8926, -0.1636, 0.0562, -0.0122, -0.1983, -1.0188, 7.0632, 1.746, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb28ebecf62330fab6c287d220a1f5a0fdd746c9f28a6ea35b86b7508a9c3a0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62a503c38c5fab7208777c62601b904d0e7dcf39ee73aea1c6daf05455f87b37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17ec0873f976b9b55323a5c043b81db4767abae1434195d239ac29aaeb0e0fcd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob bb28ebecf623
wire blob 62a503c38c5f
wire blob 17ec0873f976
call 3 attempt 0 · /responses · status 200 · 6.635 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]: [-0.5804, 1.5925, 1.3197, -0.403, -0.4759, -0.35, 0.9996, -0.0151, 0.799, 0.6086, -0.3862, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4269 left_y=-0.1789 left_z=0.2258 left_yaw=-0.0066 left_pitch=-0.0307 left_roll=0.0051 left_gripper=0.9996 right_x=0.2948 right_y=0.0013 right_z=0.1794 right_yaw=0.0005 right_pitch=-0.013 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.9111, 9.4564, 1.5751, -0.3248, -0.0171, -0.0562, -0.1299, -1.1829, 8.0889, 1.7363, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMz_0UwSqNKtfzMTXdqP5FSo9Ky6qPH6or_ibPYqX8Vy_NMLTUxQ2EZsSdhrrZKpz-vHaJbyWQKoM7T9RE3pFyTzDa8U6lZKDHdhaMaj-wFq7gO-CnNYrUbuwkW-S-MV_kuWaVgVmFNARpbncSU22uuVVM0XzFKNAf-bhpHTDhusmXFoXGXM6fiANnBETOW0dkTjtxFfZ_cITAfs5gVPvyZ_7kBvuK58RdaqvTUBgnZnxA_qkpX4fthh-emiLbqzXRNotAQXluq3ph04NV1lPPqgHPqYIuqbR_aASvuFtlmkAH6G4DKIKguRpOW-tVlTt2UnsW3ab9q6K1QdpyOki9nxyOrQf3jSAhaC7l9WZoXNAfij0dyAvq2zCaYZxf6vBJ_UZkNCgosQ5gkJNN6bGi4-gUwTpHrSOjz7RiIcn5fhId2ECIRMdm6_Cf_nhg7kPKp1Mbg39QOBX2rlh-X4IGuCXrXuzgZI1UyrwRH3OwUcyvq1Fsw0gMcCEHYwCwMxC4p2URhsJ-Tuk7sWM_Dh_3m4nIdLTlchQ63nGi61bFhaNWO3R6dPGV8cjXu2M2yXe_ZB97MayDRv2NotzMJUlHBOTHhuzBIe5OianNjPAnz_NN-o_v2OiHRZCeH_iVCKu9QXu_C503VytOcBouOaPr3ph1dIDnlpeq20jGHS9zfSSnf6_KwaYv2Ih3SD77cmwQcWAV51WbkW3mJ7Wx8LBf08UuYbozaAbIQPIc0-U7a5z5rqURvN46Kr0Bu_atXHP_dfr16u-neQm6gCAJgUyYrhlxohoR-_XHGUZn_ygmKV_IuGruZDEnK9voYo6f2UfaPQK1bZNTNpniq-uF0i1h78-kEnO-3blaXasAXWwzYEGib10bLhZmo2kpwiUZpx-IiAJx11HEi1WZKMLxcm8mMW-8knNjkRb4PTFD1RPGmge8zwoh8-cBv1pUTREIHNEyy9qlKBZ2Sl8oGb16nRgXWne_qJZ9q9XF4RWblVOMdGaLX3YKjJo00NouDJ08-SJiXBYkf58vmQmE03TDK4Pp9Enf1-xhUm9a8g63GMz0B90HyLoeEbRX57neMZLubsR1rBj_pIytG297lZioPPDJgDurJNCixwoq8NGb5CUIhlKW6YJ6u0ZPe2Sks5qxPsvh0LnHClugQWw6qYRL5qnVihlh5LqcyTnamC2K2MsYZb2I_hTzWRBP1VQqpztH71Uirs1hstLy8DKsm6ezUNifkk28rI_JtzHAqlyk2M9tX-t-_Ysn8MHZkIDWsgzdpjWlFc5Q7FTi-nJpR3CJAqmfh_NRNtizV0XrxKI7EYBbJAvowc3KrVowX2w8fQpFBIDIrgBhtAxJ9e6NMQiwXMZhkwwJQR4Qw-ubve0ajBAf4uaEighhXoVDp08xq-GcguZ1vJzm31wPLM0TE4vIaeK6SftHGLyhhsuyiZaAQDxRfF6aXsbAB65CNUa-Cv5nNoTbBdq-RV1qMKOVXuOHgRWf5S_JN8c6WbpCLGb08ad0_zHyVUJbeQMbXxGtIv766HLP7XnoYqFt3UjuvEDZNIBBIifpTUHxXu0gEkXQ1q0vjAKqKbKoc3x0RuA1W0PPi_gXIl",
  "id": "rs_0144e19b34e0ae86016aacccfc3a4487d09cfd19219cc5e144",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The container’s body is between the open jaws, although it appears slightly tilted. I’ll close the gripper here and check whether it has a secure hold before lifting.\"}",
  "call_id": "call_C2OmSL8cz78qkOOeBjIPDINS",
  "id": "fc_0144e19b34e0ae86016aacccfdf0d487d09c12b18635a48459",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2OmSL8cz78qkOOeBjIPDINS",
  "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]: [-0.5007, 1.6287, 0.9661, -0.0139, -0.4191, -0.3077, 0.0111, -0.0151, 0.7986, 0.6086, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4274 left_y=-0.1479 left_z=0.1274 left_yaw=0.0051 left_pitch=-0.0501 left_roll=0.01 left_gripper=0.0111 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.6222, 6.6256, 1.5751, -0.149, -0.0269, 0.8913, -0.0615, -1.2376, 7.0632, 1.7216, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02166b3f5e08c9620ceba29bbee885ea7d380ce1e410ea8e175cd690d2253516",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a1236ce4d9bf9ce01cf617bf00af5dc7275ee775a693dfad93f3b9e533646bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:547c6fc3d3ef927b2b6bef93d38d379a890939ce0889154badfbfb94b88b7ea1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 02166b3f5e08
wire blob 6a1236ce4d9b
wire blob 547c6fc3d3ef
call 4 attempt 0 · /responses · status 200 · 4.92 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]: [-0.503, 1.6173, 0.9676, -0.0124, -0.421, -0.3035, 0.9996, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4275 left_y=-0.1487 left_z=0.1333 left_yaw=0.0018 left_pitch=-0.0368 left_roll=0.0074 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -6.3795, 6.4342, 1.8926, -0.1636, 0.0562, -0.0122, -0.1983, -1.0188, 7.0632, 1.746, -0.0513, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrM0GomVrzGuQtsdJa9FMNuAFDXEmm5GDv4n7uUgQTsBnxcUElcMfi9IkC49A1pFBGHy9FNsvcGGDQ7ZdYrLQlKDjmnbZYWMHR4-Q_asyqsj7vln4UmNmou-Zwd_tw4hhZk4sQ25Pf7g_nEoURFTiXI5U10QOkSXIu3ChvHbWNhwsGePQrhnI6CpBmM82r6Beo-ZB34RqE-C8uuzYMzV1f0CDaiKJr-Am6hWGmL1JrzbJ6Q3g68Z8OWXW3jDq0W6Pp1cul1dgH64cbtyuejIW3dHEzAGlKqDMe_zJzPL0WB2ntmE18dc07VpgevwA6qs3MsF7HomvXASIv2cH-ieFQP7U1jJYWF2_SwwTubfW_Yktb9btWVimT2LQOL6OdH67WCzukEUwjstV-ysqm0N0fZxkVtog8lW_SYoOQUoRM8UEB4Ziqd7LvB0tzdCEPcNzbzM9FY6J0XemrNbYx1HZzHclUDEIrFxlggGJK5-3ucXYflQMvhhwk4m_7F1ebXMh0UCHmwWTdBYZMPCH9_BCPl49Y6NPrGeIzWQyq98cGKEI7Xg0GtNPlybmpiwrrr2NJmHtB-dvK0jZK4EYDjYLDMW8s8-nNtUEJz_Na08e-ibbwZeH6_WYwWV3Y7kkfSQWlDb7oVPiJ7XURzfUAcd9yfOcVDQLvF5ufptoZMb7cTZ_dhINY4P4FEodFCkWmoEORMcPgPozHHQDJ1afpHH4aD5eD5xfOHkrZjiiIE5lyhx0WGP71v29mIXlr4v9DH5prAZ4QwoLjJjhXHy_R23SfJ7DFLuBVJoevOKnc8tQY4wLsMbJFZvPR9GRQ7kQxcAV7b0ClL_62obgtbhMCA9HCi6m9vZU1dw2Mqr1nNwZcUn1vSCVfeBJ7DKxVIuE1iJtrv2-pDe-tFowpkgy6etCCcc3h-tPYGdFXj8Z117C58hbqFJq2i26l8fpaMjzleEu0jx2jXoT2f7dCX_txmCkV_hVjtm6iiIChhDrnnileC1qXgtf6LEmLvPmzArELdRtvfl0y5t3OpD87smm0Fu42jqfG3LhQQzsN1DmrLqHWGy-VTllgYk1fg8rgsOUSmsHW8TYS9T1dcrqrF-JuZAr81-f0SN84c4gCKxj1haQmyto5GBtSSQ-2_2LnEaO85uVkYF55cFD2UoG3qrnDDokbb4dVpLZdrMpYpIvmXMNu0aGndSGJvRjcPzcVmH9JUN77iwd2FPlhLrD11uA03UqnzZBt6TQq5_TSweUzcR3dfAB6YnyIx3hM71_S87rZ4tpBjUKatApXsC6jNUmIh9bhMZ6QewSNiPLk7oMm8axrSGlrRaGI5MtETAmjr8db1jWsXsaze5IN38JEc8nVDYrfhVrJPPTNjfQ6T9Ki-nu1y4SDgyQB3BbqE_JZqikQJofrV4P6MdAFf2v7fNYdZDt665Pc7Fu5ew6blaBFtlpQD7I3S5LwO2eCemlP8_ymzq_D2-VXLX-5kC5snKR04D6u8RsVawAEo4h9VIbqjPi7g-zw_dcaqnCy6H1NJlY2ijNkFWwh53EdaQDyBXg_lRXIhl2FUHnIkJZZTeTqoQob7AbmgVmF3wx761mFFYobqOr9Ihy",
