adhoc

completed
2026-09-18T05:09:13.779076+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
246.6 s
total steps
263
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe white container is on the left, the dark container is on the right, and the red cup is behind the white one. I’m moving the left gripper toward the white container to grasp it first.
move_to
left_x0.3800left_y-0.1400left_z0.1800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3786, -0.0216, -0.0296, 0.9996, -0.0208, 0.7967, 0.6109, -0.3779, -0.0113, -0.0254, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9996 right_x=0.2961 right_y=-0.0006 right_z=0.1828 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.5111, 9.4427, 1.7802, -0.0317, 0.105, -0.0562, -0.4444, -1.3333, 9.935, 1.746, -0.1441, 0.0855, -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":0.38,"left_y":-0.14,"left_z":0.18,"left_gripper":1},"note":"The white container is on the left, the dark container is on the right, and the red cup is behind the white one. I’m moving the left gripper toward the white container to grasp it first."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe white container is between the open jaws in the wrist view, with its body just ahead of the fingertips. I’m moving slightly forward and down to grasp its narrower upper body.
move_to
left_x0.4050left_y-0.1280left_z0.0850
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]: [-0.5617, 1.3708, 0.8742, -0.1936, -0.469, -0.3523, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.3721 left_y=-0.1356 left_z=0.1619 left_yaw=0.0018 left_pitch=-0.0446 left_roll=0.0171 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4034, -5.6274, 9.7846, 1.7216, -0.2466, 0.0611, -0.0562, -0.2393, -1.2786, 7.241, 1.7705, -0.0855, -0.022, -0.0122] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.128,"left_z":0.085},"note":"The white container is between the open jaws in the wrist view, with its body just ahead of the fingertips. I’m moving slightly forward and down to grasp its narrower upper body."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe jaws are now beside the white container’s body. I’m closing the gripper and will check the opening and a small lift before carrying it.
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]: [-0.4774, 1.6176, 0.7494, 0.1699, -0.4145, -0.3069, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4021 left_y=-0.1239 left_z=0.0786 left_yaw=0.0186 left_pitch=-0.07 left_roll=0.0281 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.2803, -7.5966, 6.0103, 1.6777, -0.1099, 0.0513, -0.0171, -0.0342, -1.265, 7.1453, 1.7216, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are now beside the white container’s body. I’m closing the gripper and will check the opening and a small lift before carrying it."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper closed nearly completely, so it missed just behind the white container. I’m opening it and advancing a few centimetres for a centered grasp.
move_to
left_gripper1.0000left_x0.4350left_z0.0850
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]: [-0.477, 1.6176, 0.7494, 0.1703, -0.4152, -0.3115, 0.0133, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4022 left_y=-0.1236 left_z=0.0787 left_yaw=0.022 left_pitch=-0.0693 left_roll=0.0247 left_gripper=0.0133 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.3214, -7.0769, 5.9282, 1.6044, -0.1294, 0.022, 1.1795, -0.1846, -1.265, 7.0632, 1.7216, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.435,"left_z":0.085},"note":"The gripper closed nearly completely, so it missed just behind the white container. I’m opening it and advancing a few centimetres for a centered grasp."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe white container now extends into the grasp area rather than sitting beyond the fingertips. I’m closing around its body again.
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]: [-0.4313, 1.6962, 0.8455, 0.1413, -0.392, -0.2962, 0.9989, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4266 left_y=-0.118 left_z=0.0775 left_yaw=0.0413 left_pitch=-0.0868 left_roll=0.029 left_gripper=0.9989 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1026, -6.9812, 8.5128, 1.5849, -0.0464, 0.1099, -0.1343, -0.1573, -1.2786, 7.0359, 1.7802, -0.0513, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white container now extends into the grasp area rather than sitting beyond the fingertips. I’m closing around its body again."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe second close was also empty. I’m lifting to the side to see the white container’s base clearly and correct the approach rather than repeating the same grasp.
move_to
left_gripper1.0000left_x0.4000left_y-0.0550left_z0.2400
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]: [-0.4313, 1.6962, 0.8452, 0.1364, -0.3927, -0.3038, 0.014, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4258 left_y=-0.1176 left_z=0.0765 left_yaw=0.0462 left_pitch=-0.0911 left_roll=0.0258 left_gripper=0.014 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.0068, -7.706, 6.0103, 1.6484, -0.1245, 0.0659, 0.7253, -0.1709, -1.1282, 7.0769, 1.7314, -0.0415, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.40,"left_y":-0.055,"left_z":0.24},"note":"The second close was also empty. I’m lifting to the side to see the white container’s base clearly and correct the approach rather than repeating the same grasp."})
tool
executing move_to over 11 steps (1.1s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe unobstructed view shows the container farther forward than the previous grasp points. I’m approaching higher on its narrower body, with the jaws open around it.
move_to
left_x0.4750left_y-0.1550left_z0.1550left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2565, 1.3746, 1.1622, -0.5201, -0.2714, -0.2123, 0.9989, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3993 left_y=-0.0521 left_z=0.2174 left_yaw=0.0732 left_pitch=-0.141 left_roll=0.0304 left_gripper=0.9989 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1573, -7.706, 9.5385, 1.5458, -0.0562, 0.2173, -0.1392, -0.0205, -1.0051, 7.0632, 1.7411, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.475,"left_y":-0.155,"left_z":0.155,"left_pitch":0},"note":"The unobstructed view shows the container farther forward than the previous grasp points. I’m approaching higher on its narrower body, with the jaws open around it."})
tool
executing move_to over 10 steps (1.0s)
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 container is centered laterally, but its body is still just ahead of the jaw tips. I’m advancing and raising slightly to surround the upper body without pressing it against the table.
move_to
left_x0.5050left_y-0.1550left_z0.1700left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4801, 1.755, 1.1629, -0.165, -0.4728, -0.3309, 0.9984, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.4561 left_y=-0.1428 left_z=0.1286 left_yaw=0.0777 left_pitch=-0.1004 left_roll=0.0722 left_gripper=0.9984 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4444, -9.1556, 10.0581, 1.8046, -0.1685, 0.0708, -0.0659, -0.1299, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -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":0.505,"left_y":-0.155,"left_z":0.17,"left_pitch":0.15},"note":"The container is centered laterally, but its body is still just ahead of the jaw tips. I’m advancing and raising slightly to surround the upper body without pressing it against the table."})
tool
executing move_to over 9 steps (0.9s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe white container’s lower outline now reaches the fingertip region and is centered between the jaws. I’m closing to test this corrected 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]: [-0.4812, 1.8332, 1.169, 0.0566, -0.548, -0.2543, 0.9983, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4874 left_y=-0.1466 left_z=0.1373 left_yaw=0.0933 left_pitch=0.0473 left_roll=0.0959 left_gripper=0.9983 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2667, -8.9368, 10.5094, 2.0781, -0.2466, 0.2711, -0.0171, 0.0889, -1.265, 7.1863, 1.7411, -0.0269, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The white container’s lower outline now reaches the fingertip region and is centered between the jaws. I’m closing to test this corrected grasp."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe jaws again closed beneath the container rather than around it, and it has shifted forward. I’m lifting above its shoulder for a top-down grasp instead of pushing farther at the same height.
move_to
left_gripper1.0000left_x0.5350left_y-0.1550left_z0.2850left_pitch0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4812, 1.8393, 1.1702, 0.0452, -0.5503, -0.2623, 0.0139, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4864 left_y=-0.1457 left_z=0.1329 left_yaw=0.099 left_pitch=0.0348 left_roll=0.0991 left_gripper=0.0139 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.3214, -10.0718, 6.4068, 1.7607, -0.1636, 0.0562, 0.7057, -0.1436, -1.2786, 7.2, 1.7411, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.535,"left_y":-0.155,"left_z":0.285,"left_pitch":0.25},"note":"The jaws again closed beneath the container rather than around it, and it has shifted forward. I’m lifting above its shoulder for a top-down grasp instead of pushing farther at the same height."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteFrom above, the open neck and shoulder are visible just left of the jaw centerline. I’m centering over that narrower section and lowering the open jaws around it.
move_to
left_x0.5350left_y-0.1420left_z0.1850left_pitch0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4698, 1.8465, 1.5509, -0.1276, -0.6003, -0.1818, 0.9951, -0.0208, 0.7986, 0.6086, -0.3855, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.5289 left_y=-0.1526 left_z=0.2636 left_yaw=0.1221 left_pitch=0.2116 left_roll=0.0819 left_gripper=0.9951 right_x=0.2949 right_y=-0.0008 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [0.1162, -9.2786, 9.9624, 1.8339, -0.1148, 0.4713, -0.0269, -0.1162, -0.9504, 7.0769, 1.7265, -0.022, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.535,"left_y":-0.142,"left_z":0.185,"left_pitch":0.25},"note":"From above, the open neck and shoulder are visible just left of the jaw centerline. I’m centering over that narrower section and lowering the open jaws around it."})
tool
executing move_to over 6 steps (0.6s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe open jaws now flank the white container’s body in the close-up view. I’m closing and checking whether the container holds the jaws apart.
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]: [-0.4416, 1.8992, 1.2922, 0.1688, -0.5991, -0.1638, 0.9967, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.529 left_y=-0.1359 left_z=0.18 left_yaw=0.138 left_pitch=0.1979 left_roll=0.107 left_gripper=0.9967 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -9.1145, 6.6803, 1.8974, -0.0122, 0.1441, 0.1636, -0.0889, -1.1966, 7.0632, 1.7558, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws now flank the white container’s body in the close-up view. I’m closing and checking whether the container holds the jaws apart."})
tool
executing move_to over 10 steps (1.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe close rotated the container but did not capture it; it is farther forward near the red cup. I’m approaching its upper body at longer reach with the wrist pitched forward, keeping the jaws clear while moving.
move_to
left_gripper1.0000left_x0.5850left_y-0.1400left_z0.2350left_pitch0.5000
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]: [-0.4419, 1.9095, 1.2781, 0.1669, -0.6033, -0.1719, 0.0135, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5269 left_y=-0.1345 left_z=0.1685 left_yaw=0.1426 left_pitch=0.1774 left_roll=0.1157 left_gripper=0.0135 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0615, -11.3026, 7.9111, 1.7167, -0.105, 0.0513, 1.1795, -0.1026, -1.2513, 7.0496, 1.7216, -0.022, -0.0562, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.585,"left_y":-0.14,"left_z":0.235,"left_pitch":0.5},"note":"The close rotated the container but did not capture it; it is farther forward near the red cup. I’m approaching its upper body at longer reach with the wrist pitched forward, keeping the jaws clear while moving."})
tool
executing move_to over 11 steps (1.1s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe bottle’s neck is visible above the jaws and its shoulders lie between them. I’m lowering a little to grip the shoulder/body rather than closing above it.
move_to
left_z0.1600left_x0.5850left_y-0.1300
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]: [-0.4156, 2.0552, 1.3949, 0.4934, -0.6323, -0.0086, 0.9955, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5771 left_y=-0.1367 left_z=0.2077 left_yaw=0.1541 left_pitch=0.4212 left_roll=0.1191 left_gripper=0.9955 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.4171, -11.0701, 9.6205, 1.9853, -0.0464, 0.3834, -0.1685, -0.0479, -1.0735, 7.159, 1.7705, -0.0366, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16,"left_x":0.585,"left_y":-0.13},"note":"The bottle’s neck is visible above the jaws and its shoulders lie between them. I’m lowering a little to grip the shoulder/body rather than closing above it."})
tool
executing move_to over 4 steps (0.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe container now fills the space between the fingers, and the descent has met light contact. I’m closing partially first to avoid squeezing it sideways.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3992, 2.1391, 1.354, 0.622, -0.6373, 0.0101, 0.9968, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.5834 left_y=-0.1281 left_z=0.1696 left_yaw=0.1652 left_pitch=0.4235 left_roll=0.1378 left_gripper=0.9968 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.4718, -11.1795, 5.8188, 0.9792, 0.5348, -0.359, 0.1245, -0.1162, -1.1282, 7.0496, 1.6923, -0.0073, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25},"note":"The container now fills the space between the fingers, and the descent has met light contact. I’m closing partially first to avoid squeezing it sideways."})
tool
executing move_to over 8 steps (0.8s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe partial close has centered the handle between the fingers. I’m tightening the grasp before a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3943, 2.1418, 1.3506, 0.6758, -0.6289, -0.0071, 0.2549, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.5855 left_y=-0.1272 left_z=0.1778 left_yaw=0.1846 left_pitch=0.4641 left_roll=0.0893 left_gripper=0.2549 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1983, -10.8376, 5.9419, 1.4579, 0.1441, 0.0269, 0.2125, -0.0479, -1.0735, 7.0496, 1.746, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The partial close has centered the handle between the fingers. I’m tightening the grasp before a short test lift."})
tool
executing move_to over 3 steps (0.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe gripper stopped at about 1.3 cm, consistent with holding the handle rather than an empty close. I’m lifting a few centimetres to confirm the white container follows.
move_to
left_z0.2500left_x0.5750
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]: [-0.3939, 2.1414, 1.3506, 0.6918, -0.627, -0.0151, 0.1355, -0.0208, 0.7986, 0.6083, -0.3855, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.5859 left_y=-0.1274 left_z=0.1814 left_yaw=0.1925 left_pitch=0.478 left_roll=0.0701 left_gripper=0.1355 right_x=0.2949 right_y=-0.0007 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.2256, -10.8239, 5.7368, 1.2918, 0.1099, 0.0708, 1.2821, -0.0479, -1.0598, 7.241, 1.746, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.25,"left_x":0.575},"note":"The gripper stopped at about 1.3 cm, consistent with holding the handle rather than an empty close. I’m lifting a few centimetres to confirm the white container follows."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe handle remains held, but the loaded arm lifted less than commanded at full reach. I’m bringing the container closer to the base while raising it for clearance.
move_to
left_x0.5000left_z0.3300left_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3988, 2.0651, 1.3754, 0.503, -0.6403, -0.0277, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.5775 left_y=-0.125 left_z=0.1957 left_yaw=0.1844 left_pitch=0.4066 left_roll=0.1116 left_gripper=0.1431 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [-0.6906, -16.2667, 10.5368, 2.0195, 0.0122, 0.0806, 1.0379, -0.1436, -1.1692, 7.0085, 1.6972, -0.0171, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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
move_to({"targets":{"left_x":0.50,"left_z":0.33,"left_pitch":0.4},"note":"The handle remains held, but the loaded arm lifted less than commanded at full reach. I’m bringing the container closer to the base while raising it for clearance."})
tool
executing move_to over 9 steps (0.9s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe white container has lifted with the gripper, and the red cup is just to its right. I’m bringing its mouth toward the cup and starting a controlled sideways tilt.