  "id": "rs_0144e19b34e0ae86016aaccd02d49087d08815f0e88c0449b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.46,\"left_z\":0.09},\"note\":\"The nearly closed gripper reading shows that I missed the container; it remains ahead of the fingertips in the wrist view. I’ll reopen, advance 3 cm, and lower slightly to grasp its body.\"}",
  "call_id": "call_zpF9HkIKUNHV1UzS2zzbIfCY",
  "id": "fc_0144e19b34e0ae86016aaccd0582a887d0ab704a03682f0d94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zpF9HkIKUNHV1UzS2zzbIfCY",
  "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]: [-0.4557, 1.8008, 0.9668, 0.1211, -0.392, -0.2886, 0.9988, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1412 left_z=0.0755 left_yaw=0.0193 left_pitch=-0.0905 left_roll=0.0272 left_gripper=0.9988 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -8.7179, 8.5949, 1.7509, -0.1148, 0.0415, -0.1343, -0.1709, -1.2513, 7.1726, 1.7558, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:394e9a9dbeff5ebeec01aba280cb75b9eebde5d3f90f523ad3a30513bb28e76a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5695bd020d52f4a619d9f9be0b73bc4032dfd3b6a8849312d088425a1244cdba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0642e088c5aa0df897221426474290776e0c7e2d6aa99574f844bb377f28ae06",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 394e9a9dbeff
wire blob 5695bd020d52
wire blob 0642e088c5aa
call 5 attempt 0 · /responses · status 200 · 2.83 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]: [-0.5007, 1.6287, 0.9661, -0.0139, -0.4191, -0.3077, 0.0111, -0.0151, 0.7986, 0.6086, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4274 left_y=-0.1479 left_z=0.1274 left_yaw=0.0051 left_pitch=-0.0501 left_roll=0.01 left_gripper=0.0111 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -8.6222, 6.6256, 1.5751, -0.149, -0.0269, 0.8913, -0.0615, -1.2376, 7.0632, 1.7216, -0.0806, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrM0NJLJ5GFrT0_fw5L_mADzEoiiNGJzpfqjlY33tVBfZQKODO-YILZPxDeHwzMOa7nXCx_H_j2WyY6Vqo4REwPcwgzQF_9LXwyEdAoVd7Nlr7MEjs4bABOoUzeVsoeiQA3nqMMeKAEiK_8K9TV728T7n4U4BfK8AoHn5m4-dPaXz-yrlsGUkD94Fb7vDChFgx-tVZ2B5HxDfkl91blXKcWK6y9V4IUw6TVzaTUNRlsGwX3fMxBXqx9wn89vz1TDGkK0uqGaaEZaDZZHcMicvGPdllZBsNbq30MkEQYRFCZQ8U3WmsV5JyxgV1A-FmGmmbI_lc9baA-eIb8hsCj_ZkGGVl5eGBCphzwLThvIpBBUd7q13DAREcEZNbp0Sj7YpcdAfLCZZ7e_zHc2vvf71b6PteZWzG7o9Ud8jn8LSrRvCTAazC6eH97o0wR5-IO8Ym67CVDTGxvdtTMYAnxup3mVoZscuwC_UvOvg4gVVHb9B3d1IEPspyuGi_IxDK_wt671fiXO4SIcDD3J5nWf9VP-fHgU_7ezkP4Rh6wEYBPWmFziHZXCcspQzy8NUZjvolkoxuBPRBWQDasyoexQlph7AKRuWFdmI6m53qghAVyrSdS1WMhEYZRDPtNbLFGCtiVOXkGIQ85k6gH9Onwy42hYvoMRemrpWidHeK6DJunBWNkNEd8-rNjhd2PXtyHwOxnUs4_CeuAM59fQ8SmjAhvd-wUzr7LA6l_l-ZAIM5k6p250SGrbD_jDHOjtFfvsJBgWuuBF27n6yTwmiUzs1MaCPx7LCml9W3GCon0a3yLLYMyAtRctOkRF4K34ptsPXn3ulZjHf88u_im3hih680RNZjwT0G2FCjPK5gQplPUNYF0L0KmhgGH0lcQttQZwVybmqo6Te2shUhJ0T1M9J4HPYFfIt-rTaZRxY0N5d8ZM4OYYKvUl5WyKOf3t2nbXq-_eOkjTBg4tz5_U7K6LPmAj6JmjRQq2elqbkUuiUzuRPBgL0REib8wVFMvqpWSNZREQICJ2vo7NA2UUrv4QLoK6peJviMB1H8XhmCY2MD1jLyVqMZt-gyD5Sz1N6QrocrENj-6wtco7gK5lMy-fmaaBFIY2qexUyfOHxEozx67QB1lNprfXAXUfFnUL3-ain_l1fPk27k3HCkKXfQMtHuJpfdnne6tEnyfMPETx6PxtFQqHQa0_vpIQwDoRtFUgNzTpYousKTm_vcZUHtpWMg4gmveGN7eTiSnZTOb7OqgM-7K9eJIS6LP7HtMJclO17lqIgAji9Pkf7SrpBs4ij_o-CPzWFX9lrIHdDdE-gsG5g4vc2S1WNDYW8XoKWbj5s5Pe1hvM70DvG2UecqeR_IECxQjMhW5zZtUAo8W--Nv7weI2GCfRAt-pW6v7-fLDDlF9-QmU2qc1WuLYWQdhTGlLQziFlawghnEpbWcl3nO7SJVo=",
  "id": "rs_0144e19b34e0ae86016aaccd0a888487d0a045af241b0974e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.17,\"left_z\":0.08},\"note\":\"The container is still slightly forward and right of the jaw center. I’ll make a small forward and sideways adjustment before closing again.\"}",
  "call_id": "call_lTFDRrPVONGINxTd7W5tuCkq",
  "id": "fc_0144e19b34e0ae86016aaccd0c253087d08611b32a46f2abae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lTFDRrPVONGINxTd7W5tuCkq",
  "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]: [-0.4904, 1.906, 1.1103, 0.0559, -0.4114, -0.3153, 0.9984, -0.0151, 0.8009, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4695 left_y=-0.1665 left_z=0.072 left_yaw=0.0157 left_pitch=-0.1077 left_roll=0.0302 left_gripper=0.9984 right_x=0.2951 right_y=0.0013 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -9.4154, 7.9795, 1.4921, -0.3346, -0.0366, -0.0611, -0.1026, -1.0325, 7.1043, 1.7216, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f7ced673ec1db6fa96ec7aeb25a185cd37e952a7fc5fd030bcb8cd3080a5b62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:728fe7c32f9b4cdd0f623d733f9d373e15f5d7f107e1ce8458cbe76526f7bce2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d601d14d2f2817d969b5ffcdfe02d4f32b70e2f1122d18f09fbba44c84539c45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3f7ced673ec1
wire blob 728fe7c32f9b
wire blob d601d14d2f28
call 6 attempt 0 · /responses · status 200 · 7.273 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]: [-0.4557, 1.8008, 0.9668, 0.1211, -0.392, -0.2886, 0.9988, -0.0151, 0.7986, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4496 left_y=-0.1412 left_z=0.0755 left_yaw=0.0193 left_pitch=-0.0905 left_roll=0.0272 left_gripper=0.9988 right_x=0.2949 right_y=0.0013 right_z=0.1797 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -8.7179, 8.5949, 1.7509, -0.1148, 0.0415, -0.1343, -0.1709, -1.2513, 7.1726, 1.7558, -0.0611, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left container now fills the wrist view directly ahead of the jaws. I’ll close for the second grasp attempt and use the jaw opening to check contact.\"}",
  "call_id": "call_D0FGxyiPKz3h9eHjBSxnsREs",
  "id": "fc_0144e19b34e0ae86016aaccd0fedac87d0b4ddc1573a029917",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_D0FGxyiPKz3h9eHjBSxnsREs",
  "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]: [-0.4896, 1.9087, 1.1145, 0.0456, -0.411, -0.3229, 0.0112, -0.0151, 0.8013, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4692 left_y=-0.166 left_z=0.0706 left_yaw=0.0207 left_pitch=-0.1154 left_roll=0.0283 left_gripper=0.0112 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0444, 5.8872, 1.6337, -0.149, 0.0415, 0.8816, -0.212, -1.0872, 7.1726, 1.7363, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:032c9ec233d249878b5cd7ce6b8a0a38f83582305e3417dc2ea82bf3801cedc1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33ba4af6b0c5dc4ac1e814449a7c8467e070047b69c82b9a873719315bf9e5ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85b7fee890b7e123089f82cd0ac9ede63deb500c418a6f8b4968486f0eccc2f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 032c9ec233d2
wire blob 33ba4af6b0c5
wire blob 85b7fee890b7
call 7 attempt 0 · /responses · status 200 · 8.638 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]: [-0.4904, 1.906, 1.1103, 0.0559, -0.4114, -0.3153, 0.9984, -0.0151, 0.8009, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4695 left_y=-0.1665 left_z=0.072 left_yaw=0.0157 left_pitch=-0.1077 left_roll=0.0302 left_gripper=0.9984 right_x=0.2951 right_y=0.0013 right_z=0.1791 right_yaw=0.0001 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -9.4154, 7.9795, 1.4921, -0.3346, -0.0366, -0.0611, -0.1026, -1.0325, 7.1043, 1.7216, -0.0562, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrM0Zg3Xd6T-krs5CHmYBCkn8OKpj-OPV4ZGQGxxTmx19S8Fq6cgqA4ciDpGnQOdUYnPjGpZiURrbAQWZUdtE_NINap4PtgLYHvgRYG6RfiNILowM6doipt4VvX3mRtpCFS7ErvzGFYdOKuIfKQ6AYTU-5_FcphOV6F7gAgtZWljnP6g2IwDb97E3ugWOCzmybxp3ob-AC69CSkaG1ufTuZRT9FFM_wKiRnQ9_-sFEsIYwEsXAUPQgBa6GLtw1mupMTIo_BerYgwCdte629QMFxsGqc1vOFpA95S8V3d_JHAXKik3FqiCY4pTdBUkoyeQ-N9YpCHK9FVQzstabnnNOYCNWXAYanvFJvfXhX21au4pcuhM3XCMhvngtzW9-H7r1szJwbWrjP8kW5pk6AX41fvM_lT8Phu3xyLRumPnlgVrOyU9D7GQMQp63xPdEYLPYeS9AJPqrWWL1qXiNNXBeBJ70oWN3qpCttwiXTDSY-X3BmwfAdc8mqsdWi87rSul5UOHpo0Y1cT5zxZfufsieRDw9oY-iHResm6CF5aqoDyPHh4GxCMwgeszyfsG64GZunYwTZXY9mwb8PU1f65I1QgHqqyUKzB0mtOOLy8oKlUkbRtTSveVCaLy7QlE-vo8KaZx8dTpv40OFiR4P8CcBXOWsy-g5IRYMktqxFwRG17205Uvs3L3elYmo5LE4uHKvnGqLYETkveQeoxgHPjL0C0B9qHEZrVvwWX6lh6J41zVDIW1-I86u-czc0nOtlsR004q69J9CUbxKJum8Ienow58XUBqlcwNx3qcIuHAC1Ya-41ZBV8iIkZV977M5oJCq49U6HTnakZ8EAxK4q2VyTDaiVlHmswzquVYijhIEP9CC2KguLrhHZolHHvJ9IFPzrKVsP_dsCv8csaYOiqla3sPqe8zFGWUC0T08G8D935r-zAWM_FbubL_ifIP87HbWe2POdV-zFTXGyw0Jg5AdW3Z1CRD4FGoBEGchKpQKCz_b63vvyPGKwn1c8GLAZ9WHIlPKC9_2swTll3yVxF8M5H-V3rJq478Nb8MvmXEH4gWC9ANLlwMULdPHNajo9aDS7Xr3zEzp1c1G2Sujz7o2MLnPw0FiR0cHIyECmur38w2d_IC_O7SOTbSuwNpODnQGUCuqhQ6HKfmVSPkE4Jkd8MRdcLVUFgbbROtMttx9DU1lshnWR1dHXn5mzgZovO-j1751wh2ZNl39DAhIE3ggdBXIc1uQ_NF9RwzeMfGqA3lc3fEyvflbc2EmArure_9CW_xbQICCWYfWsNH6a7l8ycINPyMm4KnXNWaTZp8w9hb0e9cAwfs0G2GTcfW6D5-CwIxec8dKGcpcgq_GiSdVGIdHBgiS6pkMh1CC2j43rbS15_5htNMkImVQoYO_44VLvBKRVeLNQRHEynj0rYGeG2x5-HbBY4dE7On9QrkN235PqOgzrksT5h1zL3sVTy0FwNAJ3imVd04ZjZPX-xlPfg8DzdfCCFRspEH3o3VlSfndLwYnP2DaxD6cIExJXVHoj1UsXKkZkp0uUlToP0h5_AZA4PXozlndzUhH4OF-1aMasQECOdaDCJSuoW3rQNZEqGomyPVlUHvYBosLEO55bn2lxsGRY8H5MUFzoF3ErksvvDITi1T_earFN7S5QNJuK3zhgV_-Hc1Dp7ENj_t1RZjrRjeaPrDx-ZSsksoMm7vh54lowFegmIg0HP8Xr12PMX1Kl39gRJ1ffY-lZ_2-eWZ8FlIY3bLgbDjILMfMWPMW-0-gCXz2bOnSndjOWYQqITJBcrdlRbN0fcpWB-EgTz3JEUGWlfDGEhRXBGAVZLsTipLe4tlmzR9wQtPqBLy3SIwkk7AuijoMclNWSwGgCGWYcuHm5lwx8tKALrxfI_s8yRRf9Ea2d0EG740FJ8uXrnF",
  "id": "rs_0144e19b34e0ae86016aaccd137cb487d0b511f6e706b5cf20",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.25,\"left_gripper\":1},\"note\":\"The second close was also empty, so I won’t repeat the same approach. I’ll lift and pull back to expose the container in the overhead view and reassess its position.\"}",
  "call_id": "call_TpF78wcm6zvGtM2n97q1q3eU",
  "id": "fc_0144e19b34e0ae86016aaccd17d5e487d098557466f17bcf9f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TpF78wcm6zvGtM2n97q1q3eU",
  "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]: [-0.6212, 1.5517, 1.3952, -0.6727, -0.4908, -0.4297, 0.9988, -0.0151, 0.8032, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.1732 left_z=0.2306 left_yaw=0.0147 left_pitch=-0.1499 left_roll=0.0373 left_gripper=0.9988 right_x=0.2953 right_y=0.0012 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.7043, 9.1556, 1.2821, -0.3053, 0.0171, -0.1392, -0.1983, -1.1692, 7.2137, 1.7167, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2a80663deaf7c2b9347c8a8500a4d9f82a6dfd2e9f6eb0758507cde2cc9083b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a51656f22c621134beacd799f81dbf3a5ffc4a1a2730064184b53f611373884e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f9407e7d4e36bb7ded8fe72c9d7e7f20d0614345a16c844481d20d4c1d18099",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f2a80663deaf