move_to
left_x0.5400left_y-0.1150left_z0.3300left_roll-0.6500left_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4717, 1.7412, 1.3861, 0.0883, -0.712, -0.0643, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.5103 left_y=-0.1267 left_z=0.2897 left_yaw=0.1785 left_pitch=0.3532 left_roll=0.1369 left_gripper=0.1431 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4991, -12.8479, 10.7829, 1.7949, -0.1636, 0.0708, 1.033, -0.3624, -1.1966, 7.241, 1.7656, -0.0024, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_y":-0.115,"left_z":0.33,"left_roll":-0.65,"left_pitch":0.4},"note":"The white container has lifted with the gripper, and the red cup is just to its right. I’m bringing its mouth toward the cup and starting a controlled sideways tilt."})
tool
executing move_to over 11 steps (1.1s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe white container is tilted toward the red cup and remains secure by its handle. I’m increasing the tilt while lowering slightly so the mouth approaches the cup’s opening.
move_to
left_roll-1.4000left_z0.2800left_x0.5250
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]: [-0.2562, 1.7222, 1.3544, 0.2066, -0.178, -0.561, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.5419 left_y=-0.1059 left_z=0.302 left_yaw=0.1984 left_pitch=0.3314 left_roll=-0.5386 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.2803, -10.6462, 7.0496, 2.5177, 0.0659, -0.0024, 1.0281, -0.0615, -0.9368, 7.0496, 1.7216, -0.0366, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":-1.4,"left_z":0.28,"left_x":0.525},"note":"The white container is tilted toward the red cup and remains secure by its handle. I’m increasing the tilt while lowering slightly so the mouth approaches the cup’s opening."})
tool
executing move_to over 11 steps (1.1s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe overhead view shows that this wrist rotation put the bottle’s mouth on the wrong side of its body. I’m returning it upright before tilting the opposite way toward the red cup.
move_to
left_roll0.0000left_z0.3100left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1341, 1.8038, 1.0164, 0.8486, 0.189, -1.2243, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.531 left_y=-0.1015 left_z=0.2529 left_yaw=0.2094 left_pitch=0.2535 left_roll=-1.2803 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.1983, -9.1145, 6.694, 2.4835, 0.1197, -0.0464, 1.0379, -0.1709, -1.1282, 7.0496, 1.7118, -0.0317, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0,"left_z":0.31,"left_pitch":0.15},"note":"The overhead view shows that this wrist rotation put the bottle’s mouth on the wrong side of its body. I’m returning it upright before tilting the opposite way toward the red cup."})
tool
executing move_to over 17 steps (1.7s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe red cup is now clearly visible to the right of the upright white container. I’m tilting the mouth toward that opening in the corrected direction.
move_to
left_roll0.8500left_z0.2800left_x0.5250left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3492, 1.816, 1.702, -0.387, -0.4694, -0.363, 0.1558, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5305 left_y=-0.1043 left_z=0.2907 left_yaw=0.2239 left_pitch=0.115 left_roll=-0.0937 left_gripper=0.1558 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6222, -9.6615, 10.8923, 1.8095, -0.1636, 0.3883, 1.033, -0.0615, -0.9231, 7.0496, 1.707, -0.0464, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0.85,"left_z":0.28,"left_x":0.525,"left_pitch":0.15},"note":"The red cup is now clearly visible to the right of the upright white container. I’m tilting the mouth toward that opening in the corrected direction."})
tool
executing move_to over 13 steps (1.3s)
step 206
top_cam
camera top_cam step 206
left_cam
camera left_cam step 206
right_cam
camera right_cam step 206
assistant
agent noteThe white container’s mouth is swinging toward the red cup while its base moves away. I’m completing the pouring tilt and lowering it to reduce the drop into the cup.
move_to
left_roll1.5000left_z0.2350left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4946, 1.9793, 1.734, -0.3378, -1.0378, 0.2695, 0.1606, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5234 left_y=-0.1053 left_z=0.2651 left_yaw=0.2193 left_pitch=0.1128 left_roll=0.7691 left_gripper=0.1606 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6222, -10.3453, 7.0906, 2.0684, -0.4371, 0.3785, 1.0281, -0.0889, -1.2786, 7.0496, 1.7363, -0.0513, -0.0415, -0.0171] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":1.5,"left_z":0.235,"left_pitch":0.15},"note":"The white container’s mouth is swinging toward the red cup while its base moves away. I’m completing the pouring tilt and lowering it to reduce the drop into the cup."})
tool
executing move_to over 10 steps (1.0s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteThe bottle is nearly horizontal, but its mouth is still left and short of the red cup. I’m advancing the held bottle and shifting right to place the mouth over the opening for the pour.
move_to
left_x0.5900left_y-0.1450left_z0.2150left_roll1.5710left_pitch0.2500
assistant
agent noteThe bottle remains just left of the red cup. I’m applying the alignment move with the tilt kept inside the wrist’s limit.
move_to
left_x0.5900left_y-0.1450left_z0.2150left_roll1.5700left_pitch0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5251, 2.1914, 1.4242, 0.8337, -1.2964, 1.4773, 0.1606, -0.0208, 0.7986, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5279 left_y=-0.1052 left_z=0.2081 left_yaw=0.2152 left_pitch=0.0836 left_roll=1.4603 left_gripper=0.1606 right_x=0.2948 right_y=-0.0007 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.6769, -12.1504, 6.4342, 1.5995, 0.0904, 0.2955, 1.0281, -0.0889, -1.2513, 7.0496, 1.7216, -0.0269, -0.0708, -0.0171] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.59,"left_y":-0.145,"left_z":0.215,"left_roll":1.571,"left_pitch":0.25},"note":"The bottle is nearly horizontal, but its mouth is still left and short of the red cup. I’m advancing the held bottle and shifting right to place the mouth over the opening for the pour."})
tool
target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]
assistant
move_to({"targets":{"left_x":0.59,"left_y":-0.145,"left_z":0.215,"left_roll":1.57,"left_pitch":0.25},"note":"The bottle remains just left of the red cup. I’m applying the alignment move with the tilt kept inside the wrist’s limit."})
tool
executing move_to over 6 steps (0.6s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe mouth is now aligned at the red cup. I’m angling the spout downward while keeping the bottle raised enough to avoid touching the rim.
move_to
left_pitch-0.3000left_x0.5850left_z0.2400left_roll1.5700
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]: [-0.5217, 2.6625, 1.9373, 1.2984, -1.2964, 1.9648, 0.1606, -0.0208, 0.8024, 0.6079, -0.3897, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5867 left_y=-0.1369 left_z=0.1805 left_yaw=0.2507 left_pitch=0.1955 left_roll=1.5262 left_gripper=0.1606 right_x=0.2945 right_y=-0.0007 right_z=0.1774 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3487, -16.4308, 8.0342, 1.1111, 0.486, 0.398, 1.0281, -0.1162, -1.5658, 7.0496, 1.7851, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":-0.3,"left_x":0.585,"left_z":0.24,"left_roll":1.57},"note":"The mouth is now aligned at the red cup. I’m angling the spout downward while keeping the bottle raised enough to avoid touching the rim."})
tool
executing move_to over 17 steps (1.7s)
step 239
top_cam
camera top_cam step 239
assistant
agent noteThe pitch change moved the spout too far beyond the cup in the overhead view. I’m returning it over the opening and holding the sideways pouring angle.
move_to
left_pitch0.4000left_x0.5850left_z0.2150left_roll1.5700
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5201, 2.6995, 2.8593, -0.8944, -1.256, 0.923, 0.1606, -0.0208, 0.8051, 0.6079, -0.3931, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.5917 left_y=-0.1412 left_z=0.2397 left_yaw=0.2403 left_pitch=-0.2246 left_roll=1.524 left_gripper=0.1606 right_x=0.2942 right_y=-0.0007 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1846, -13.6547, 6.8034, 1.1355, -0.5348, 0.1001, 1.0281, -0.335, -1.5248, 7.0906, 1.7167, -0.0317, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_pitch":0.4,"left_x":0.585,"left_z":0.215,"left_roll":1.57},"note":"The pitch change moved the spout too far beyond the cup in the overhead view. I’m returning it over the opening and holding the sideways pouring angle."})
tool
executing move_to over 21 steps (2.1s)
step 260
assistant
agent noteThe arm has overextended and its load has risen, so I’m stopping this pouring attempt. I’m drawing the container back and reducing the tilt before setting it down safely.
move_to
left_x0.4800left_z0.3200left_roll0.7500left_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]: [-0.4347, 3.0776, 2.7472, 1.0512, -1.1801, 2.08, 0.1606, -0.0208, 0.8062, 0.6075, -0.3927, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.6492 left_y=-0.1174 left_z=0.1974 left_yaw=0.2555 left_pitch=0.291 left_roll=1.5764 left_gripper=0.1606 right_x=0.2943 right_y=-0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0279 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.5265, -24.7043, 8.3897, 1.58, 0.5885, 0.0806, 1.0232, -0.212, -1.2786, 7.1043, 1.7363, -0.0659, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_z":0.32,"left_roll":0.75,"left_pitch":0.2},"note":"The arm has overextended and its load has risen, so I’m stopping this pouring attempt. I’m drawing the container back and reducing the tilt before setting it down safely."})
tool
executing move_to over 14 steps (1.4s)