wire blob a51656f22c62
wire blob 4f9407e7d4e3
call 8 attempt 0 · /responses · status 200 · 4.759 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]: [-0.4896, 1.9087, 1.1145, 0.0456, -0.411, -0.3229, 0.0112, -0.0151, 0.8013, 0.6086, -0.3855, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4692 left_y=-0.166 left_z=0.0706 left_yaw=0.0207 left_pitch=-0.1154 left_roll=0.0283 left_gripper=0.0112 right_x=0.2951 right_y=0.0013 right_z=0.1789 right_yaw=0.0001 right_pitch=-0.0145 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -10.0444, 5.8872, 1.6337, -0.149, 0.0415, 0.8816, -0.212, -1.0872, 7.1726, 1.7363, -0.0317, -0.0806, -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": "gAAAAABqrM0pmZOXCPf4KugdsilsZE58_YHGIFCcjeOzuVXd1EWdhDqr_TLsTwPjm7UqoYPrD65tHBuhwI0j4R3stpcjYSpi9PKjjauPCgSno4eUn2IYkeg7hg3maUlYM-hChpDPYkzoP-2B6q4Jkhp1_vB9tewstTWp6gWeb37hTswpPlEew0b_Lk6xXpmnmZ8Y5oktrZ-e5Pn7a09cTqEn0Bb2CFtFbfKTGUmGfgUqbyuXu9Ca8Yz7bj8XeUemE4bHGNuHBG902BArll_ppZxm3My1KGtb-knQCKh5b-vBmM3BZ6K23v-iSRNRLr1Rrf6ORUK0NfV7W2o4_tUl5hRhkiegt1nZ1kmg5sb6GAU2bDGnD6wdg69F2vE32UkXw4NeDJW_Bjb1TZcemfAp37kwM1G9ztqd7RYosy5cuDO5UpAIZ3zTsdCwRc6sq_B3VzDDlKb2rLA97UHca2y7e9Fo2vmw6txKQ2MWWLUU5qYlX38zwynYLrRO9YCNOgUqOVzI3TGaEixyb_5B7GaezBrlDDUubgfqTCLL2E3IAeOEiaXT-3Q1v2_x4vcsRO561pv1XMD5Ydg5RkjCp-aHRYqmcNI6JbjOl5TVwtVK9pttxnlyGsXySkVu1gS7BpLn8kvRNNl7lNhM0XYG6jwlHDmezaNWxCUz6R-nsUIX01-ox1eTQWyqC79ltaXsZNPMvVnrn1oeuPUnDzQdquWffSuuouAkHsQHJlwB3P97uupp5qoRzY7Q2kDSfTck8gd5_0eCfS_Ja7WRosnHwFFFXIUzTqrJ8Pw3OCho0CxvPp6j3yoKE5nEIBt68CoYly0YuxilMFXoG7bcTeUTfqnItKA4Ajz12LKPv5woHetHgof0SrPAHsrBN7jOBLlToBpRCvpDJABgXnwiHoYMZ-_wQpTO2fkRyjdxj6lTsqNTa6rH-ydROU12NeCjDDsk5iKYCT7TOU0-H460FoHLWyavEFAX5xieKYLNRad32RLJP3dw5nEE86Kcw5yDxAII6C_j3UrLRo-Pr5Ef3QUa3Qlxv9Cs7aPpYhEVgm56Gh12FXu0fDVLW6YKLRnwVkadMXdLC9LC-vZPDdQx4_XMm7VRmiUPxWVhz4JEKsVYeJySr0JW-fzszwtzWkz1LL7t5sGgzBW4KeS4iqpQDq_11Wjo-3y9CyYCS5MbT1l2fRuCzvekKVIL1_Xa63j5Of3DFCNeEwajUMOxU1B1quwAZlb-WTUt3uBIk7yVH12Aez0-Ti2tzsxXo5kxBHH-pxXK26M-QARPVdZagh9N1FxaViNKc3cwCoqcEQai1PbTVJYK9zChoCpNyY9vHsAXivn1Km7zc964XLEM9aIM3yt5ajTd1AZwzgZ6HDg6hnJWJTnQSLA1rOg8LuNJua4hlvmk0hTjhBvWiGw3i6L6Vuw2IcuBtOtswjQab_vEYjf0rzNow_p64MDBjTGyE3HyS27aAu9vFyAjjIkslGjjKDlTgUMjFV-GNnNLGNevjNtMZ_7vZx03rS0Gw15IhUJAX2SJikthNO69dn5aaHZ6OAuCd302mzgxuzbIs2FhR9UNRh3UsceOiyJ6Bj1fxGC4LcbND3W4dU0txsBtNH8SoUXvLUCj3WE-xAOY4sTgErmW_0TLZe3zzEz8zWZ-8KGtVWd_0p3_di6ox2F4IbiVXHuzqpp5KcALosznbwtPC4gHJdsjefWqauwykxnErnrC3Fv-i9HzD91-J6Cdz5HwrkYO7U9UCFy3w38zcUPQ7PdN1CbOiRO1LabAMTY27_YPHRmnCYIC9t-oNVzuflzQ",
  "id": "rs_0144e19b34e0ae86016aaccd24564c87d0a676f8605f988859",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.53,\"left_y\":-0.17,\"left_z\":0.15,\"left_pitch\":0.2},\"note\":\"The clearer view shows that the container is farther forward than my initial estimate. I’ll approach its middle at a higher grasp height, with a slight forward tilt to reach it without scraping the table.\"}",
  "call_id": "call_SzE3P3tnwpc4blRomGjdgIya",
  "id": "fc_0144e19b34e0ae86016aaccd276ac487d090fbc5758b651e5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SzE3P3tnwpc4blRomGjdgIya",
  "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]: [-0.4629, 1.9453, 1.2114, 0.2867, -0.4786, -0.1791, 0.9983, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=-0.1667 left_z=0.1402 left_yaw=0.0296 left_pitch=0.1641 left_roll=0.0411 left_gripper=0.9983 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.1812, 7.4735, 2.0928, -0.0562, 0.1441, -0.0562, -0.1983, -1.2923, 7.2547, 1.7607, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59b981457435384835505beda9394b0505f01d515dfadf3762878eb4b723524d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daba0246e5c91a844c438db3f25a3103594944b78eb579581fdd1b77f0ee8e79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de026c52137a175c0a598ac882d3e21cb8440f3d0b98b36092c40e85a7244f27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 59b981457435
wire blob daba0246e5c9
wire blob de026c52137a
call 9 attempt 0 · /responses · status 200 · 11.36 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]: [-0.6212, 1.5517, 1.3952, -0.6727, -0.4908, -0.4297, 0.9988, -0.0151, 0.8032, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3912 left_y=-0.1732 left_z=0.2306 left_yaw=0.0147 left_pitch=-0.1499 left_roll=0.0373 left_gripper=0.9988 right_x=0.2953 right_y=0.0012 right_z=0.1785 right_yaw=-0.0002 right_pitch=-0.016 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -8.7043, 9.1556, 1.2821, -0.3053, 0.0171, -0.1392, -0.1983, -1.1692, 7.2137, 1.7167, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrM01HP2O0f65lhmVDPksTogyqYsVPJzUPPfW4YYcclTCoSWZn1lkCf1a4fJUmAdnW0Cyx_Z7bGdLEeWjRYiMXzsSdk0I2Ebzne86VHnbe-cewiy_f6OHS-fq_fluOpvFPnJei-REwLFnDhlKsN7JdfYD5bSCAEFwFc2a5vnAq57FE6um4c0ovdx1VKP1p2HcvaSC9EtSJzUc-tzI_3BfN1BrMa7vTvMap7M5ngcsaIV4aGgLAMlXSnHJ6XX_bNi1x7-WptdIdMChkR6AbrgODZS543AzFKyA_4gbRkXyP8gtdD8-68jVO2IBEaxV5PXX17r8X11uxcwSgHP-NN_bMbK50zWS9swsAx7NsMma0dctd50XMo_DtooREcHQA2I4_l8hLtLcc8kvpjpqSTqZg78Gezqj6Z2ZWImLlGGS8RBQmFWNXK4DJ-7YOdrCtuu6yjxyCjojFCJnt7B8UCZXqVvrRPJqv6OF6eJKNexxqxar2BacAs0e97G6jEtODJM52__ERt_jQ6IpcJs4Dt4Gh1_BOFt3KgLAqeH7bnRy7S7Ee2iN6vLOHpY-QddGjR8oJiRZu3mw3-UMxQ7VHqo3MDC5iVBJ25miI2sUSFoEhJEtrf-IXcpcPYo8i6ihs8l8j7qg20HXbOzy61NSrHmmUw1-QapL-RFtk3QhswWMNkugFX_xAPzFWEIEwcER1LGRdFFW_QidEU0M7Cl1hE4nf-ZlgKRUMaoNtVtUd1OdLEKpIho4zP7nH6ycki441lRs27D4A75YL5Y660yhTv26dctmTYmSQ9CMTXZWavvAWraWfsJN05DVolPmW534JVT1ROjmfwXWDs82TF85K96kOWgOv5xq7ULtH5hxEDN57HwpNYF-e7F-1_SjNjEWatd6e73GMMQfCsm78vM801fjtbVCTDdCbNRUFKlWKu_l4l42wJUEoS2bh7uqOf-XfEvjAPhEJPcaBIZ7ojjIGI-GcqrPiokiV5dth3et6kRYcB1m6ntUlRgHCnNf-M_0X99ougBS55KgVFo1ajhD0ubsvu7EzorrcPn5FXW2L5QzT36AeNWZO8knAf78UsreITxoI8KwOSUAjyLSQ-UARM9UyWVvAbGvmpYihWn16tPMfwjvTKiIZ7RLLrEvM3YWXJ-fLP-GA3QGya8W-TPMWS8bGSvpGl6ftNowlibxBkmKFIn2UAPmcbPGnbZPzGap_npjZGnOiGt93sZ0UIaEa8i8ztTRw1zK8B6_HxfrwleTxvap0FhdRud2kBmGJPdQYzygGaqgl1DixqQeA8lwcgYmsavM3r_mqEA8PlFNOnLqMoxKwuvolVyo_Y_qZ7SwgHf-Mqu6IoWpDI7UAWB37jBidYQZh9L-nGyUTfjz1S9N_h6b0ISyGYY7iJI_ik5K2g8yDVGfABjYkT03xxHoj_-NZb5g_XlX9win3KTCbLvt1rk7vx8=",
  "id": "rs_0144e19b34e0ae86016aaccd32e03087d0827ed6eca0389309",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now flank the lower body of the left container rather than stopping behind it. I’ll close and check for a nonempty grasp.\"}",
  "call_id": "call_ndYNIDMtW3n44Kn0Ihv8JwLK",
  "id": "fc_0144e19b34e0ae86016aaccd34ff5087d09a1c88310721c33c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndYNIDMtW3n44Kn0Ihv8JwLK",
  "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]: [-0.4633, 1.9453, 1.2114, 0.2768, -0.4793, -0.1871, 0.0109, -0.0151, 0.8051, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1663 left_z=0.1382 left_yaw=0.0334 left_pitch=0.1558 left_roll=0.0387 left_gripper=0.0109 right_x=0.2954 right_y=0.0012 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0179 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.5915, 6.4615, 1.8437, -0.1392, 0.0855, 0.9548, -0.0205, -1.1009, 7.2, 1.7558, -0.0366, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07cb109986d9a5c057f1289885d81e3df8b29b07e2d95720f423c8487e27267d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f516a780903426abb7abd49696423d909837b8c4de170d1f0142831d7aedd1c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49444aaf4b89d67c671b0139a5b9fe8e8dcb21214147c8248af7121f09871634",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 07cb109986d9
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.044 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]: [-0.4629, 1.9453, 1.2114, 0.2867, -0.4786, -0.1791, 0.9983, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5242 left_y=-0.1667 left_z=0.1402 left_yaw=0.0296 left_pitch=0.1641 left_roll=0.0411 left_gripper=0.9983 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -10.1812, 7.4735, 2.0928, -0.0562, 0.1441, -0.0562, -0.1983, -1.2923, 7.2547, 1.7607, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrM1CWhx5pWNA3-MBjKXF7kWSKmSlU_q_onwu_PHtn0leEra-I0t8xEDm2OmD0ViqlPgsTAnGrrwwlK7Z2C1bviuoDk9EzyFcwU9w9iyRc1JfOrWW808NFtMCs7zQ7GGgYC1MNQKc_AkbVcIfr4K6b3ABdyK2T3vzyTAXS5iKvdtZvp6D1SWyZQohYiVTEHPdm5In26fEjmBLLZyVcNGgawM43_sAK18IYqHwimdy6w1Dm3iXDuVifysn5oHrMqQD6c0lILmA0m3khiNdzz-_ugFHXPlrld1CMLQuTEYr_Q1jVO-bFBOPvgosS5RqKppjRcEJ39RBOvGk0JZkCG3nNywUlBs2zZaxqO54d65KEgtDqOkx0RY_bx8QABGzfyytRc7DGX-jd98InBUAV12RxjF77oNWEw75tCqLxAWZpjeB1j9BWg9uiTDtG19tN1aCGU5sQ-VyHJwX5_kxUbehTG5_wgByleD2AGXbTnjDR0k6F33sCADf_1Fq6I5cpOsmiVdeAvBo9RAQrUxLr0H_KDu4diLUmkRlcq2G-tv4JOsT62KQg5ZNUli-Y8cH-HbTgbzTkYlb3Y4fYUzYcjwb0b5RWQ3BOZNArL92JcxBQqBVDQex8rddcuP03XjDj7yl2ZyNZXRXkvcFhbo7yeuSHYX0PQoDBSwjgvg_6meXCWgktQD1VYpazmKUQ_8DIZ63g-Ro8ZxeGHo7rw82TGeJFhHJBpIZKQg1JABT3B1_t1trLz18kvYjVRUzhUBsjwngMlZP0pI5kfIi4PpCDTExipGlTUb6erHKE-kQ7Z3BkgAtIOQeofEyz5PIIKGojDCNwaKkHaZt7b3CCbdyl1fqwysZg7x-oP3x7bmyAbInddpiyn7DEqL0l0_Ql7lUIKzYZ0FC0RrFMT_UNFZzJIDzsN5iTnDPmEgfhyZLoiFbXCW08A8hj-rcAtUcbrmPOouSYRJfqLG_ayMsvf_jtTqyC9wZRXuskn3FiYn6O5XIr8doMg6xAOir6LkSQc6xqw8ahai3cumXaMcIlk_BrhMc0fC2SehDZgsOgnsZDIWWHQRhRwB9o7tZYUDxtQAHBy7osk0Ok1KHuVMQBnVG05M732r1TqR5nIEbxmGxOC11uOsvgvPHz2c5mZd4Xx4knm48aSLv5LabxYSpTP7wrueR9p2EXqxBnFCtNeQjhtkp6xa-D-KhemVQRhKpJi7Vs829GMQW3X2HND2v7wtm5CNtXfFDZ01RSNITxNdXvxFFozaMKrBIoGPVzDlF7eO70eOiXtVN70eO3d-DqEPOaJkPipudZS7jxAd2QUaF0Oo4s1UWZTzxr2RVWdrH7BkElbohT6KJE5DhTb2C5gj5_kpd0CXt2VDVPHwO5MFMNGLt-8nFd98JM3L05nXF9YNMxN3HZahWPlwq3bO0Keb_YPdXAjwxTs4rz90-MejuVthJhBBvG5wtAWmCwrch5BxwXpBIczN0Y9hXZcg2-kom33wlaKPyhcXx7-c-IDefTwkRKLL32Ui-JeLLV9e0HLcQLVl3jvsUABCuJ6-NdVDwioBHOqcRrNqI0R29-5ipNEocKKUafT3jWaBXwznPrvSgc2IHjzIEJEMdA5jp_XRTMHx5k3VC0UI_KuHvvRghJM4ZoTs4JCIDGEyBs4TQ4BIr9q3_7_HYlm9ZUoKwwabZC2RiuioYsW8_MpVIwDlsutgXecjtMAPaF3GSwgxvLO6uamMuDFqERg_o1uwwCmtaKZ2G5f9H2LpsXeQp_Ws-hUZ0-w1F1vi7KfB0HJEwh_o1TA_udktF60gsMNjqtpfNA1U2mSgzXDF9r33XXHd405sfZISQTCSsAAZdzGUNm2IP8Tc1h1V6d320qdbevDheLCXGKhbuD5dyXZjzUQzgjJEG_py2IMl_i1TMAE3D7dB5QJyp0kSxRUGA6TwPojo3l4y4n4G_49wJcPZ8L_Qtq5KWSefmIUxrypWEOea8hR0sY0-ABLY6gAj6iZh7bvjcrCFFia_tfSoXNE0dkeSTkYBjWsTnnMPtkdOM18iU6UUHQbeek1ILFGYAznoMBRRzYwra9YVH0ItQQr-GQhT_1-Jz6hCFvPyZXD6pHMiavG_HKyCRcEWpB5XD6JrdmvKSOL2TZWty4zGodpaZ7jVpxqd3lkajqplwv_ta6QBQ-5wZRjlhO7_RJjjbkrn4c2D4rm23FsWJIWoeNMAp0CkwpxdmKwljNwjVGi0p3_zoGHjV8z68KgvodKaVVPpevO2UXFkT7H4O2k3YxXCrNrOjW7c2o381OY8C_a3krOS5iPU7F1of86xwN466FzDT1Yr12vW86A0qPC8cBMq2qldlGWAWmiSy9qq7SFMkpszrSEFRynppQp-LEa3E8mutAJaFpWpscPZVTnUAUwGFWBj3ukeaWityzaaA7lFvHsB-Vj8S8lpkGdTNogjVCa3hnf93kfOYjfxDu2ykai-ZBQTaGXJtwiDd-RM=",
  "id": "rs_0144e19b34e0ae86016aaccd39c15087d0b600a450e9401689",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.555,\"left_y\":-0.18,\"left_z\":0.18,\"left_pitch\":0.3},\"note\":\"The gripper is still empty; the wrist view shows the bottle immediately beyond the fingertips. I’ll move another small step forward and slightly higher to reach the narrower body below its handle.\"}",