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 · 6.958 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, -0.3786, -0.0216, -0.0296, 0.9996, -0.0208, 0.7967, 0.6109, -0.3779, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9996 right_x=0.2961 right_y=-0.0006 right_z=0.1828 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5111, 9.4427, 1.7802, -0.0317, 0.105, -0.0562, -0.4444, -1.3333, 9.935, 1.746, -0.1441, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b9670d9c71e79d303f87798640fd99860ebc4301222443de1c49655271606f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdb2613b66be4e23000aafe83f9fcdde225e493a7c1b45537a8c51b788f4809d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da660f54b91b04366883ed078375097456502c3184f2b4f1ce25efa0be7ced40",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 11.31 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMeOIHWa0T8QZakB-Wi9x8iohrT5YgNI5vPsOKsHg_dmFQLXYjaxy90rv1kE9u2Q6BMwIXYdzKqJpKR0lz2-3yH_cOumxglHdccq2hCtDPxzZ5g4RZa0heAsL_hsvR1KI_C3A8f4xPU6VhiAGW6QW447gY9vv4OHXu3JLIApiCIYpUDg1ib3eg3mSsuItz4HquTvXUMeO2UB5wzQzeM8TR8tU8hV5pLL0Ut2kk5d7iI-kd1iddeIOonvQM-udh9MNOOqQJf1wQtNyAiu1Z85wc50D_Z6xNUVLirnTaCUEXwUqjovj07DD4vVAtp1uzwaEHH8qhQtx3EL8YokoYuUoQnvtR2J1DydtVpDftF9zaToRuMRI08PvpNf21bCOhY2GvelzGQWhfBb9OhRWG4a_5lBD1nFX-uFvXsmbGzZGvne1kZBLEet-H7KlRp7g4JcRcBaHjCXwRVhUBCUB1Hv_wjkAbN3wSW_C7I2uKe9W_K9YPOjflPiuCYZAY4TiAzCDqM4rL0TTYfKsbSRFXK5OGrslOW2WWU1dykdX5GKCOGD2Gxm3pAWPYVmbaVw6slU6b6vvFPQmUWWT0a2jO2b3R_xVUXmFRs521sCW03sO_mnOcuWIDw-MEktqoOU1dbWuD7FmnYjCEz02IddGKLTPtzoXY5cEFS6lKeMniB11DVFaSPigpZQNe1ocHvUB8AYIenBoUcW0bgZWf4mMcRvb_QSyNE6RKsyjeuRJBnrd2utXFfZZPEKILYm6RCvzPydLEKCSuHr0d50qqteQIONaDB8BV-VVpQ30_2UMuNmJTNTRJzR3XUFXFNYXiWJIh92ojVzD8burtpzLsCNUNowgdN0XcuA-zt0qF0VIrPiTaOEEBWnlmpGT-12wWTRWIe4wqDm6T4hCPoXVpRlqhLxWFIB2Ae1XzRs3zHb5qTaIyxwRrw8rUamvtqv85SGFvilx8MWcubSte_vNbfvShV59P2HY_eI6Y44img-WUdqFfhFeHEqBOcPjhLfYZa8yMUTBd7EY_37vGgfj9jYq_NLY1BsbRdXmTcKwYWecf_x5S1iK5OR8a75Wr8J87Ks-BOkNbpXCIYrIBMwY82FKecvitquFTwL1ypTOyOpP1rDU6GxBNPOAl2S004yzh73F4ZPlJsNJ6dYMcVlmPoMjUsCbHJ43Iya7l-T-7926AgyoWiquAXY-Rtn8ksnp6shY5tvVL7hgowQX4gRYSZr5AAnzeb2MX-nxOLi0cnzkFmGiWlw3qUdETVfX8dY5kxrF3EAyYZ_IWE6ALpVYPTpW8fXcACoYKazqseWTjKJHdMVnt61Y2C090Bqti2oxBbNQ8tgb2v_9e1XID3jVMl5epFko4qVixM5Dp8-_2Q_-ybt9hCSbllL8Fvg0TCp-yZ5NbbNNqpCBRxMMz5E8S9c_4gGJLvlQ8fK8UpBqiiTX9zI880D9hqKUuyL4a7yv9qOsq1z8zdomOU8qDYRlXliLAiMuKZHsn6LzUJOaE2-lXL1_ZPi_ObvUwm_-C_996xg7aAvN10tZ_VuoH4eZdGSjDYtKflZCCiTWw2NEUDi_3DEfaqb87cZ6UgAQ0NeTS2uKHe12tqfDtK6vzUhdv9d9a2VGInyYKISr8N8ofuDjaJfzQgRZxhrH6efQqRdiqX2DFKX9a28MCwEhp5dAjeT6UUvBf8RuTuwKyixq5PcmJ8gO8jF9SCdxcNqxUMwZC1ikdeXhNcS",
  "id": "rs_047749db83912328016aacc7894d0c87d08f766d15ac1c006b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.18,\"left_gripper\":1},\"note\":\"The white container is on the left, the dark container is on the right, and the red cup is behind the white one. I’m moving the left gripper toward the white container to grasp it first.\"}",
  "call_id": "call_edYNhZ9hl0zCEFySO9HN9UNh",
  "id": "fc_047749db83912328016aacc78ce14887d0a6050deb60f4918f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_edYNhZ9hl0zCEFySO9HN9UNh",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5617, 1.3708, 0.8742, -0.1936, -0.469, -0.3523, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1356 left_z=0.1619 left_yaw=0.0018 left_pitch=-0.0446 left_roll=0.0171 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -5.6274, 9.7846, 1.7216, -0.2466, 0.0611, -0.0562, -0.2393, -1.2786, 7.241, 1.7705, -0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fbdb664e6778ba5e24376c54abcf1ef95723c5159b410fe5fa6b1a74872aff4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3899d2f58f972f654fc34e3189eed246b1573dce69024aad7186ebb5e9e8192e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35014c62db816f4b9be6689aacf24370afd784f3a3f77dff3400f444933a873",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.643 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, -0.3786, -0.0216, -0.0296, 0.9996, -0.0208, 0.7967, 0.6109, -0.3779, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=-0.0005 left_pitch=-0.0 left_roll=0.0001 left_gripper=0.9996 right_x=0.2961 right_y=-0.0006 right_z=0.1828 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.5111, 9.4427, 1.7802, -0.0317, 0.105, -0.0562, -0.4444, -1.3333, 9.935, 1.746, -0.1441, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMeiCjHo6x6h68qQns_Z95u7psx4aXRoO5NS1sEhom2PgVAz4nBCAMkAtxaLIknj6mxw3LDuyWzqDKfHsTvwLopx4yaduxLGrmJjVV3c-RQRpCXhkS7FzeMeoPoY05FXC0fk_g8y72XB8VZX0spqdX9jZin_uifW_D4h9X098nly7xHAWm73h0tyZXzTmB84i0u4xDKWUJqawkbqgSikj5Ngzt7E4GLXSaRJcYtPUx73q06DPi15UOQ8DJAoWehItpw8jyqnj0psvEEQoFZB2bNwWffCrS4Jnm_JbFRbSCB6RVBL3Hhc0ksISpyEIMsch56zzvmGiUplL5Y4hQrBF223UXmSXgwDhUvViuuE0r0KIh2Mmg1dx7OzsRmx3bATErGB2xLSubVH72b1BxP54OKdeq_G9DRRcftdxUFB-CNuwMFLPbzWJAY8kr3a-R9dXibmUPjKarlpyAaNF65XOWIrONiyZHl3zV_KDjcSuds4LWfqVUgzFnrK46q8I5IQkrFgD4sB45CgUw8Fst7WJZl_Q1FZTtKZV4duezugEPh1n0OmvohgbpZ2MrNodpJjDGhH6otZEhnTxghJ3luNEBUjzo7gxBpTFrTAH4aD0yIgcXLwTXEqhzlFXcaoDX0ZbABqefGLrFIwm5uf3dUzLhNib8_lw55BY3FbmarA6G-2xYgf8MWhDNVeQykO5O2d00D7aOxGcuSzRKQPPXdCoTIc9Joa4zFgM2UFxEoFPzyzPbE-J9E4hS1EFQadm9V_r4bR1bH9kqxGXUYLmS_QlfCATzvsM9ayeZdtMHkdZDcs1XXiAijAvPFTu49sRr7sKRNMBF_mNCkcymUfF_G2HKxG3X5xdSWxC7rx_vmc8F7UDS-hsnOwsyWj2tpClgbUEwEBx1CRs-JUixRYs0We-94jB_vsGnVLz8vUMM-UVpzmNqm9S5wwDnt8Pp2T_62Vb0kOz4Vu0YbGzTkuAR-DhwvI0K3KuzJokg51POH6MF0Zk6ujBDnx_tIqkASNOQt-EbK_B2m_s1vlyMNbK2BfK0c0-CTvpVnq5fX1aDRimgFYiQZ1na4L1mgAmQIufqiR4Y8e6rP6JTFJBLhWaO-xpp8p84JOn6Gak_qpEI7gFxTf30ji7rIgoasW6Zbf1hwv10hfOOMnipyGYZMoMN4mm8AlZ3GTxC4cid0Jf8eZ_406FRQHug5bf11Ms5zrol6di_3G4wff20XEkUPI4Gtpl3ON9SK9-EWegp9yTksO73H4oXOGXC8dPKNHjq5Ruu-fb2t9zF7Uk4qNrZfUyY_OG_QHga_wvynLPUb6XUDRbIAVxusmSdcMsCBrj7GyOZPZcFw7LwbBDs5tp92HAsArn180LAl-YJW3YJOz_pwnaHHBtE5E6DL-Xl4LFHfogTGhUUjeQey9yGZJSz9pM-HhJubHk1nlJcvYEwSAJ0Pm_ooAqD9a57bAsaTwP2c4v6q9CQH0ZizBhwAIFi8PjrYUXp0Fx3iZIPmqkKtHr3DH-nxA7dNK3UdS5lgJN9-2HmP6Ii6QTdKTAZAstYSLSUKMZf8NuxjcisY4BKsPsPMPo0Fx_73jCAc5KWPnuctTil76FMuyKrg2lKeC21x2CKRrD3Vr_tk7Sl_Mfx2CIwXDf0A2QZWJbO7WwG1mI5kf-U0iwUj0gpZzYvrDLT7GyY4DxLk3LviFByoSZT1fj04nOmOihA2_-_zlowP5dY3FSdE7LP7Cf-ev55FRiDOMF2F-ThE5URwfe_YZEyth0ef-QrnsXlVGiA6omeyDWIpq8rnAlLf7QAvm1a1eJRlbxo-z6QKSdwb1M-5yAGx3TNG9egbHAgqSq7ZdJ-kZ2bocJgepOnH8mvF2c2LSTU1sy_1mcz0KCAALPlSzgc2pZ6c-gbD3OZNTBVTEvAdNH8yVmBUkkgWJ8KPnpfw0D0SMMetzdoSLlEBmWz7ZYWFrW1yJXI4iM2KQa0-E7G82jWsnWLLklgN7adE3R1GZsJrOoLG_Sg_FClUX9dPN6dbmZNMgGaD9WS8PA-jJDpUe2TPLn5d-bXr8Uz5QqrUWnI8ERk3TAc8p9Nh23CxTB3yB3c5ZzttIgv_z9gqC2YUXyCRWFO95omX6Okvu9sDx37ywxtGQRyayiumyis7McU20icvdkJql03zfy7eZzm2-nfxbUXjAhaSwqLms98ifXb3v9zuEKPoh1KCYwfvsdjoePMhocLitZpPrcGXoM45YoyiGkPv-nrrY9qeksoWLr8QtyPcuCijxim-7VRhOUYIgdLncsu7bZUY=",
  "id": "rs_047749db83912328016aacc79a7dc887d08879a7ca4b5431fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.128,\"left_z\":0.085},\"note\":\"The white container is between the open jaws in the wrist view, with its body just ahead of the fingertips. I’m moving slightly forward and down to grasp its narrower upper body.\"}",
  "call_id": "call_tyks0rWE8e6tnGkP60aOdv7j",
  "id": "fc_047749db83912328016aacc7a0999487d0bb306717401bf153",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tyks0rWE8e6tnGkP60aOdv7j",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4774, 1.6176, 0.7494, 0.1699, -0.4145, -0.3069, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4021 left_y=-0.1239 left_z=0.0786 left_yaw=0.0186 left_pitch=-0.07 left_roll=0.0281 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.5966, 6.0103, 1.6777, -0.1099, 0.0513, -0.0171, -0.0342, -1.265, 7.1453, 1.7216, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046e5bba245f86baaaf9cd3a6a8bce641cd03a28a6254a3d89fd6c2b4e9b22ef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61067d98955a884cf37ab7599aa062eebd2735013d5dc44ad344c6e5cbdf6541",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04c328a5180bcb83d5c5a4ff2f21fd76662a91c07af736bc981247a1ceffca3a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.709 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]: [-0.5617, 1.3708, 0.8742, -0.1936, -0.469, -0.3523, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3721 left_y=-0.1356 left_z=0.1619 left_yaw=0.0018 left_pitch=-0.0446 left_roll=0.0171 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -5.6274, 9.7846, 1.7216, -0.2466, 0.0611, -0.0562, -0.2393, -1.2786, 7.241, 1.7705, -0.0855, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMenOudho-BuLRLp-KqAbPtAx8rGyVH22bXot0ctJD6REpv3VeZLIuX8qEj0t-FlRPA4y-h9D2ZL8Ji4XnzCejW7pJba6fo2um6rTi_0I5pDX8ZoC7isKtg0xI_KsR-qw0wBUKiutR-SQqbIFJ6rShfyputl3yJJREq0cOgogIZmaFqzxfMZhyftNhYWgubuEZSWSXNGsFuMK3Fqaj6nQ28AC5weR7c_kc7MgOX1sZyWkgaI2WXLmIMzTsGitXlw3cUYLf8VNXJs5htXoarGTmMgNsJPFjCn0mRxxRnxyU09joPHLC1J0ICUMow3RbtPanQaxNt73Jes85QP6Wv3Gsz_k5yeVAwiPW1VyR_E5dPlcni6JlzQIk5GUgPO4ZkXMxVWXYx7ejjnrwWLzACLMsr7DyYYxMHBefKF721BNOFEiA2TjE0oii8O9lsq-30L9Uc85DssqfZgTbXmuKfi8djwSWhjvBYNjIcuqj2wdHzcJFToYFY33dQ9nHOqRQTo2-3APmnKNPQw5J8QO2Az6GRWYE3qWSNvG4I1dIbeT-HXJ5PErRxQGtiPTR6bQX3gIUehAXue7AeWPoSOMIpnZ5uuRpiw1rmDYkTlitwiXo_BW4q0xovl-sqHUV5GYOv3t9ZPGvIvthG9E3XTgF8z9eZeLJKyMcIxnpO1TRp8t9etjywZkgoTMWBA4GaW2XoQ4DFs_DyzTAPiB-0jMWIBLsXgSG2u9yqchY_G9yhqF9w5t_qDiB1Hsm6-m3MXohfhb6AK0LLUhIs6vXyg68s8vUjLDh6WA7P-k-jvBrY0Kcl8pQin6m2b6qsxCsRUS_e4GdsGb1g1pv87CDOWObIiwzV03Q5lpOh7tDniqdUDJuqfnahMfCeAyej89jA0kyVIJBcGpeMD2d4cGx_dlSWIyOMWezlTYVLaHEQNs0K_jXnWZM1KuNU5POJy-KFoscmtJTsW90pkblizbEHxCu3iMc8QK2qDOYJXWP36uTZp3_2WBBTRW8J5HfcJYBouLu_09fUTcS8QCyAgBqWpzbf2ZejLE206X0bPJH8RqQvW2T8AzhYZTxe88DEQRh7mUQ41RthbY4opQcB3m9IqwzGkLdM88maKC7_MSlfSyCMvmpmpeuTMCu1B2z2o4HfPM6pl-dRLBN34qeBAqZl98_stw32DIpRlK8dFLU3Rn5wnZg_JyXRHAi_76qd7mDNdhm6uXrS9Yk8X4FqjJSHrcQ-dWW5dzlFAeaqPGSe5Oh4TtyDfjrrFipyicPBTe4mLDl4vix3r",
  "id": "rs_047749db83912328016aacc7a5997887d087755f1f3d908f26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are now beside the white container’s body. I’m closing the gripper and will check the opening and a small lift before carrying it.\"}",
  "call_id": "call_RLZldgRJj1oJhEzyV3v68x8q",
  "id": "fc_047749db83912328016aacc7a640cc87d08b31a5ae146bfa22",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RLZldgRJj1oJhEzyV3v68x8q",
  "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]: [-0.477, 1.6176, 0.7494, 0.1703, -0.4152, -0.3115, 0.0133, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1236 left_z=0.0787 left_yaw=0.022 left_pitch=-0.0693 left_roll=0.0247 left_gripper=0.0133 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 5.9282, 1.6044, -0.1294, 0.022, 1.1795, -0.1846, -1.265, 7.0632, 1.7216, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f7fad464b23d43b6755363ccf97324d7f7d8079ab70f61df8c7a2920990d555",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c92291db2ba11293362c65b29396b36a94d089cc7405fa4e3e8d56b32c736506",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb8354015519006eec86108b9b574d8ad465428304b343060423cbe773c90a24",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 2.762 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]: [-0.4774, 1.6176, 0.7494, 0.1699, -0.4145, -0.3069, 0.9996, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4021 left_y=-0.1239 left_z=0.0786 left_yaw=0.0186 left_pitch=-0.07 left_roll=0.0281 left_gripper=0.9996 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.2803, -7.5966, 6.0103, 1.6777, -0.1099, 0.0513, -0.0171, -0.0342, -1.265, 7.1453, 1.7216, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.435,\"left_z\":0.085},\"note\":\"The gripper closed nearly completely, so it missed just behind the white container. I’m opening it and advancing a few centimetres for a centered grasp.\"}",
  "call_id": "call_EFaIjbwtazRDoApftxVvdrjA",
  "id": "fc_047749db83912328016aacc7aaa80887d0bb21f48e789deb0b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EFaIjbwtazRDoApftxVvdrjA",
  "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]: [-0.4313, 1.6962, 0.8455, 0.1413, -0.392, -0.2962, 0.9989, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4266 left_y=-0.118 left_z=0.0775 left_yaw=0.0413 left_pitch=-0.0868 left_roll=0.029 left_gripper=0.9989 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 8.5128, 1.5849, -0.0464, 0.1099, -0.1343, -0.1573, -1.2786, 7.0359, 1.7802, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5556de3d6877547b578e7887cd30564d0faba4ed658fc83f1aabd8131215ede4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:960a5048df019ee2e5e4e25d10f3a7e04382556bb84d0547686526693ac12161",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8d95404d92db5fc6c7fddb293655922054950edac6c68161797e5ebd9dfc86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.919 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]: [-0.477, 1.6176, 0.7494, 0.1703, -0.4152, -0.3115, 0.0133, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4022 left_y=-0.1236 left_z=0.0787 left_yaw=0.022 left_pitch=-0.0693 left_roll=0.0247 left_gripper=0.0133 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -7.0769, 5.9282, 1.6044, -0.1294, 0.022, 1.1795, -0.1846, -1.265, 7.0632, 1.7216, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white container now extends into the grasp area rather than sitting beyond the fingertips. I’m closing around its body again.\"}",
  "call_id": "call_rReoErd2UVXVyhXTk9r36wPi",
  "id": "fc_047749db83912328016aacc7b1831c87d0a9e8aeb86d4e7413",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rReoErd2UVXVyhXTk9r36wPi",
  "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]: [-0.4313, 1.6962, 0.8452, 0.1364, -0.3927, -0.3038, 0.014, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1176 left_z=0.0765 left_yaw=0.0462 left_pitch=-0.0911 left_roll=0.0258 left_gripper=0.014 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -7.706, 6.0103, 1.6484, -0.1245, 0.0659, 0.7253, -0.1709, -1.1282, 7.0769, 1.7314, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a489eeb1b2465cadd8701207aba1362ffd2bcfbe466b255ef88392d3b24ffd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a1ece4133e3d3bf3e15928f0f0fc6976138ca82d7fdd497b4988647a7f320d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c030a8bcff1158d151f2a095a0757a91c7b9dfae82f5ff440709f722c288906f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.624 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4313, 1.6962, 0.8455, 0.1413, -0.392, -0.2962, 0.9989, -0.0208, 0.7986, 0.6086, -0.3847, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4266 left_y=-0.118 left_z=0.0775 left_yaw=0.0413 left_pitch=-0.0868 left_roll=0.029 left_gripper=0.9989 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -6.9812, 8.5128, 1.5849, -0.0464, 0.1099, -0.1343, -0.1573, -1.2786, 7.0359, 1.7802, -0.0513, -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": "gAAAAABqrMe5_cixTfjpzN9i-ZD2FTpWqdkvZ8GUk6g8kVZ3Zxyb3_RSW1A6k9HhLOURbVnF5PH9B1LvR6qx8CTN0czDbfQ2ziSyuXQKYJkcaI5MvSbNkqZOCoao2ON4CK7q6LM_boAwK57Xh8W1TdygR07n7b88u-VKkUgunaVNSoY4IAgxkX5Vao_o3wjjCwQ2Xl9L3oWfXWMZBYE0Oi4vFL59xQi3n6gtWcQkwPz9Q8nPbxmivmITqmhn3SfLXdfhK74jifg6RGPT8N7DLaR-CMmjEIq4E7Oxyns80YpX5YVaBEMffCX2ZiszLIP3ecBYgg3G1LFMj6MlHkTsl-kvJja8lruMa0oaIdbEsx_i4FeT02reQx-slWEnAOFtkRpUm3g1whAGRdpneAygA8h_RISs0xU60miWhuThdQmeCM8ai2SjusxLMQMC3yeEHE_Ja1-PATvpQ8GtoIXmVOLRcpUkH4qQw1akaqw6-vQYRtT79hmj1x7CbqdOU64K1nbzbZeR35qMT0tp9QKMHj7JWR43sazoAx-2OQo1IgafPnFjHj8ubx10nZVB5a-xwvUNUth0QaJmsERReodSQBxl64s2E0F4laTcyJAfhfKfd2lRXIW9kKVTSGtYCeaa6yXxU12cPnxLV2miqntWbIq3kI7gTqeTQRr0NG5qr6Gnb7hakC3pjcA51eU4RYivGwls0I-pBEtDw31f5sd1A39_ExoNH-IeJqcy7JSVE8_quKBUuhDuyJjHwQYett1Od21S1VV8yxKPfWlt89Eg62qE9S9KvsAwKqhm7bGYNG8HTLeUyX1ZYP2lHPtwW0uLmaZWYzp1U3ePIA8gg4PiJwhVOldmD47Q-3Ot3a7IOgcK5S-n1hWKEqBdbHYGMW8mFWasL2z9ACN3gMMioBQFSZ8Wff2xHVA7FUnNEifn4-azhzWNlm3a7DLYjoxSryBprXaIYJHrR8Pb-pgb2adPR6HozPSsgomKeSfd0AOypKVdhEHPRti77p81n8OscSHcTLinw7m44-4ymlBru8MqsPIg1UyOlTWghnkyETbmzo978zT6e0W_bTy9U1UKiLqemBXeLzilgh0DMrnwUlVrDHBlUsYC1v59kB8TdPc3fmpwoBNIWB-bvLqei7VY9ZY9aoCtt0Agat-01xemhFpz4WsUTewb2PUmFLBRibSaahNmUje0yeLlsPQRdtg6rcCh99V4opho78Jv4B-i_nscJNGUXWbutpcw-DQ8l-pcFo6WgD374Av06sRmwQe_ZmKxSJh5UTjEUeyw1sdpU4PGreGnSd2b5gE7yP56k915FJGOTdNeXcij8x6IvQq3k8mT96AoEeIUDzQJVSZVC07358OIm5t3dJLeaRNBH61mjx_kj9IecyE4OlHB1Fx9jZSPTiDmeJITtZwclywxHupC7f29RIRx0bsS4XUffzJwlIfywjlbHni5Ejyl9bkMJIpVfuFGYZezqQzVukhg8eCjQ65Vkh2t5PL_Nij8SnTwGN6O0GSuscCEkjZX6JbKL_QUoHeXapRSnwEmqlQ-4zFnI8ypTK4kGZOm6ISIaLwL8hACnFhUC57zOb1vSPPWW2MFvtqDS7r3-fNCld7BDhD3Cy8PA7T_pn_T_MxpUp-kpq2zm-dB51LDvGE8FeQmdy8SnT00TLdCDuguK-gds6zxFMYQ-aubmAg2_-KqWVUcY4oja2gZKi_JDz0=",
  "id": "rs_047749db83912328016aacc7b525ec87d0a567813bf677b738",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.40,\"left_y\":-0.055,\"left_z\":0.24},\"note\":\"The second close was also empty. I’m lifting to the side to see the white container’s base clearly and correct the approach rather than repeating the same grasp.\"}",
  "call_id": "call_5x8Ya52xPjhsRmbTgfuBa8RA",
  "id": "fc_047749db83912328016aacc7b7f43887d0acfba7fc5cbf92b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5x8Ya52xPjhsRmbTgfuBa8RA",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3746, 1.1622, -0.5201, -0.2714, -0.2123, 0.9989, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3993 left_y=-0.0521 left_z=0.2174 left_yaw=0.0732 left_pitch=-0.141 left_roll=0.0304 left_gripper=0.9989 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.706, 9.5385, 1.5458, -0.0562, 0.2173, -0.1392, -0.0205, -1.0051, 7.0632, 1.7411, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbdbfabe1e24b3f4ec13cbb8560b1a982b7bb8cbdc07100fb2870d2cb169cdd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06a5493e368e39a67d59f2d85e14aedbbabf8f318d944490981f0795726a1f4d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a338e22e0b3af2a372aae178820e1e452456ab645f8a458d373afdfbbf269f0d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 4.961 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 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]: [-0.4313, 1.6962, 0.8452, 0.1364, -0.3927, -0.3038, 0.014, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4258 left_y=-0.1176 left_z=0.0765 left_yaw=0.0462 left_pitch=-0.0911 left_roll=0.0258 left_gripper=0.014 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -7.706, 6.0103, 1.6484, -0.1245, 0.0659, 0.7253, -0.1709, -1.1282, 7.0769, 1.7314, -0.0415, -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": "gAAAAABqrMfHoiWn2cUfPZ3FCwFUmVfyn3vpAE4_PLfAm-Hj0WLjmbcsn2o9De_4oBoxhmA-L2qxEPwcZSWF6wGKd5mqgW05QGZD5oP0YTshFBXRUsimJN9DFElmUHO_vhZt3ohTSDrQg4-uQEu-kjqKNY5vMTayi1dyTPl4jYlThflq06FSfalWE4hDKoamWhgikzTgXhcUaELM9LeuGY0vX196EJasYIp6y0vnqVDuIeWKY1L2Eml8K4RKqIimURmRResdfnaxQFZPo4c2FFpYxx3BxDtBAAd1OVllVt1VRJwHf7ifAAMBfdhcmsXgrlfismaWbyOKbzmu07RiH10TImL6zfomRsiKQL5fz8I1t0HKpAmvBigBVhnn9N1nn9sF6gCTbqJYniiTYlakm81y5e-YEwE7WwQms-ICsLbz7lr4MwdWUalOWOkG5dgwdb2SCHXswQEV-sx1D797s4jNsBoBRWrd2L6Zce9Qp9m42Y1WwDEGoPoRchdI6JDleuSmy98hKfH34hQWiIz_8wPfdOt78kbV76Hp6Bk0-GIRrQlNkQSheBXiaZNEDsZq2H8Be_DveMQ7kR5B_lh9rFwgneqXd2wEkWfPkmbiKU6bU1TuMg4Ejq2-VjwzsyBG-JxoD3fvHXaB7QTm-draQcTZnsuJg36_Oj64LJn2ySWf3vuaPf0JXTeGQ5qQqMSbAFmAYNdYnjDrlpO1I97EsglOeyFaP9HlNLqJsceG-EGjRu09em-Ex4kxoLEiRNvzvhxGwMgzE5gbx339PepBjCieXgSEeUTJ5jiBdtL_dSw6notjjoBd4vBVMU_eIy_i7bBHYNmMMsZA1y1sSPml-8rZwJDt8mkwFzV9-mTFvuXww-bQchr_73JUmdbYRpVcwarDljB2LbEJujNE9_5Rhb7aUHLEJjtTid9qhWAJUDehDPDTAof4u9TYpLixO5EQw3l6zPyJnLGhyaneYC5cGZCddqEA7A2faM5dq5-0hCAHv_JArHLcAQS_8CT93xIxxpRNMtcp_0si1PROWv_x3ag8oGplGpZGclLqXutOjjzOaOVBrC6MpOtiqylvCpF5Zt1FSWe9uBvy-4U5fB77A4TOUYRX54YGn0VnRFgFqeYaT2cwF2cGB7wyRJCOklCmTG7SkhNkCubitaZK7z56n-zYW0q7wmTVfGXSuFqwh-7ZEQDuel7Q4dwzgZCw7dKAgFRk_wnnIoQKiUA2kLvXjjGHonVrDisXLw_eaVw_iMgnn5XbRMyIqYCK3ocJEK3hCxIIyRLzu0U3AUHwN9ZNzE7zTVkZCuOV6oNzpvxHIVGpbYNzLOo1fDgscYORROpabCJSy56zdOthmK52q7eSWUPsauRyjrFtbflfNiLIk4vCFSmVRU9qnHSDZv0bfLQh6sPY8VnxhPIVIVUGS9PaNRfWBRnYHqtUYg5O0F4eQgddjZLzNcmiHMKL_2ToKv6jprBm_w_TWTBQy31OSBbK1muIA5rX2anHxuU1JoUC7VZqip1Srf7XYeygedA5ZkBRoVaEPVW5dAJJwKx9mVOma7TDw_6sn3Kqrjn_hihHDz4NinNrwQk-iZHB1pDgL-ju90Fu71Ep9z2x2QvoJ8yMmIIEp1VQFM3RarFCFuPf6b2hrOpfKZ0-yLG4sYggpSYaFykxSQ7m2e24guP1vsct_fMU03CmfOPhmhkrnUEMkbzkEHgmr5auakrzSOfNk7JHzwmwICv3Gf8n",
  "id": "rs_047749db83912328016aacc7c3116487d0b61d4ae18d7cdc30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.155,\"left_z\":0.155,\"left_pitch\":0},\"note\":\"The unobstructed view shows the container farther forward than the previous grasp points. I’m approaching higher on its narrower body, with the jaws open around it.\"}",