  "call_id": "call_QnCzYoGcRPCsya2imxPHXp5R",
  "id": "fc_0144e19b34e0ae86016aaccd408d2887d0be708c3b1dd3dd0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QnCzYoGcRPCsya2imxPHXp5R",
  "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]: [-0.4644, 2.0045, 1.3048, 0.3378, -0.5018, -0.1413, 0.9955, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5472 left_y=-0.1751 left_z=0.1603 left_yaw=0.0357 left_pitch=0.2426 left_roll=0.0439 left_gripper=0.9955 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.4274, 9.388, 1.9853, -0.2222, 0.1685, -0.1441, -0.2256, -1.306, 7.2274, 1.7363, -0.0415, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7e53a65f39046c81e9abbb56519ea42114352ea2b4e526d25da725b1d69488",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d79b225909df379fa01daa8c41b9eca8ff49465a87b501ee76e595f47cd3c4b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c835f056616b55ec0336a59187b3c79d80512c5e653dcb6ab0677760fee75366",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 8.087 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]: [-0.4633, 1.9453, 1.2114, 0.2768, -0.4793, -0.1871, 0.0109, -0.0151, 0.8051, 0.6086, -0.3851, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5232 left_y=-0.1663 left_z=0.1382 left_yaw=0.0334 left_pitch=0.1558 left_roll=0.0387 left_gripper=0.0109 right_x=0.2954 right_y=0.0012 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0179 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -10.5915, 6.4615, 1.8437, -0.1392, 0.0855, 0.9548, -0.0205, -1.1009, 7.2, 1.7558, -0.0366, -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": "gAAAAABqrM1KS4wIiEBzgCMoHEq1HWuYh8Z-FpdjngHjJjPdAVSkMZgp1Tm1EvYswNjwt4Q2Kdd6gCoJtcarFo4bz1XPLyHPJR8NqqmWFI-aEFqZqPE9ZxIUCJcPD3TcZCT4_d7L_fuVve6xNywKbbOWvJ5yNDwfGMQWGGwwZbm6hUC5X59lqTmx-DWOj6Bupqg-AzK9nQ9_-j-eICGH3EW8-F7VAapCOFwiDR5t2QbEJzT5qTrqGz66ZfcTXdjp1foE1PZJn1hSUVdecPEHrhkJ9pWiA5SFarQ7RnAMePxHU0MVqZ07_kCHJcL4cXQTOgpwdigoxkT9DL25mCNhS4GDleaDa9HD_Tc1if--4figqlZ1Znk_64L6g0vBASu5V2vMdk4of6Re0N9382UXyTFbUoK8QLGwI6KcoTJoZGJqP0CTFcjsVChDxpP4Gm9YkaX5GTS0sXDi_08SvPiaB1rsdXfvzK7aLFRF9z6S1M_dCwj3ks3bZQtZHgJMhlU0yEL6OP02-K09fwbBVffUNPXFeqtglk4xVN_u-HjXBIIr2rX3DTbdL0R6weV-G3JMjl23hvsizct022qkoiX8UhzS3f9tfe3Es0P4nANuyV34oH3PUVmWiZ2xmfjF5B7-dE3osTlBCyDEcRyHql6fGWpVAl1ZgzTeE0jNgd2QvNhVhln4qjQUkxoEq1F-u2P-vQTvdiLuy_3GmANNRGoKEqaN1-ozDWRXgn-LeqDBJ8YpCJ6WBiXOgDWewiOHwnQc30OLVm2yvokmIwit2YKM9p-tpeKUPKZavVVedgCveXwp4ep5nnxLTuQKXIiwKHFigq1JyIw4GehRYX8LsFQKu--x_suKmWysEM6AKH9YlPLSvLooP6kB9444HsqYxMjOXvJfD_hz3pQgtuzQfPKveRsARUBkeWtYfd4kHK1joPcasbniGAq5aiHkoBJmaJHZSqmZMmwFeDOtF2bTLCX9TwVUuYAmn6U3hWlHGuy_T2vcw0YR2_SEQom4iBU2pVQYXNAi5emTqTdvwMqXpu25d3o10FJT1hT2rZmWcZ8FMrJIGjBrRyBqAjiKFzDA0Z4OPDouYs6fP_yw0g_3LC8Wj0-a04RElJjc9EN2aYYde6fo4_g9_2-cB2V3FLvhUmNyjcLg-V70CX61_7VcFy6LG7HL_yQvex2hkLHwhX1Fqn9UyHTDbNx9E9q1rGEQc9KMjd5Xu-7pf-g64l3tjRLeOgtxXToPk0PNHd5SA4kt_nQKJ6DUEvSrLqdziS-GFoIpqfZd3JniVVtD2rGpx9nsvAK-MGt5jfhvKw==",
  "id": "rs_0144e19b34e0ae86016aaccd48ca2487d091a73c9b86594ecb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are now alongside the bottle at the base of its handle. I’ll close gently through the normal gripper command and check whether the bottle is captured.\"}",
  "call_id": "call_a7mWwMT1UNOjJ2lpypBf7Pxu",
  "id": "fc_0144e19b34e0ae86016aaccd4988f087d09c5f60af2e715ab3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a7mWwMT1UNOjJ2lpypBf7Pxu",
  "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]: [-0.466, 2.006, 1.3071, 0.3302, -0.5014, -0.1497, 0.0111, -0.0151, 0.8051, 0.6086, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.1759 left_z=0.1588 left_yaw=0.0377 left_pitch=0.2367 left_roll=0.039 left_gripper=0.0111 right_x=0.2953 right_y=0.0012 right_z=0.1779 right_yaw=-0.0002 right_pitch=-0.0183 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.2752, 6.5573, 1.8095, -0.0855, 0.0269, 0.8816, -0.1846, -1.265, 7.0769, 1.7118, -0.0171, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:052f38778f82958d15d6c4b9bf4ffc906656957ece5d8ea126bc08ae3610cae8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab264f3613e183e7cd3c6343eebbfa0834835e67e34a9aa24dfad026f1622f96",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e493919b471bd938ba812c51c4ec023787fc0e4536e7cb7f70d1146bc57c82e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 8.972 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]: [-0.4644, 2.0045, 1.3048, 0.3378, -0.5018, -0.1413, 0.9955, -0.0151, 0.8051, 0.6086, -0.3851, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5472 left_y=-0.1751 left_z=0.1603 left_yaw=0.0357 left_pitch=0.2426 left_roll=0.0439 left_gripper=0.9955 right_x=0.2954 right_y=0.0013 right_z=0.178 right_yaw=0.0001 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.4274, 9.388, 1.9853, -0.2222, 0.1685, -0.1441, -0.2256, -1.306, 7.2274, 