  "call_id": "call_wn2pv2w05iRIWsKTiXipyOcc",
  "id": "fc_047749db83912328016aacc7c5cc8c87d0a289270730937471",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wn2pv2w05iRIWsKTiXipyOcc",
  "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]: [-0.4801, 1.755, 1.1629, -0.165, -0.4728, -0.3309, 0.9984, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1428 left_z=0.1286 left_yaw=0.0777 left_pitch=-0.1004 left_roll=0.0722 left_gripper=0.9984 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.1556, 10.0581, 1.8046, -0.1685, 0.0708, -0.0659, -0.1299, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:229043b0290890659de0b8e53e0c136bed2fdb29bcca2ca33c9012d3bf27fe85",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8715385f024d04f6ba93a28ce061a0e36e1bd213ec86986d45b715da746b4f89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:911407905e225e3189cc4843096685e2fced9b8043fe7d5d92bc78d3c32a8257",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.867 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2565, 1.3746, 1.1622, -0.5201, -0.2714, -0.2123, 0.9989, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3993 left_y=-0.0521 left_z=0.2174 left_yaw=0.0732 left_pitch=-0.141 left_roll=0.0304 left_gripper=0.9989 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -7.706, 9.5385, 1.5458, -0.0562, 0.2173, -0.1392, -0.0205, -1.0051, 7.0632, 1.7411, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMfQmUISVFwtL6b49eFHrgQj6_MXSvwlJF-kPrtldlA1eWAkjXHeWOYFlBHcP3-Athpt305fTeSn4DzSIiUt8Dykv_DIwW-IY8gk2R2nW18ceOuQrzanjDIuBIaOtpQzOJmO0ra_6mXVFzbnRZn4RrWL3lzKE-njgvKam8C4_n3wS9dJwteWH-e-gJ5kFahQpvxjxGJxu-qlEr8JuZkqETQCbisYZ9S9aW9Lp-xfFnHAkAONbWn-OIpmXtmY2Kwbbmkb39EXEk3ADXsS7Jv-ArWmhpONxWVTH0xzicTyicEH_hn4FWPg7Oudt3mXGYLoX3Nbm11E-L-rXHeYVlEpQqAehodDWdcQvx0u1FHksfRTUF-tBi86VhX-0csrgBl6GtU8HvJ7fcvoVsWGBLzpNTmeeU40bfUX7s_AsXuH7iZV4hW2Hhj2Lqvqjia_6pTpfthHVvIrd0KcKCsvdQkLKHRXdSNXf85aUr6u_0sQxAHY6kBLP3ttvl4sjMiYinGx1DU8zLz4SfCqwHuT8aF_9eoFYy9z61jhnNl3HckzXzcjhDx89_qs5HZuvyj2nBGVZonUFiNtMqWp9nQjR75pr2JtRIvSDLrsqV5nYWeEt8kV1dgSp3_0ZjGq45MsEvY7_pzRD_-vlBobokqJvAiC9w5-HNBC0CBopIxZOr4_LEw-9wUJbJXRGC0KJcQrqtP_NhPt7OeoaX73sWnzrzncDiZXLvBLqUDYpivJKcz4mdfz2EC0uYHjjBtmgcsvR9YKZrG09_dFXYsRQJBsu1Qu97zjIujkzEjtLcNUBUv1i6_3_m7brDEvwsmSHoLKZbFnvaVVbZ9KoAnX5PRCa1LqOwDZVyv8VJ2NjHAzNhsr3FbLqwUiWg5Ut9opClCt1pPhd-qwAtF6R_LWDU16aDqJzYKufR-81ef-ml2tGTDZRNoM3IfO6lfm1Lh4Cn1Hwt8TpaecE-FC3MVVfa9Kuw-H488SD1bVVKgRMr1GGUbjD8tVrQGBxXqEY7aZpj1PmCCvO9-1MSsCv7CmzPOfDu0NYmV82-xscKEKrFzhr92AbHbB60P12Y8-lp846wodQcVfhPYn5zL7QhZIg95qu9YwXNY6H0Nr-5Kz8f1VsTxFKsoqDK-GT7X8QVsuKxVy82MJx6VTbRIJaEQDGFXIGUNlm0FxPXoJfOua78Mr9rKuP0lUiq1SE_gsId9waTYtXUsiYsLKrQcJE5BLuFW4-STAb_-2OFF8VnlcjTzbMU33DFTWNOcVYay-VxD1DPL0XM0CbtlwjmwfeQ9ZxhRcw_nvAL1xbknPF9Nq46Y2h2y_CuSWtbWszSoyZnt4HJ_3rH1OomRNpxs6-2X8oTM7ZuCgcUtUp8uitEmP4HvRWr281iEtqldFG3u3e5m5ME2kD4Jyu2ZOgFVfRofHMqH_rrwojbBT5qdnAkrO6l-N308F3l1TBT-Yqo6soMjKPfNS56HmQIn5CDkF-sxbTvkzy1vAp8kWO0XQ2VCCgQ49-JRoYyK2fFHQmAr02XqPH6P-Nq4ibDKY",
  "id": "rs_047749db83912328016aacc7cd2d1887d0a37f24912dcbeb7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.155,\"left_z\":0.17,\"left_pitch\":0.15},\"note\":\"The container is centered laterally, but its body is still just ahead of the jaw tips. I’m advancing and raising slightly to surround the upper body without pressing it against the table.\"}",
  "call_id": "call_WKDIHfbgjMC6eAVz1y4vZwLK",
  "id": "fc_047749db83912328016aacc7cef9ac87d095908a9e381f989a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WKDIHfbgjMC6eAVz1y4vZwLK",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4812, 1.8332, 1.169, 0.0566, -0.548, -0.2543, 0.9983, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1466 left_z=0.1373 left_yaw=0.0933 left_pitch=0.0473 left_roll=0.0959 left_gripper=0.9983 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.9368, 10.5094, 2.0781, -0.2466, 0.2711, -0.0171, 0.0889, -1.265, 7.1863, 1.7411, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f34c866a4fdaedd0b38f5d5e2239e8a539c0448990cb66a9200e38ea92c2398",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc3a2063ec65f66131fb9e409e1de311b0301adc4ff3acf8427177dd09b95f12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75143cb2024d6d3a147c10ea9d686e7952b8c1abcd97a56607f6ec0a8ff2b95e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 9.871 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4801, 1.755, 1.1629, -0.165, -0.4728, -0.3309, 0.9984, -0.0208, 0.7986, 0.6086, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4561 left_y=-0.1428 left_z=0.1286 left_yaw=0.0777 left_pitch=-0.1004 left_roll=0.0722 left_gripper=0.9984 right_x=0.295 right_y=-0.0006 right_z=0.1798 right_yaw=0.0004 right_pitch=-0.0114 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -9.1556, 10.0581, 1.8046, -0.1685, 0.0708, -0.0659, -0.1299, -1.2923, 7.0769, 1.7314, -0.0269, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMfYJ25V4epag5Yhy_tItGcciefBP0eg9nsgfcNNjwEG9J52W9QFzZDVpqz1W72PNpnBLtjV59Ng1bu1fvxq9YQ90KXJykfuxvN2YR240wXLCo4bwJ7LOwZa-qxxu7hofPVFjM_moa6DyNKSPGq30yfaJ-FqYVG65N0IF5w2qus6tEuza0YKWZQZnEP0lFg_cxqI7EyNA89I6s4s75bud4YTrurDp0HjCFmvBHYW518PCf74U3rz8pHEsMqwmBGIIe0bnsHLDug0v_PRw56s6BDxDXfgMtjlDfVhJv5asBy19Yt95EUoJkKHIOlcvIZRJTWprhtG7DD6mTjwQjX23DtbNwH3QZMIMelZmwa0SCAfYCW_gfoEGOO6-pmKY6c8XAxWLHUuiZ8jw-gT82leBqOmoa4fX60zgCRw9hPzNZP98cR7p9u3LqrzKJrhWX4M7mrnFHAO5wr-fACHpjHJODd7V8MFEN57pMbCowlSxrv0034Ox6FdqPFa-HGqdassY_QkZtRI7hmCI9EK-ChmVXsa8KliXDhewyRIA1rwc-i_LEc3NaJtFBfjO7IlmolxOKtlqqaTBYHbrxDFUIi1i47gFWFA14JoxqdX_q2KGsjFuQBdQ2jyJoSViUDxSHX9bd-6QEvFs4rF1XpbniFyer6ekylz9x0GAefJ58oRamQuanCCC3Tb-dv_ZRe5BmWVL_jDL1yY1vUTGEy-w0qYcrf7sD93nmK_z4fJ0ItSrxDw3g5DaBH5s8D0WwMiftCFi4PlrSHlO7_Dtk0ht9OOveADfvQv8uWi9uiRbBUNuHTU-y5EA8GtBatLVQbhw-bo78buKIaoFbUImVi8EYeE8xGpxLou6-WFx-LOoJ1Yc_v1B6OAGdnbLT6gNEM5_Zg5UhmoaZm1gUb6VCpCJKUvo8poqmktsu7RGABYyfzAHrbXgXvGaV9F-J28cJVACZl-7e_JyDAFvpIlu_EX2iM2rSN3km6o-kfIkjPsmxgfAYDNk5swkIg46V_QlLIBBH2SqLmZiK-M3d-KdVcrzDjQlqs4xpDZnN1GBz5AqMjAzWDjyX3-VGDjj5lsNeuEMyiaYR8S1NklYD1Zrw2GdKZT7PbH3F8PbdnAM9aNnbTGcIpygQz3EHSpjBhCSzYCNPbI6IFazrLCLIz-s67B2DMXtub1EPMfAFxtVJEhtEnajaRhp7d8m6MVH3p9bNN4oSOwDu4pxlU92kPaEklQCUQEgD2eLuxgY7M8_9ZpmcMQYgrXvC5OR4vk-1_PF4P_QC_KG5jx1SMa-aIFm6ZcQfN5rhfidCz_qGCDB56_DjXy8HcC8zShrTklf-K34G11HQ2YZZ82FFRw558XxJGTa0YLghLWEyr689I41dC1VQBMW17fHQql-O8Rob8wnx2JzqQRxXxYLH8fi5hVf3UMyBnofdWGGsdoelM-BjHIg7VgMDxWSklux9VWSug7yXDT_DSg5bZfCmxiMJiCKGOTmfIFpbKlW1ITkO2gZe4E70c5UDT0u_URABtakx5iV4OXgger-SolbyreO6GBApEu8_M4ZdodzoXYtuJuUim-PIU7-F_Aqdts3Y2flKcm6tPZGbsnMXAcccQL-m4-Q-Wob2LKv0rRvZmN3uRvbsWLhGr5PoWzCok=",
  "id": "rs_047749db83912328016aacc7d432dc87d09dfbd14cb77e133e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white container’s lower outline now reaches the fingertip region and is centered between the jaws. I’m closing to test this corrected grasp.\"}",
  "call_id": "call_WygQjOE26XwlJ1foF4ITA7wm",
  "id": "fc_047749db83912328016aacc7d70b1087d08d62245ab7da6487",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WygQjOE26XwlJ1foF4ITA7wm",
  "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]: [-0.4812, 1.8393, 1.1702, 0.0452, -0.5503, -0.2623, 0.0139, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4864 left_y=-0.1457 left_z=0.1329 left_yaw=0.099 left_pitch=0.0348 left_roll=0.0991 left_gripper=0.0139 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.0718, 6.4068, 1.7607, -0.1636, 0.0562, 0.7057, -0.1436, -1.2786, 7.2, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0105040424f77577f4540afa67420356a0eccf2a4a8910d89f4209aff6890e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e41327fbd2c12b1617279ed05cf661e22dc14ea5328f2dee900bb608b8295153",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a166c98a38ad8db8cfa00617c06c65eb2992ff544508b1168732de5796853a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 6.612 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4812, 1.8332, 1.169, 0.0566, -0.548, -0.2543, 0.9983, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4874 left_y=-0.1466 left_z=0.1373 left_yaw=0.0933 left_pitch=0.0473 left_roll=0.0959 left_gripper=0.9983 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0001 right_pitch=-0.0115 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -8.9368, 10.5094, 2.0781, -0.2466, 0.2711, -0.0171, 0.0889, -1.265, 7.1863, 1.7411, -0.0269, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMfiFJS6PQjT4WxozQ1iQL1x38Qx2T-SRmnSfPB5LwlNTrvxHodurzx3EnPE6CIrXfM9jSpKWB_QAmrfRpKqs6HrZ6XUOfZtxydHQGrhdoXi3ShBZNpRsqvD_wCYMswJflqEUoqz_ty2oE_4aUhUf1OWtvPJ2KoAPJjg9_-xj6PpF-07To2Y-2A8JhnrziAlO_xI7D93zC55YiQBbxTx1ZKovwrplAcaxvoqLMbL3jQ5zqsldrY2h9ymHKySjDrZ-rB6D2WDIUh46mUEIY4U880sehM7091Q10DmM42FTkql_0DqIv7C4Lw_q3Z6921d-frU51jGEEZsCeFLNizrYYIjfz9R5EUF1-SlfpmZquElYRXpAyludHIxv_cNcrM4W5RDE-HgvvEZc55yo_yTCfrN72FaDEQw0X00axmpOD5O7SJDsGEtOyyTPFJG_3d0aXtN8u5M__Dk_CBUbGvtbWPYLfGfgSmzEQ81eryICawLwAHrByWe2ZHbrURQp6qUin98RfYndD9KKapnHdGEFanQPhm_UdF6fqCg5-qMCKy-FqVd1AVyp_nAHvsTXybGRrTC-YL7c7T00cACEkx8wtbhzKZ6A5Fqmcxl6blRmQSNtNEDkC-UWLo8jWUrBg6xeWs4QRRNmTXOglgP9_DM2rimgMH6M_qW8iUCtzPb-f9vXVQDk-Vy3RJf7m1PeY_EX1YW5rpDnk3JEOVc7SH4EWBbvgpIQX_3WCZJP4z6RJ2afyyWroUJHrqqnL4W7vzok4Iob2YA4yn-SLz3XF0VQA7Ih1al2wnq2WNsEieVsAj309hgVau5LcRKiuMtT40qBASVjRqZ1xWTSYNkKzZDN5vuvFVx5BgfPBnDb2sqPdzMdSLFT7fh5BRJSIdksqrkuFnoW64VGutH-BK_U81Y3F6RCG_m65cvmu0tBDsWs7Ux7Ej98OsCWyAfRtNVDKk4exTeytvA-nVoZFGsOGT023KrjH0ZVspIDr_nhSUXhMQJxn2oTev0S-hooRAN4bqwBFj58xdFv82J4cOS6wBG4LK1UBgRlPpIWqLbRF8_WfuebylSp8AQNfd5JZRZUoq9imGh43R0YEihsOVJ9P4H2wFZZ5zxbQAT84FDMDQ-XwBI6_LwU00GA-e1BKmBoBchRMUVjLa9mIPWqkUl24nM375-1X4yCeZmblJJ3eyS4_kTQVz0IZ7s71ACMHKS-nxUn7vV2KBMY6pODqwUL7-d5fnDtVph_ALpZWYZXAqhnr1moLGqDCFbR3XdMDeTJx4OKQTd630adDjhCzJDBdFCTJYF8dbxSuxoFfKp6nKDPgysyKq4DY9d7YNjHzROX18fHV8fOHVpl7rHmeiazd_oJeExNU41ztTYQTm43t8pZ7zzl9pTA0B2BfuUQEfQHfWZ4tOb_XKWjwzrGku0vnZxolLZDCvN4hWOMPqNQWH1Ly2oG7c0t3_IUNYU2q8OIQUT0tDcdN3RSQMbKn3Rzaejk83ZwnZw1FmapAKhSVvyUhgxLUOEqSlQGVH7Q_bVh-_IpFIvgEdzfDmeMsTJeQZRYl0ntcJ1wFicekiQzCPSoOfod4GEKQcv4nSZ-hFGb6BJZVg2gH6g8l0M-pCNiiRisFDAvxHygce2Qoyv1PXbw7ajANgu0p40WcXOksK2NJvjvq_wACJOsY5Aie1L3XpyqGhH0mQdREVtp93HSv6jiu2qphc5sPqunnt4A35A5h-2ZSiDyJwOM4kIjPa-SnWbqf-25Llx98rhy-r5sVILWfGw8qwWarHDK-XHnKetX9fAxtnI2ap6pOK869MiGOUiPVmJRD5Ed6UXCeuNR9JpLmxh65LV8UgiceA3E1xZhTTucUXonyS_Z01ltUFc8ap3DjsiuAqQonYIyppKyduQDIYG1FzkQmdQk0GwSCQnhphx91cWH2BP7t6CAonXqkmWnjHs-hPqB_wKhLO_mW3YWhBfSARKRUSpBSlqC12PWmUyOTMwUoOY_z5gE_kGGRFKrnJUBy7lir39Te3he5X2_qPT7ojiRyGMRJli0pFSggZTe502bIxVz3FEes7-ekH2eQjShrh9Fhfppkc9keZ9DBthZIRpO2x6_4brxiXCNGq3r0oX__ZJGCsh2vRba52Jj_8POoH52MgB4d5TE0Stw7R4cltQ7rd7UJcrFnYM6n6xI4MciABvvggt8NYqRLhjRSJSpg==",