1.7363, -0.0415, -0.0611, -0.0171]\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": "gAAAAABqrM1Tck__vEk8AOz6WLE-LkKY5ambWTHu5doJUwE0TATz4LIheGsUrQ3uC547_S2K6HQ-XhAR30AxrKVrOtHNlWHs-fKBCsdDrGvv9NDPOzgSh64By51V1kWj6X1GbHbF2mybjByk1bM9vX58GkDWFdS3TsDoXmCs78Btnk6riDikpvu2-4VkyPTWIAnlJEdknr4cIouIEjrVH2NeXdEcajZN7QCFyp3-CR_wJRywrOiBU22AHKChEyNYqqmNxxRKlmWHaCnPNUNuUBjJkM3KaSARHQnUCHQlqoPRPDxtl4_F2HLNWRkfcua0MEwpkgUTx9dhvKunwpDp52c52PWjiOYfdiSr_PG4raQfoaBD9sCqJiArxPzOgB2W5PnShyjsS8bYBk2oJmyvGqX0Qg5YkgXd9ahPYlf3LEBPVnvWNrKVFX3N_HdqxPn_s3UJDRcU4X0BYyiIN1jJtz2NGpV1zKYsYsVSGpKpAiwnumNx8oaEtMmnIFyQgvTmksrDGunb_K9XkOgJ5_gNqpSZj4j2eSOiPmLEw_eZzfKBwLqZ6CvFmeMG_aNUaqERSZ2Ut27mAUP0FDn_L87TMlyoOsb9LKSs-o74Cx7YA0QncwtZu4o_i6oidAQBV93_R1L6HoFlF9v5qfuWX1uTyLLdKDB-YF9DrrSBYAALx1WvrRWNudoL8daFBwqROKPQlDzjV04eJCA3BpwidZ2bNnOddN2J2wVCAdEY_0dHSMKayWYpnZzA0uDlVvCQHspluLVqOtpH2KMMJ8VculYxr9sgWkNSxVqBCRbI4J0zO6Plfc7bg8xeOi8ArjTFYWBQGz_htKePzL3IwXHp6Qc2nEFTzfhJqhQyCn1_hd-if-rzp8KEeGhL2LPQYX8mckMhgaISvm68Grh8FsPjIFBDwPr1cvhnDqpCMdtmgHXphFs9PtxbkWL6BTwQ673lkJJDra51oiNE4MmAEWlcoQw3xB3PllQg1A7pEyRE5i9hrfxEUFfR9lus5xfIDKnACA5rOnO6dIzZKnh2WSCBhY60UYnYIdrffjj1Z4I-7g3Icy-EwwNqL_af9LE1QiSfIT9IPGaYoKn-i-X42Ie9KFgPfxi44YXEL3jshKOqKmOPdZLbXmPgI_MmS3lWYzk7xTEznu7rlvYKRoy6KXzkHlnmJkC6BEHOWb0O0XAtwOlKJTBcRr1yj9D8VzSa_89Bu65zT-60fy_igfyoIT1zrU1MCdKi61wCJbnjk7seDSifPpp7n-zv4kT1rVnr6VVW17Jq8qZpx9Jy4MoW80PaMzCs-ipI4RcGgqMHLDmBAUPBcNIBHkb6vLcZ45ZN8jnCJ9Vws-r7eGc1nuM5D7otVUyhKFh6QTYLrFS_Ry3XsdXPdifrnAUu64ZtF1IQoVlt6JDoCu2718aDmn7KLuOlPX9F3JhVCqiOMy5q_WDAlle_fPwDOzuA3B8wnRH7KXz5bJlfBYUfJuks6_8nPY2tRswbzXV4svW7N7fustld_7la6o_qG-Klsi7VghBqUVVH3fkP0VpKTmarT1WAM4eEwPMUOhsmhIsPK7pgCn-obFaXNAivdqZR1o50uL0Mdyav_BevZh21anse7hXHdobNMZYc2vCB3PM-rX21Nguftu5uvtu37jfkgqp1jKERSoZsXh3ZQV_mS5AVT-3LDGDlq0VoWKATfOcmY_NSGbhZLTsCtGNyXSDfgiaXtPNUqa7u55IIqMm0VdbtzJ5rP9JK31a4PttIckJsPPaUiWmYZ_8zIC2re4QFqIQ73l8SDTHyzr_uqii4qZAVJQkVfZKBCzk2CJo2rwIakGRpUcPSH-oOE3yF66tFXZaztALneScUaNCbo2THZJO8ZgfRe2eCt1z3WLNPP2ONs4bJMVdObvr-ApQ7e0CQxSfeEtfNgPJqq8qqEFU6PX_0gTTEkO3_1OIvOt2_Whu4A59w4MDREqHUYvJ0Q8uIH3IQPVCWXONe_QPC7aWlP0cNwHPNPM8pnpMlmgUyYJ5Se2DEA2Xs1NIXVl7DoPdIvJmtgxYYTHjBF-NU-BxdefPsiRCBwLqp57oiiDE0E-a3TsIT-WdLVpeF0Uz-94oqNlIzAy8=",
  "id": "rs_0144e19b34e0ae86016aaccd4d918887d0825d96ac853ebb71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.215,\"left_x\":0.56,\"left_z\":0.17},\"note\":\"The close nudged the bottle sideways rather than capturing it; its body is now visibly right of the jaw column. I’ll reopen and center the jaws farther right around the body.\"}",
  "call_id": "call_PkXskYNMj2ofB8IDMiS8XTPt",
  "id": "fc_0144e19b34e0ae86016aaccd5238b087d0b253247f264066fb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PkXskYNMj2ofB8IDMiS8XTPt",
  "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]: [-0.5247, 2.0827, 1.4593, 0.2283, -0.5564, -0.1875, 0.995, -0.0151, 0.8051, 0.6086, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5562 left_y=-0.21 left_z=0.1634 left_yaw=0.0431 left_pitch=0.2255 left_roll=0.0341 left_gripper=0.995 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.0187 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.8513, 9.347, 1.7753, -0.2027, 0.1294, -0.0806, -0.1573, -1.2923, 7.1863, 1.7216, -0.0659, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:52bf09c98a4c68e5323317ee9100acabba6b96f856fe9eaea303196148a0cee3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27bc967e1c123e422ec578361d001b582b92b080a9af60db46b93fd42ef0151e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:456a7d5e8463aaca3b7a3d4aaeff086e1f160d1089b0cc0567d94719c2dc2808",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 5.198 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 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]: [-0.466, 2.006, 1.3071, 0.3302, -0.5014, -0.1497, 0.0111, -0.0151, 0.8051, 0.6086, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5468 left_y=-0.1759 left_z=0.1588 left_yaw=0.0377 left_pitch=0.2367 left_roll=0.039 left_gripper=0.0111 right_x=0.2953 right_y=0.0012 right_z=0.1779 right_yaw=-0.0002 right_pitch=-0.0183 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.2752, 6.5573, 1.8095, -0.0855, 0.0269, 0.8816, -0.1846, -1.265, 7.0769, 1.7118, -0.0171, -0.0415, -0.0171]\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": "gAAAAABqrM1dgJzhWGLl_3vCOTPnyJnnyHax7D5whnOAhEy6YqFko0oD1gDdJgzPTF1tFflyduJeEE3EJ6JNJvyKhP427g9Yud4bXliuZ4cPGkHaKPC3iTOckJbAYTiDZEJTPFyI-72d5I0CHPqYu79FQZGVoWhTNOJ8LO2UuZFAJfymrKjNRNHKLjLLFrp-9VJtD-AlnCyiYfC5epAdDnBhw9SMsAAnr73vNQXmSLZ0Zjsg0pisKJrs6fuUb8ld17wkvP2H0kit0K8j4tL8rnSKrgII-FEyZFtTAcI4iK091bCAh9Vx8lEA7vqoAa2t2m-vWm9ZOEIlgE29Ol7iavVY9rrxz5E4op3ZQiMMR432Y6OrRZA0-Kh83EbqEIrfYGtUdsY4_uXZge-rtnomRBIea5OLgLWQ8zB9W3NF2eLveZ9SobTPIdT8_RhcywBcXXJ588Cb3JxH_DELLN8PwZ_A7J8cnc306uco-QF5NyNa8N73488w6gOYROZ4nn_UVcFwxm_BH9XaZIm73TnVwIykra9ZskvRJ0UcbFxlcnc7GxGvRrhRWDlqmCaxAqbmNnel93vfyV2ydf3EQKHctpa7oyhKCZYlev1zhfJgPfYwbFl0K8bG3kxaUmoTgeXUnbwo1rwfFm6mZNFP7nbJMcBtgLBfxqiDwMDjBr21dbYI8L4NRosoHVBQskTlibBIeJJMHzhfZTDZRcJzCps4SY-k7XCYIYFsAGrwE0XITjgCzafURkCASS-XoSZSF9yD2MWXyCwv65tePDjjmAT6sLuG4fLaff-3GThcHD07cpxOnSKoBz9czZnNv47FWzvOeBd7iA6UhESaVd2q_cC1y_1cmlgNdLQ_ugjS9S3rnjCOc5My_Yr_9doOs52J88XMgppvzLggPVlp5WORn6_k6x0MaIs2eOEpbZP1kLCT7_M4A9Z_IPyxVjTs3ElAvJAwKcBVUnXY2k07gVorhclINKLXfrjIw-SD1RddWp0_1pz-Ql3t5mMgnYSP0zE7HWV-Az8ZSzDN4HqGqNXPRo3ef3lrB-ks7JYxxoESEZ1W0m7Bw4kQNTWPd6Q19txqFYwVWEY2v9n-EErpofbjRCV-QFHtv7y9zbl_BTvEIThLy38w1UxsLasZATPnB3ZypB7BWofLHfQTJnNw4jWkt_tW8w3lLxupMb99KTRp2ER7oaT-P07GKtMTf002BKSWx8IvFiekSOikQlUf7zEg2kEsLUSYaQ4pVmxKeA-4lHWjXhlKDqizFgsPChj3MMyhG5cM3Emsooltque4TECttJRYhexLYX7K9z45WQBpFtLx6ki3Dp3FNN_0vuWl_WrKO4Vj34QnPpGXwly98KD0A_gf_xi8iolqGDy1brZjRpObhvA7VoH4N3lw02BfO9JY3uwbSp6NNYKCDS2ONGYKu_Oryn9OzYjLlyP7uGSqIFtRY8El3W5U2zHponCo87Ae4xAGpXGf6fyYEMV4OjM5hUiG9tefzn_hhD8y67tTanNkNvO2mGmtAAF6e8f01Yn0lkJ46fmJQxzxbiOBzb7860WH8a8hMhEwkjFd9r255KiDUIR62Ry4JwUv7C-H86INlrvu8HAy7dAgLZbD8FXW2WShl2zlK2NJju1yFP3BbI8OFIG0dqyKsk_dGwabH_1ypjHfu23AIcIZWWxbWh7ezGo9jDGtdgI5iJ0CH4UCDTMrqR4p5Ior4SeOT5YwXFClizUAsmOp9e0syHOlioOAaPklQuEXnNnTKmwWGRTXbSqv1jXXQhMy9VrzIxRsuX08MxmZQWF_7MQIfjveJJedw-70z2mVKhSA-0SRnayg4gKicX_aUscW10s7HbRZvQDfpa8-aLY1jhnbfW2h3zGRtSfrg9_wFYuF6IUvSbUL4lPx3NMEW6aWU2mnYbbVG0XiuXpUbge80xbdzntM2SKYPQI2TV_16Q_Ev_oHfImY2xfT6XOhM8bQzUmWBESzIuRxZFVRBLboxCyAuyBHMGeHdG0ynvn1deFPei1j1-G3EAHxN0ZXqm8ue17GzDne9g7njlrDyFLMvXe-VwxHODUSNNpXPMT5_pz__W0IsmHXkh_ZqCbunIRezYCeiA4_K6nVEMIV15zkZPgYr38-Wnnf8ydfyGkOB_Y2eyCuTPSJ4lU_nvKdjCMq80_iu6f8_AvPwump0nclvbvUNYLl",