  "id": "rs_047749db83912328016aacc7da9bb087d0bb533a7ee511e2dc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.535,\"left_y\":-0.155,\"left_z\":0.285,\"left_pitch\":0.25},\"note\":\"The jaws again closed beneath the container rather than around it, and it has shifted forward. I’m lifting above its shoulder for a top-down grasp instead of pushing farther at the same height.\"}",
  "call_id": "call_1BzN1GeL3vPF1KDH0PceTKlP",
  "id": "fc_047749db83912328016aacc7e09c8887d084989ea15aa95d12",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1BzN1GeL3vPF1KDH0PceTKlP",
  "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]: [-0.4698, 1.8465, 1.5509, -0.1276, -0.6003, -0.1818, 0.9951, -0.0208, 0.7986, 0.6086, -0.3855, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5289 left_y=-0.1526 left_z=0.2636 left_yaw=0.1221 left_pitch=0.2116 left_roll=0.0819 left_gripper=0.9951 right_x=0.2949 right_y=-0.0008 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.2786, 9.9624, 1.8339, -0.1148, 0.4713, -0.0269, -0.1162, -0.9504, 7.0769, 1.7265, -0.022, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fc341e41d569623b377796cea3608388b1330f88553edcaeb285978e81f13c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca781d96c18c7082aea4d216d289c5d2451c6bbb0f75ddfa8f0b0773a54306d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b255775c46ee9073668e2f8a87b0f66bf438aeef4a4a29911070eea91b8caa6f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 6.07 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4812, 1.8393, 1.1702, 0.0452, -0.5503, -0.2623, 0.0139, -0.0208, 0.7986, 0.6086, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4864 left_y=-0.1457 left_z=0.1329 left_yaw=0.099 left_pitch=0.0348 left_roll=0.0991 left_gripper=0.0139 right_x=0.295 right_y=-0.0007 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -10.0718, 6.4068, 1.7607, -0.1636, 0.0562, 0.7057, -0.1436, -1.2786, 7.2, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMfqmNkTigE8d-cTxVO0r2KJ9gZJuPSSc5quBYne8xi08UwPoSLAsHJjY6S7oRfhwQcstRFp2ngWSvg9ttYiS6J3lcYP9PVkBeLx9y5b4VkaoNAacg6uvejbRLdQ5FvZ5iqjeXK6hatzW7doh8GEGf8UEEVGc3XPgGak4JdlZC10V1OkTLZXcDHSulwO7wINdd1IlsDG9zWAEPSQarnBrpiz0-K8ywaRvAE79PLQTfPYVq-4Vh2OOTjsXceRh_UmAabwGtPB_T71LwuriGD0u3vjQ6ujSThMY_OCr4mmEaQW3DOpcFwifEW8R3VhR2ZuYL-p1LtANQCp17G5Un-_fASt3UGLy9IlkgkYmcwP2iUe6l3A7OPycFk1FRlhQDpEZiIiDRvMMnYJBK4-bqe8fCiglMKq_cfn95C75lGyjxs2wehKkLvpHTjAk39Qp1V33QyPU8-CmjD2MP8JN9dbiSQJHQa1I3fcMBLlMJ9LJzB8YlJIU6ncX1HPtYnc_OaH4B9-32bbFTsYTVEKzqKFrXGujH3gNW-zSCQoYD4PoRLibgib9crlVsgqcnVz0v-dYwLFYikev1OcCwh4qSiCry2X4ZvE_GGHNcoaYAHpSpOqDPQEyzNCKBNiQh013P7lAq7dhQ0pxjlKygvB5ULr15EstPtSMp2wX8NzF2PhVZhjFFdgvSJOPunJuhWZWnMcnDOjW-QwITTN0tSmICQ4Sl5sCx6gPt5rk6AI5qxF2T_axlwvqrQAXxYZQoARQQPxHfAo8QXX3eGWADixNLNhFPdTw7ZzHcWbcMX_6DLWbuFeNzujZ_dXkOT-uMCRJLo3MeBNl2k9hitPIhUp-BDJK1JXIhizMMxy717PDc8z4heluYyQmC85wpEpw5Dxlf8qVgGepwrajaw2iyw_7MiVnYWJNOUitV72lh7ANZSQd2bhtWy5rtDDpXX4Siviiuid9ebiCsAty3lOuw6D5H4UU_C7e55xMufHjHrp4qMQwlHuEtWeOPCIb5uCQiz5dNtpOtIm0cLhDYeGbDBY2S_InqX5Sl4ip5LN_td1Bs-1_qMDPcGXQCtp-eQ0fSLHyFPL24FPXUB1w2Jmp7Neh9iOgzhzzQwkgYxDoR2frn0J0FR4TDI_OiCeBazFhzxQaWDPPcbfZiprzxZS9gUvycBjezzsQC9IjscRMIutQACe-wKXC8vGGDRrzgjbkZycJwaRarcubV03F3mF24YHDymLtgC19RK_7e1MO48q8LnycDQYi2veWPM7PG8PKHwRC3X1JAxKceA18tuN8Hz9DHsqiaweNobg60Hby2mD_ta7mDcWB9ROdUsFgBpIaCXmbvAhvmXu-1H7J1-nBrI6W_COGI0XQHGNe9FuVltBhDE4w9-yNiDydcjw6BXV7n8vKrv-kbbNJ4KIWsvwxdpEC0zvkUAl-v0-8AOZR7KF9FHZXsX0Z1WKdNJtFvNbxywXLysComo55cd2z8R_HxvdwR8RNb6ON9G2ri7CoDl7T9-bX_J0iXrb850haJmyFLwIsu3R5e5hjRlpSDmgdYnMWYzVBnFz2sIDGRl7-WPpIUURG4Lh0RhAaHlxlwlJ2CXc9B9Pk8CeEKLXJKy_Kcm5d8ChbYI3GHbKOnQJU9A0iJE5DpF4gVg5rNtNCdK4gGMWS113Bya42-srkHdd4Tuk19FvaHHxLS3BJR9YwZc980a_mVtqzow=",
  "id": "rs_047749db83912328016aacc7e5b22487d0a08e19ec555ee34b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.535,\"left_y\":-0.142,\"left_z\":0.185,\"left_pitch\":0.25},\"note\":\"From above, the open neck and shoulder are visible just left of the jaw centerline. I’m centering over that narrower section and lowering the open jaws around it.\"}",
  "call_id": "call_3Qut7P1lZhMe4GcH76mQ2s4y",
  "id": "fc_047749db83912328016aacc7e8e6e487d0af4afe5b57034f58",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Qut7P1lZhMe4GcH76mQ2s4y",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4416, 1.8992, 1.2922, 0.1688, -0.5991, -0.1638, 0.9967, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.529 left_y=-0.1359 left_z=0.18 left_yaw=0.138 left_pitch=0.1979 left_roll=0.107 left_gripper=0.9967 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1145, 6.6803, 1.8974, -0.0122, 0.1441, 0.1636, -0.0889, -1.1966, 7.0632, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bbb34db51ee3e4f3d604518e0b223d95e70e4d8e6c74ebd962eff0144235cf2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d79de41ebc92caf6c09584c358e698cc55e126d9e9a6fdb76cb1d59c537e4fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75614c6b663a2e72077c4b82b3cb6c5b006a9dcb8675b8c3cfdc090a126fa122",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 10.51 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4698, 1.8465, 1.5509, -0.1276, -0.6003, -0.1818, 0.9951, -0.0208, 0.7986, 0.6086, -0.3855, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5289 left_y=-0.1526 left_z=0.2636 left_yaw=0.1221 left_pitch=0.2116 left_roll=0.0819 left_gripper=0.9951 right_x=0.2949 right_y=-0.0008 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -9.2786, 9.9624, 1.8339, -0.1148, 0.4713, -0.0269, -0.1162, -0.9504, 7.0769, 1.7265, -0.022, -0.0708, -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": "gAAAAABqrMfx7dvd9c3_2PKcYRiZgVitisNzI5gsxqufjEWJo7LJiMi40hz4MwqvVL5fgF2HBZJNHTUTo7Yp9TUccTdFD_5jmJ5ZBCvGRIFu5qImpvv9BYEM_aoylGd8bWgdv6sB_Ogg_ysm7V9oTKqeN6I1LaP24wTWuEzR8x5RPDVknNqQFCU7xx6XAWD3Ru3E6Y1AteCYipjKttWTzp-l2E5zkI-qB3-EBqpKDE9n0AVM8INWaqixziMoz4z5wb2AtGrmaQ7e13cVj0LUoKL6eGMoWc7M2FIKay3mK5UnuFEIP7b2Ab7bsS7rKUv5wn3FH0HhsmZE-2G32ix_rFroMT9kX6TTthwPo0KDsu3M7il8gbOn3e0l59MoKYvZ1GIBvXw3DTnAl1SQSiZRqM07-uifOoJuivgkSpAxzhHZwkYyKG9EKdrzgZYHGR-8FzrpMj6RGxouv5Tf8KrF7z5UZUeTC9lIoYj_L0rSoXy1NDgpwfj_PsRIfAoEm3E9_rLU4M3hOoko0j2e_IBv-hySy55A5L-1GbSx4LhyM73JnadTHfO3nx0FSrTgrRybjl2n0FLK0bFvKmgl_ED3zViAXnRuUNXn4szKLD7CAbh_KUud6Gfy0DytkKLFdQAi2p4I4QIFGgW_OKO2Qvpzach8VCrpAKGcR8OK96xCOZ8xRdPgMyqilciL26wH-BiG6rZX8rRhn4sGWzEVAyjfq4tZyTiXt1uw3IDsjdV-Z7mYjhAppAluf2Anq8-7KGZCBJegVQNGdDtYoHoWmJzTP4K14tQsze7ddVxlnGxMkER7NEqF3oGc4BscvElxg-a6-j50ivHySEVmZqtatXu55_SyZdHRP7kEa3sSODXA1AOGhFCWEIn2J7iG7JXTskAyc6AV2n1iODrWyYWKreOyxKqc1_jRSAgyqx1K7BXrerRai0mTw6A6NTnZ2DSG7ZWqSSkJ64-WEi8ptk3bYSs9OetLvE3bXvnWCGBDzDYUD_zB5pbau5zaVqM5jK_VFT4t1r5f2PCgZ-hm6igaeys3G7655ru9Au4c5PdnRkYbKMWYbdNKQqKlUavMe5lIMTl6cO8HjclWwKp8xbKY93XG22W3o7Lz_JWLOAs22QEgc-E92dpC5prwRzG8XPbnMMuoxRw7XYHY_RycW26M3MPLxq-FumPj7Z4PF1TVtttXjMqHiXMoSHRop7wC7wwD6DAuvm3AU-itiqKkCnY10cOFOW6MaVzhyAEG0Y_ucdqmL3UKUGF99chDbKaYtVdwX_nxDTMunTpxK-eUJI6QUdDgDPvjJQj-j5CUAvujRkcASxwsiiFcdUX7Uhag1lgjWUa3XrUh1AV1gjOQRiPa6rIb9250pcWjt7KttaPc_g4il-bdoscamb9NIomk3k8gZAX8YHufo4dVkQBr8ElUk9DZfhfrK5eeGd13lg7CEyC54EpQf06gMF_UxGzzLpIx0QpqfZCfNqFPUpCG6v_dt61P5dOurdrFZ7aFqdOyZY3PqCesLoxzGW4Tigg=",
  "id": "rs_047749db83912328016aacc7ee1c1087d08f61735fb1d97dbe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws now flank the white container’s body in the close-up view. I’m closing and checking whether the container holds the jaws apart.\"}",
  "call_id": "call_2aYxsS6xr9Xe7rhFMCgHSPo3",
  "id": "fc_047749db83912328016aacc7efb4a487d094ec24eaea1f920f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2aYxsS6xr9Xe7rhFMCgHSPo3",
  "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]: [-0.4419, 1.9095, 1.2781, 0.1669, -0.6033, -0.1719, 0.0135, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5269 left_y=-0.1345 left_z=0.1685 left_yaw=0.1426 left_pitch=0.1774 left_roll=0.1157 left_gripper=0.0135 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.3026, 7.9111, 1.7167, -0.105, 0.0513, 1.1795, -0.1026, -1.2513, 7.0496, 1.7216, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7eb6ede8b0135b78fe4320f588de12479e413ecd6fdaffc9fbc03346973f2ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a1393d937f618b7d417c983f9105af18c2c9e7bc5cf09e33c33db00b38097ae",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:610ea678db06271e9c93d7f8b52b640f9aae1d9b150c4e28605f968387175c3d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.676 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4416, 1.8992, 1.2922, 0.1688, -0.5991, -0.1638, 0.9967, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.529 left_y=-0.1359 left_z=0.18 left_yaw=0.138 left_pitch=0.1979 left_roll=0.107 left_gripper=0.9967 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.1145, 6.6803, 1.8974, -0.0122, 0.1441, 0.1636, -0.0889, -1.1966, 7.0632, 1.7558, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMf8-zKPjCdf7xcK4SKrtFCFTQGjhJhrOT4FCj_vD5g6bsoSVVLZGes_w7to01eJzFjOfZp2u4Ktp-FxisYLXEIdc3CfSL8OhvfOB9mVfd-_i-tZFKgyk-OMcOu-vPxBOFoO2-ptThcegmhVi_LEhywDCxLAoxDqwZ-wcwqKDmNXdNGsU1cu8LyiRm0hJ8kBMZyVrLe7kA4bvNKax1SS4AC2tpCG9W_ZKTgPUyIIxlxrCl8w51SDjzCNfC4Ym8jJSg8EMZUhLOE4Qi4S_Shb4iU2Hs0VGMNkasMz3zGvy0atZ3cGVhll9Us1iuDiWz8UVVhWkGdr8zQeT5XZzfLixaxt98folygnp0Xw_fWnDbAaMOZMOLgojtYzcn66FOBd0g3O3JS8j77U7n9gjroKEOs3AWQRM2pAXkxdW59IZM3HQ6Ow_jdIGt23Dvu_O5-n3aElIoM1U42ZH445xKfo-YitYiI0NH1jrsZqhaZ2FllXuAR-SQWTfrgO4P4WVSSPUJHk7TqTZK1cFbm4N926RaYIVn-0hZDDD9OPeOx2yD25r7E2zzo9dN6OHdeasqEHEIbZdy8Y5V4VyDyQgvbLXRTr6qR45iiFT96OpgTrU_OWOhgCrN9U5r2kntbNnRd1Cc8YSIzQV3X2rmpgfxFhKW3_nTisGRjBK0zzFbFXEcTqe6ZVjcqPUiRWV5NGmoBYrHem8zDJtNFJYWe7NNDGoKHhnZt3ZHs_gu8_WpmnnK07efNltzc6BhNVRs0NqtO-Bm8pAmQIcZn7F7RHfHzJdxxPpUaOZf6PgMsHTsmVvEAvb4jN8eNPfYPO6WHwZphQLPqq5VQrOljvPvrfpVGIsRfF9vhbO-t7u8adVFRXecl7GM1k7qvPKp-W6cQ-NY2PV9GKqY1Y5WoC-nj2mPWkCCXKcb_4myxJvsxC4BGiMolCc6JYcNoa-PYWzQ0nYGFCRIk0zfIunOflkaf5H1rM3IkEvY2Batmr4aOOcZfVg8lpBttjM3WDeLvDw7KKI4ewxcR5xaaHpvtP7x95bzJtP0fqrXOvNCne_NxIw8fMW7HAaR_eEtX4nnoRJTv2Q_FHghiEFiR7I_pACIMuCAiv5ofdz9_sfU5Wkw7L_wlQVzwIf1hMvfArY0VJiar35u3QFRYBE4zQO0R6HGuwDusaFBX6poESEbUYhRauAd7WQgjySe1fQP7mwwLf6tX8WBMk2XrwQPfl2PwePqnCsLs_2i2bs7m9zf9BnsJxIDhKAS_xLq1HYB52muOvJ04c3h_cexUQ3yMbZi0ben30tlZ4zxfqYAOsCXtNsatvrAWI6lQU9ylAzTFkJ7V4a7zUUbStnJtxPsfIDuaxpil9HNSgV4PCrGhwMxgfF3cuHSJfRHdRNo3gEGBWM3-PjgWzqeVvVz94jk5PYNkQ30vxpdrqFKWJyW7TZHQd67-AxUuGQFCvsZaV4_YEYY99EtfePArRZhA4icVfWoDLNBMqLApvrFHNTJIp3SzUgH3c1eXwiXQNLHyUl6aHhoMihOJwyxknXu_d_yfgJc5TrKu5ad3vWwqzOQxMayX5WksG-fuGD_Z4TxwykXLN_s6MwfL9Zz5GgKExEus8GWPkeTVwBXQUwBAOYdcgzArUbT4DdK92OeEIKalkPwyaE9fCP7H8FJbYcTpDSMvhQy8kYA7oN7ZM-FkBBXjPIk-rM9rIDsoRl9YDibyp7bWCTkV09Jh48aglbbCraAH2cWTfTjP0eMb8F-AexwoQgxWgKePSmJxz8B4JKYPBBy6ClXtNFhidcX4EK3kT11bHOp-HL-nLhztVkzF12Z_oXDVpQug9tN5GKK0P0ILCUgG3vGJm_7Ozryo7bzgmuXlEM6T1j1vq0P9jhJbd4hPpIxpwbqiW7JPN1sKM5HfZN1j6oe6czb7mA4szMQ7QPJTMb4rJx32WFEUlk3nsIfnPQGMOm-a7N3JVhqXtjiNpe2QClfsEMs4JPMErfnoyMGQ5E3pT3Bu9ow3pBx1zCA==",
  "id": "rs_047749db83912328016aacc7f5b93087d080f3605c40f1846d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.585,\"left_y\":-0.14,\"left_z\":0.235,\"left_pitch\":0.5},\"note\":\"The close rotated the container but did not capture it; it is farther forward near the red cup. I’m approaching its upper body at longer reach with the wrist pitched forward, keeping the jaws clear while moving.\"}",
  "call_id": "call_uNQZoIFJwZY5n3cnvnYRZJgg",
  "id": "fc_047749db83912328016aacc7fa2ef087d09cc3db06afe83515",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uNQZoIFJwZY5n3cnvnYRZJgg",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4156, 2.0552, 1.3949, 0.4934, -0.6323, -0.0086, 0.9955, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5771 left_y=-0.1367 left_z=0.2077 left_yaw=0.1541 left_pitch=0.4212 left_roll=0.1191 left_gripper=0.9955 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -11.0701, 9.6205, 1.9853, -0.0464, 0.3834, -0.1685, -0.0479, -1.0735, 7.159, 1.7705, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e53f213698d700cc86ed2b649dfd7faaff62df067643c9415d6f7580ba74488f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d12655b21fce66c1b1147c6b575e2d382e504ed80698535fdc2978f0e2a4491",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da6ff4c88f058f94c66f5cd442df5882e8ad57cc6a8d9ab22e0d9e0284b6df4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4419, 1.9095, 1.2781, 0.1669, -0.6033, -0.1719, 0.0135, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5269 left_y=-0.1345 left_z=0.1685 left_yaw=0.1426 left_pitch=0.1774 left_roll=0.1157 left_gripper=0.0135 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.3026, 7.9111, 1.7167, -0.105, 0.0513, 1.1795, -0.1026, -1.2513, 7.0496, 1.7216, -0.022, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgDN1gLuqT9rEvgRc3Fh3HL7sazynnbNlvBlbSndxyYghi9ouvN1vfX15mNZuhkJaOPcZrxfayfgzOIT1_1lYskI5HDmppqkRNEso_jg8MwmGj6pKX91p2o2RU9KI0_VKMMcm4NqXAohmsLYe6e9YuY3GyH9aINfDAYoMUh5xxMPf79Dk1YzrYf9JOOl6-XqeFgZPkPNs1fgDuki9sertDR-38YZio8iRxcrAX5HA7KaBwcOlDkrK3JDmndvDCoDpSQY5KhfCRCknJ8qpPVMdLO6WHiwRUtCN-Mxse3xpUxYQDQuBj151osAQjOaPyRZPDkff9rkEKINjJJWVf9S_HxODk32wD2fmwv3qwexNNBFYsBSKtKCmBC20hkGmZ0OWpu2ube6xAyiNEQSSQJEZGdRxOURXv7UttKf7-r5Kn0mHr2li9pkxl7IYhMo1rjN4nhn0T7dpL-YsDr9Z4j_gbbI8nRYuUASiCaurj1YAy3z3qBcHt1NXIxKRJKuYwTgXBQFaUKe9cwh3nh-B-7OMDSRtTdGub5wpDvKYgZdeybu9StjBKtq8T5_XYPZLOg86eWsge_JDF-Tel-RmTqirGfbx-KfocbKOuwZBFkMzO75g22klX9uN56Mptdrw1SLETM3RX4SZcK2JyJOoFPFeXVoaZMSjfRlILgw_ORYkIRqp6dGduwq3e9YzqHZ8tG0aYSpSJj6fgnP_pvLw0sjheEJYVPvFO2eepXZY0rIYa9bbrFnTL1Ad8vDVDdsJMgvx9h0L2R5ygb6BaZWCLtD9kDOseNBJvaDAfHvKk1fIbzCC7pfTw8Mj1aTyJN9idvWhaCcRadX3ae4QIQYAnadTbYkdl8XPPyiWMv5LikxwfpUCBR5ZiKr5PQbwgS8FItU3ICmF4HGfyxltbJh87RgvyqDBXYFhiDYETGFH3uuVMAe6y6IPcpKoLOop6E-h9U2sPZy0x1ZBJ-lzyLRXF11Asa49KZ8c_xklA4p3GXipDcPqEnb62Dt4gswzHVgiWfQwcq5Ow8PpBm4yV0jM3qdxRFUROOhSv5z7ueUzEYqYqq41SkXN_BowVksWBC1dDe7zs5Ex6ZjjKOK4OJ-GlnEQUQCP0t-HSPBcNs6XAgtb6CrPKanFf-scE6xEc5eahT9kgEpheQeTfaI6tSPFQG7H0rE7NaoT9jPH-wQMrw53kV2_-dGCOrvx84-0rOCqJBb4u-4rUp8Ww8we1YlsgiXfzZ_Wg40V75zfXs6LRrInK0EahiErSo0MfZkC9pYfDg_mQIgO-7hPAilFwCfdPFA0_ryq0KntN1UX0Q1Estt2bV5T3d8v4tEftWdzHanQDJzOrPbNgfUhVG8uotGpPm2whPiTwrw-q54mo4Z8HWZDf72ufOXP9pRl5AaEOmx1FYoihviOYkhOcD1LG0AXtWnruSFk7WM2bUlEoe3YCQRggOUzY=",
  "id": "rs_047749db83912328016aacc800059087d0a67851d60d1135bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16,\"left_x\":0.585,\"left_y\":-0.13},\"note\":\"The bottle’s neck is visible above the jaws and its shoulders lie between them. I’m lowering a little to grip the shoulder/body rather than closing above it.\"}",
  "call_id": "call_Jyaw59iybcNWXKIE0ogAwioD",
  "id": "fc_047749db83912328016aacc801a5b487d091909320f8ab95a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Jyaw59iybcNWXKIE0ogAwioD",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3992, 2.1391, 1.354, 0.622, -0.6373, 0.0101, 0.9968, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5834 left_y=-0.1281 left_z=0.1696 left_yaw=0.1652 left_pitch=0.4235 left_roll=0.1378 left_gripper=0.9968 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -11.1795, 5.8188, 0.9792, 0.5348, -0.359, 0.1245, -0.1162, -1.1282, 7.0496, 1.6923, -0.0073, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5534101bb72ab91a687d16d057e506e814dc43214a131f72a8c22f06c1fbb0c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:325f9a4e5056eb32d7c3e5a9d313866f1cb4ef489f8c0a01227daf45ac6d0b29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3eceb8963ef7fe80a84b2c184ec3ab4a8816af39e6b27b69e344a70a7bbc88af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.317 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4156, 2.0552, 1.3949, 0.4934, -0.6323, -0.0086, 0.9955, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5771 left_y=-0.1367 left_z=0.2077 left_yaw=0.1541 left_pitch=0.4212 left_roll=0.1191 left_gripper=0.9955 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -11.0701, 9.6205, 1.9853, -0.0464, 0.3834, -0.1685, -0.0479, -1.0735, 7.159, 1.7705, -0.0366, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgIxOSRzsD9u0szgqhYOeWIqbxC-HAbheAtIuVt9RkVNQ3r2GbIp1aSXqR5yxgarMh2m6dTSYFsP2ieYc1BvO6iC0a3cVZGITHCSjTPhlgY4zc0GNT_TXEM0FbRvtRBgEAUC-C9sd29JwrECF4aBVJpgnXQhcNz8JowSKk0zq7Gu0qCudANEasW92Us_MzScVZ2jlEX9uX4N1FqcHyDzGQO7NAfZiEkbaJINeI2SfbVCXON1TXY6KvjIgUqBjwKQflMHEA9Z5g0vtsCeo8wgsXHl11n57B82g4iirfiZfiPEAQE_hNa9yINjrkgkF_qFjNG7mrNfj_7fCHljreXCMifwQSN74XRGSTYDkjNONi5gJpk93R4bhf6DqvjztMdD_TdL7VwHlGSWMvVyiZAy_E3D6-achaAbve577rWiNgKpAHkQq-mhrSXKNPuwlskpNbdHKEak7jNSPP4CfRNF2Z137d_Hx05T-jjOPXMNQAt2lXpDMyeWfdbXEZvtZ_yRQL9kKCspdkzorgUh2_6cvLRlQ_a8N2eCzX5qoEojTSAg16By5VFrF-B9h69QA6s7EYt8tx5U-vYTP4EF74mlw9BZqUf_309tN9_QVDS0VfZ-laX0DBswexF9lPP18boLIwwAu-ZUJxnVm9bVdXwupentHb6cyOgDgPlEaE9Oi79uz46X9I5VyH7bLE11-bVkS0ed5mOezrFuu3kk2E8YIWj_LDH7Qhit79uORM6hfyc_ODZtXlufodygLIQ9Gr2E7fpvO21v96_r9IgW7BAjSe3mUqQxBvQ47rnzkKM-PCvRmys8a9aeJi4i4-Gj5pFFv9sM-nETCnmbyCkeycOBuQl6gZ768AOweu63-JZjlPpjRjp4NX6nJfar296rNyURdsYGMq1pt8WAADlIEQCtCRJA01mrzBSNIBYTQ6m-VzVGVA45Ae6jzhrq_Ss2hyiB5RfaTsc7cFOEMDxtAMYOFQwL87AVAtGhZfxmW1i8XSnRKrljC6XNxz3ntcz3JBO_Qoj15ihXCR7zHc2My2xLhoi-0Zjw6qTTAWR0j5ogRWqQGJ2ho8IXNQRXroyZ0CmzlQIklOL48TKU_jlMPSYG2ARHbpVSGxUmVdAaVwwLRqHSyC5niI644oNESZ8DwDXE_u1NI1A_lPTs_TFManAO9EKU9SNtNTxK7tznt9SP70u6pNRZln4-kagZMjWCOq-JX6f6BWxBRdneSvLBqB8ORm81hZVAwX-y0xmCk5DJCvuniMeW6ifeVH8KiDRPD5qD6_4QiugDh3sMIqKE_S3_5Z8UQ==",
  "id": "rs_047749db83912328016aacc806b22887d0b433d9bb58869d5f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"The container now fills the space between the fingers, and the descent has met light contact. I’m closing partially first to avoid squeezing it sideways.\"}",
  "call_id": "call_hQNd3OETSWYvH4mwrdllEBnO",
  "id": "fc_047749db83912328016aacc807288887d0b5cbe8282a29308e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hQNd3OETSWYvH4mwrdllEBnO",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3943, 2.1418, 1.3506, 0.6758, -0.6289, -0.0071, 0.2549, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5855 left_y=-0.1272 left_z=0.1778 left_yaw=0.1846 left_pitch=0.4641 left_roll=0.0893 left_gripper=0.2549 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -10.8376, 5.9419, 1.4579, 0.1441, 0.0269, 0.2125, -0.0479, -1.0735, 7.0496, 1.746, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21f889ec231e1efc05a1aa5e8ffda98de112a53878c2171420a915d0fe217b1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55382e3d27bb7706fa5dcf46a692720f36cd777647c921430dc782d4ce1aefcf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f525a75fb7a53f481c9eecd74418c3ea5540c8ff82a18919bdc5c886136966c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.009 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3992, 2.1391, 1.354, 0.622, -0.6373, 0.0101, 0.9968, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5834 left_y=-0.1281 left_z=0.1696 left_yaw=0.1652 left_pitch=0.4235 left_roll=0.1378 left_gripper=0.9968 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0118 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -11.1795, 5.8188, 0.9792, 0.5348, -0.359, 0.1245, -0.1162, -1.1282, 7.0496, 1.6923, -0.0073, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgNncnCjMWH8cJzP8VHdZrNIZ0z_zZ28uTqIaBY5OItFMdSMI9n77Ce1HQIYTIQXH2cwQA-mWCfochxyXZuKv9LehcVhumeinwCCWincpeFPlJjjqWgNxZlZNs_nyCRY1QXJVOi2dvQl5EmGQwBxsuxAvssA5M2MmKj8CzOWmJc1_Xt9mtenLwfXayfGWWpLDmx2K5oezZapsog4VW9fdayiIK4GRHOl_Y93UaZySv03Kahu3SrvFU-ADIjkNd1cUF11n6XIcSQzJPOzZrRBewlpQ-MZq_NOZ2q7l6pu6URC7smnOiXEerHBJLR8KZeUPKhU1sKKl-Hw3tJWqutlaSi-5zN0yJA17SdsnpAozZON57VO7WJ-2wIrG5sHzNoGJLaVCBBWCjRnq4896JrbwHMXsuQZu_dxFR6YwsF9iOuNSbbwZgjguyk-ogdTy0fF8yjzC_6NNd--uJHco2ForpD9o_rqmIEjOBkOVHVJ5VN5LFU2UCuqP5xU1FtJ7ll7nj-PE1hlSMQWK_OgKbMLIM4Eq8eHRmt6YdxV2v_yXl9jvf4RPqoacT6TDG0DXkDjdxGQuBO8fX8TMsrfG6JcbMz39KLub5crEdh-DhH_NC2KGbpAb7AoATvzyxwY6R07M429arh4fQXlZ9-H-eUFSYQBpEUIqCMZk63hzbCXWcJIcU3XKJHA7W5mDOAixcAbTgq4BRnoIWaW4GLgjX4k5ozhiSQxeLbczOCLvgjcldrIHgTOTTOjwDNz0pxDgNyrmyVy5tfxN2n0PdYrlH-yp5IuWjToYEeoNJGmPZN_JFMn_CzHJi-vUs5HraLLarbADlXY2Xn2kucRo90qe-ZAwIIafUmxCQRKCxQazpHC7BptDzX46YoJOXD7bnqxV7JwOd26fLiSDi-C4FdBsp-Eg266ItkaKu0TF7XOOI62-rZguJGdJdqbzuNEnsP9cAKWYubIQKgh-to_zSzlyXjVAHjsz8T20_Iv0pNZtuO-19ZvMsS2E_Swqt-j0lfvOdyDeuY2-brm1_OdL3GMyQPteMhLGAUWvty8cHgBygiOwGgNOHCEdWZ5VcPhPk7GeVuOgP7-Qkrm-JVKMAqcNDBdzW4QE9gQj63YqtWp4lE_zcRD9urQYh5fjsP9xGvrA13yMFdcJLm8KtU_IFrJ5Hy2RYyuZ5IrAQwUt9NspQ86-2-HZT9Sua25LrA27AAQ6zeW4Hp54BBtkVXYXhTXXksuBXjCJA8LS1SeiR2EhSTUHmfHFyZM1Q4YQUCq5Rr1qmVCxds",