  "id": "rs_0144e19b34e0ae86016aaccd56a6f887d08bf6ecdcddb1208f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.28,\"left_yaw\":1.57,\"left_pitch\":0,\"left_y\":-0.205},\"note\":\"The container is broad across its front, so the jaws have been slipping off that face. I’ll raise and rotate the open gripper to grasp its thinner front-to-back dimension instead.\"}",
  "call_id": "call_TEZWsXzdjEc8mCf55KIjZzUO",
  "id": "fc_0144e19b34e0ae86016aaccd5c23b487d09fb73cc6ed56c2a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TEZWsXzdjEc8mCf55KIjZzUO",
  "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]: [-0.3168, 2.4199, 2.1265, -1.4158, -1.0084, -1.7851, 0.9967, -0.0143, 0.8089, 0.6071, -0.392, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4726 left_y=0.0061 left_z=0.1105 left_yaw=1.3589 left_pitch=0.0023 left_roll=-0.0397 left_gripper=0.9967 right_x=0.2945 right_y=0.0015 right_z=0.1748 right_yaw=0.0009 right_pitch=-0.0301 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-2.947, -15.7333, 6.7761, 0.5201, -0.0171, -0.0659, 0.1587, -0.1983, -1.2786, 7.1453, 1.8584, -0.0024, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f87073941dd7e542513eeaccf4f5f0aa8b9a142a5d376b0c709ca0fd11f54b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a741e4d3b138270cb50d9c048bc29d4a1bb0801ed68de2ac0c6af45003a5971d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd89267de90d6e56b514034a4eeed0f61e069f09085429f6f468552a05d77a78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 10.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 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]: [-0.5247, 2.0827, 1.4593, 0.2283, -0.5564, -0.1875, 0.995, -0.0151, 0.8051, 0.6086, -0.3859, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5562 left_y=-0.21 left_z=0.1634 left_yaw=0.0431 left_pitch=0.2255 left_roll=0.0341 left_gripper=0.995 right_x=0.2953 right_y=0.0013 right_z=0.1778 right_yaw=0.0001 right_pitch=-0.0187 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -10.8513, 9.347, 1.7753, -0.2027, 0.1294, -0.0806, -0.1573, -1.2923, 7.1863, 1.7216, -0.0659, -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": "gAAAAABqrM1jpV8YxLhNe9AjLXkKdnry6QLvCLP36zIuMCYFsZDQ5q4RpSWSthjcHtSWDINHrgpew01TGVZqKx3szIFV5er4SwyII9t1zx4saTQ_BpwTX85FflnzF5lcjYNXHlxehlx2tInubvv0zak-r44_4F9J0FlmykUu1bXYxQCaZp696m3a7MQxTE0ssgBsXhCr5SeCp_Ok3NI-Q09lwME7Nl9Cgnvse6YpShY3-tG7XHVGOoswIg4uXvevKpstWoSI54KVNzhUB4gWEkmc9ztFoa39gsiYjq54-cOKblUigXbAXscweYQJVD83tID-BpQd1b2U-oegCj-lWnJHun4L__RZVDzbBZwSZkvG0SEvDkweubi80-m3lfy6cTrjABBIhNorh0ugO3GIIC2Ghxm_CU1VX_KAMYeHsH3RGmU4KcZqxtahANkMDJAwCepP7pJFnZG81xfzx2jg24Ksshj1eRJCoi1TtdpFsnmYjBQtQPC6HBPHCKKo2o56M6rBTBQlS_u9HaErMR4v4wSjLrsqWX2lRgOEG_RTRQ81L4BEikAw0GwFkFaV_lyWwsseNn8WKySFK6kYU3_vv80nN0O124p8aGzWc8Za5JxDflSx8UbuRPnXY-b5V1JbcdVukcSV-shjeiKV0zrKbt5WXtZ2l8pQ55lICVo_SSR9QbiRKFeD6CJtFKyV-Njtj4_W_BV3LPxNjVAT4GLj-wPVzGsuDZGTllpmH6SecyNjl1jeH-jqyqXZ91QDj-1waSLWYQhMylTNAEhub0uNo6cw5_8vnYpSolfbUTQLyYAUEe2parKQmZteHBfRYlzHn3QDiBQgX4tLkfzNJdHP86IYuSDcffivLLo4s0GEKS-LL14-tcSLYPXiKvP9vdHyP2fPI7HTfKLcNub09wMpCe4SmtmEuhPTq-DgSAcYHR4lH0GdRZAu10VoXM2ThAK1r3JxvREWKxL-V7BaPYN-c-X-SwoGSC9F3sc3c2VMYItYzq7NJD2RjhEhflVIZNKsGpwEUgRqq-tZZzlE7tyCgdxJsxqoi2abHbaUTDlQR9BT2_OuEuDbyT5gZ_ncZafOr_rcwyDnWdyMNsKJ3oc_glppmQKBchh4tp4cIfPO0dGSaIonR54hAuetnjXXXoVTP1fzFMQkpR5cjCoVBX2qaZYMo2T99aFOJD799OIEPph4mjfTHCISY8cErqOfmZw0OfRI2z5GCYs-kawyiZERELK5K0mA2lzaT1Zei6gmbLayZR6y_j0KBk2fX1an52OruRbRuY9ISS2moc7LG6RSgJYr_6Ex-kru73ZVpin3hvmtrr1r9dKdwVs=",
  "id": "rs_0144e19b34e0ae86016aaccd60d4fc87d09031e9f929ada8d3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.05,\"left_z\":0.32,\"left_yaw\":0.7,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The rotation did not track the requested position and displaced nearby containers. I’ll stop the grasp attempt and lift back toward a clear, shorter-reach pose before making any further contact.\"}",
  "call_id": "call_SRLNT0ZcnR7TBetha3Y1rNNW",
  "id": "fc_0144e19b34e0ae86016aaccd6210a487d08090e7bd9e37865d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SRLNT0ZcnR7TBetha3Y1rNNW",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6224, 1.5284, 1.6379, -1.3537, -0.9634, -1.216, 0.9968, -0.0147, 0.8143, 0.6067, -0.3927, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3308 left_y=-0.0544 left_z=0.3005 left_yaw=0.7394 left_pitch=-0.0122 left_roll=-0.027 left_gripper=0.9968 right_x=0.2947 right_y=0.0014 right_z=0.173 right_yaw=0.0005 right_pitch=-0.0366 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.0906, 8.3077, 0.6032, -0.5885, 0.2418, 0.0024, -0.1026, -1.812, 7.0496, 1.746, -0.0317, -0.0415, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80429855f6a7bf772f02f31a2bd736fe4ec8ba2e0224787cb1ff4da6ca25995",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aa417b92929c2bc77afcb0e42fe7564ad3b095ae3a8a596cf7c73948a933764",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59c185ca133d6505097dbcdda989225acf017abaf0bb6f46b2950acce64044b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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