  "id": "rs_047749db83912328016aacc80be37887d0aa6e6ba500a8eabe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The partial close has centered the handle between the fingers. I’m tightening the grasp before a short test lift.\"}",
  "call_id": "call_qMxgoyjD1Ec436OnX7BSzKwB",
  "id": "fc_047749db83912328016aacc80cb10c87d08e31b4f688f2f6c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qMxgoyjD1Ec436OnX7BSzKwB",
  "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]: [-0.3939, 2.1414, 1.3506, 0.6918, -0.627, -0.0151, 0.1355, -0.0208, 0.7986, 0.6083, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5859 left_y=-0.1274 left_z=0.1814 left_yaw=0.1925 left_pitch=0.478 left_roll=0.0701 left_gripper=0.1355 right_x=0.2949 right_y=-0.0007 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.8239, 5.7368, 1.2918, 0.1099, 0.0708, 1.2821, -0.0479, -1.0598, 7.241, 1.746, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71e4a4a8f1e54c8802cb4bd4f6b04c1228590398f06a70c810db5647a25fbc5b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b644647502b7d1e9550253fc3b250ff3ca4693e887c2f11cbe92c35da9d2570",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc4aaf7cf24ea6cff6a460b2940eff4b2990d61be6141919988b37014d803808",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.204 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3943, 2.1418, 1.3506, 0.6758, -0.6289, -0.0071, 0.2549, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5855 left_y=-0.1272 left_z=0.1778 left_yaw=0.1846 left_pitch=0.4641 left_roll=0.0893 left_gripper=0.2549 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1983, -10.8376, 5.9419, 1.4579, 0.1441, 0.0269, 0.2125, -0.0479, -1.0735, 7.0496, 1.746, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgR1nChTDJKP06xkn5gheGQnj_V-U-lZYSYeb3QSJ9IDj8O6WkPWJZABtAtFm2MZElY_eheacpthFke7vsYcv7hfJ9ACYEJPUnp02DBivJv0FpZMJkuFGU7iGAvTvMhoanSf3PcCAv__nxVKe9k-86DSwDrRuzKFA-ltR4UnH4yqqA0cwktxXuCKNBxUgt9E1gpjHmmFWpEwEacqiEeX-3L34IuQGXaHQOwsZJAqExbu950xx739hqtl4HqQySNHN-ld6RoBULU47zcvtZePDFM33AhiE5jClyOtK7pQN6kVV5Xi0BZnJ5pR7okZmVhzy4mLyxtgotN8EQqq68xudL2PvnIhlm25hJylbDdNQpWpZcFjyXPseQCKSH-E8_DKUm0zHaJw0nNu_cYjcb-MkOVfDCr2YBQF9huaJv-jl-6NvQI1EL1sPSpVUzOm2B96xZSyWLj6kDSsP3BeMLQFh58IkpD9I5ZQBx5mGz4lvsVPnWz3GZgJcMRBdzPYcPCJDkXUtgV9XspMOyJusQh2FoHf0eEbmy_uq-xDq_OLHV74xZ4vXgk0nUAQy2XvFNzrfsB3qr_S3EqaeAQgTbRPG6GPcGAZH6fACXRwImDzq00pY5PpU3VZhQfclSPYvPK0M7MgVsn0jyD2TwdYdnoLxCacm4zzZYlJ6AjBAUQHxxbYwZMi_MNKQRhBX2WGlFAcARAPYYTsxneJZZ44LgO5jF-RpFQTRHEsRG51NiHdkXO2CB-4NhsY4XdeSq0PDew7hqXr5IWLPxiepxREvfip3dzryIc8WG1dqb7m3EmjfAePVDAacVYiNtXJTygedm8snHtMemSuZy9lqnfc-O38z3Zgxh7ZVBmfNyq1AKEE2Z-yCc0yWQXDTBPhAx5fXH36yHNtrCM9KaOpvMdG067bBHYDINZlMDJ5SpFjhl4YGrDXS_K3onanVFT8hZNzXNIZt8ktVmLAa9tyRer5K4l5S3YMqoKRoTWc3OeP8PNqzx6GFPIHvvafg6iGgCu4e6u--8yFRlLldpZtXvLhS3_1xFXOjkegUfdWoTEt-YZclRB4nu4JWM1N9_SFSywrOYR8DZtHpoHixFMlJDRRCU7JFayoTxCNR44A4RC7MVMS68hpCEqQXyKnVUcmsg3MVXIc-yhrbxXOPNoeAi6eCyB-AlMqd5HLWCVgezt2ivbNUJZYjLvoaBtOJ6eWdYECROg5vrHMhROyv6ElVKR9zKH_JWmhvBHnwaOnjK8MLkAwLiRmK8=",
  "id": "rs_047749db83912328016aacc8102cf887d095fd34c142491004",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.25,\"left_x\":0.575},\"note\":\"The gripper stopped at about 1.3 cm, consistent with holding the handle rather than an empty close. I’m lifting a few centimetres to confirm the white container follows.\"}",
  "call_id": "call_8l8SIOHreAUNDy8dZXJhehzQ",
  "id": "fc_047749db83912328016aacc810a84487d0a2308612a8778686",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8l8SIOHreAUNDy8dZXJhehzQ",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3988, 2.0651, 1.3754, 0.503, -0.6403, -0.0277, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5775 left_y=-0.125 left_z=0.1957 left_yaw=0.1844 left_pitch=0.4066 left_roll=0.1116 left_gripper=0.1431 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -16.2667, 10.5368, 2.0195, 0.0122, 0.0806, 1.0379, -0.1436, -1.1692, 7.0085, 1.6972, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a993ee2037f71d99b00496e81b84d427123076122382e9d41623ba5e066175b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97322f5c9b67c0f5c9b0982b1c6356b09c39b5edb0181a84103d3ff76a146bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5fedcb1d2f19e3417bd798d30d341a2f1711256f4a1953cd0758850535aa9be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 10.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3939, 2.1414, 1.3506, 0.6918, -0.627, -0.0151, 0.1355, -0.0208, 0.7986, 0.6083, -0.3855, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5859 left_y=-0.1274 left_z=0.1814 left_yaw=0.1925 left_pitch=0.478 left_roll=0.0701 left_gripper=0.1355 right_x=0.2949 right_y=-0.0007 right_z=0.1795 right_yaw=0.0003 right_pitch=-0.0122 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -10.8239, 5.7368, 1.2918, 0.1099, 0.0708, 1.2821, -0.0479, -1.0598, 7.241, 1.746, -0.0269, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgXecmJB6sEOJqT4DcyONMx6tCEIs8FwQmMaeIRLSA07iGoh1B89CfHiNapVkYxyq3pz6vVW-byWjwvZjEati8V6DDg0p8Bqn0cBlBBn-WkK2QxkbEj9CM8y9LE_e3azlvgRQUscJCS-on3dyVG4paqVRKUjfw3SiT369HDH1JxUsD91q2SHALIG6awzpVkOSdNwMn-bDIKgCt_Qr7VtPS3VtOg37fuvEfVhaUI4KCC2N5NPNePYheQWeU_oEqfoVbaM-_FdBjovX0Op8STj6ni25IOMN3QPp5faM3hSvosQpmNR-64TqvghF-vSzUYULw7xWD8BlKdXS2kWR09UjpDoHM05Iw7lRbXF3M70y2icdsTHpkVfAqWj4EsOW2u3qSfpYXKCoMvXhGrgkoyt-IgCKjxTOYFLVRi6gcHeSwHtD074ysddrBnggSyydWrXCxK1gSb3Lmsy8BnssoroIL-CpZah8IANlSSgxFTDgWd-fevc2mNjw-Up0VeDEb8i2oAdO4fut7cHBJ7ggP30bOYSW4iGjNXLpLtigYpebv9ynYU2QS3PmPEHIFVFe5Lv-SLTSYbPPz5JKq0hUIer6VxWXZPctV6C7-n6zQanWncEXZv7gjAB4SdwWVOGQWyJhEcjvPpxOeTgmXPuiZi0nePU45Bb5X4Z-O_9cIqp1IfRwaqgq56tQ-mbFPcoBK4npc55O57NJJdPm6bRmCA3idKma1M1s93sA3wJ9SQc1eKke3yWTTG4-y28jAYn7hIIV5y73-7HJcfN76Z1ALSKx-nlApNxzmx_SXZtbassbuGG-cHq4MoK_0x-Ky2-RqFn_-D74SN_hNnGhw_AH6UllxdgzAvcvjNSc91mhooeFrA4kzCSnjQzJxKQdQ7AOomTYN2-3-BWDSvWG3Ijlo54kNoU5hH_rVBFfXCb3XqG8yFX8af3UKqv6IIMbd49vnfO-O3SwcQWgjadr4xB9NsU-4cmrYgUxBl-lyGVJHvEhCp5bmjKOMwzc3EZpPVUnJ_OcfwajVBdmoORa6O61JCNR_8pau9Ih74vXLqdvlfliVJ-10AKMclq-gLw8OCV69By72YPTc7JMRUg2yKtueklik6uIwGPhniijE62tlMJFYJ_AqR5vnmWwMSkNMiUOz1dpSgnl53KvWCi2TJDXnwU-4q8Xu3w4vLnv03t393TxhYHDy4RQHlteAsk6YrPdY-ef7mb1DthlVTjrLg9HGcdD-EGR71haS5Y3HKLcosdalhErOgWk6J1ZGAmlbuEaOf60Y63pCqQZ4vbttuWuUB64cRcw==",
  "id": "rs_047749db83912328016aacc815611487d085472e52bbbc8296",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.50,\"left_z\":0.33,\"left_pitch\":0.4},\"note\":\"The handle remains held, but the loaded arm lifted less than commanded at full reach. I’m bringing the container closer to the base while raising it for clearance.\"}",
  "call_id": "call_J2AAB5tU8YgHI3abn5rHLAuf",
  "id": "fc_047749db83912328016aacc8161ac887d097b5dfee6adea6f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J2AAB5tU8YgHI3abn5rHLAuf",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4717, 1.7412, 1.3861, 0.0883, -0.712, -0.0643, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5103 left_y=-0.1267 left_z=0.2897 left_yaw=0.1785 left_pitch=0.3532 left_roll=0.1369 left_gripper=0.1431 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.8479, 10.7829, 1.7949, -0.1636, 0.0708, 1.033, -0.3624, -1.1966, 7.241, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1735d32102ec1c7513c4e81a52810d2528dc1e806f478ab8171d2acc7c17f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28541af33569b444e7c8bcd5d80c47167fc0de7b5060194b977c578f6f35fb32",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec1abdbde34736dda9d0371e12d694f7070245557692047cd4f4a696dc2bc131",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.669 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3988, 2.0651, 1.3754, 0.503, -0.6403, -0.0277, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5775 left_y=-0.125 left_z=0.1957 left_yaw=0.1844 left_pitch=0.4066 left_roll=0.1116 left_gripper=0.1431 right_x=0.2949 right_y=-0.0008 right_z=0.1796 right_yaw=-0.0 right_pitch=-0.0118 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -16.2667, 10.5368, 2.0195, 0.0122, 0.0806, 1.0379, -0.1436, -1.1692, 7.0085, 1.6972, -0.0171, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgiSRGoEYO_sfFTnpJlvXZNH42SWt53PIGqXy4LjbslfyZHKkGiZxdKS6kChsfjF2WhklXZLmVwUV5j2jzMzA2PRDNhTdJGDQrAm6_y9jDiUIUe2DFu9ayJVYpyCT8g2Ca-uNhiSgT27dS_hV23rTro5hzTaDFmMzEmXp0ad7G6gkphDIWvqsfrwkDJz9_zdLPtSVBzEol8QZEd_LBeDRyMW3IaLsAu2knbzPS-fwhdQs7Sb4i6OC_9Hj9uYh-KAH0ryqvimDGSPi63SrubnovHXn-LEc5r5d1GWQpMc7IO0O03JQEgBZjUGXcWxIizt3hEu6a2WDw7GkBKa7quzeGs5N7jFj_XfFFCKix20CrPZ-vx7m9Xj1XO3-72PHtDr45ilSFSDzztN_qFL5zESB3NiY7w5ihca4SeKvVhsy7_K37Y3GoQsbXdFQj2UqJO1ZAs1EmC80yJuIgCXE8JsEfhXMdoLEtZSUxUcXkzGPEp_l1ciz1672qXPXrdvDLkmKKjz2hLRG5yQAoj3U3bggdu8PjYrURHRuSiwA-ZpCdx_hjmhNbO2nMXNNiIxBb48b5urHVhbt9D8j828o03eaomizybkwCkeJWR4AU9oKJLVqktCBODpHcvV64fBaC_iifhTRJ67lao19BmAibFTQnbeSImStqELQQ5aOSEiQU2AQAK0r6v_yvbiOwu1xLaDdmXvgvOd-LvI_4kMaOoyZSkrmeIDGMrfGQMlHqjwKzXD4hK8EyZnvanf0Z-vJJlPLsFhuANRTGbn20GVyfDWxBOPKW1vr__esZq9D2TBPE-h-Z5yekcjjulVwmS03K5b7U5bZhqM2e0afzwBMRG1AbJuBjqad0vTzArbWfZIVfaWV1UvsQnQqwkslFtQJcpEI_2SFrsg8MUWEDeiQDR3RXpiJ8uS6Js2StTV59xGABaw4Lwu5F7uta8I4S_Ga5XJ_XEEOgppxcBIpUEwajaHfp9Gd_Sr2V6UeS8rYKzburQeFY_s5uqHovFUs40sdo2exhf3fp7h2DoQp1Zi-BBBsfHLnamiuJjnYJ9MBIEDAXPRTSf7DF-JrYu2B5G-_MK83LE96s0p4UTGUEmJ4cwUufo6877EFRmhcZ_F2qMvhOjHahlZifAgUgNlx0qh1edf6_zrRzwz7gbrDMoneSHFvsg_yHq8L8R3qo1m_GjyIrgOEKpDCiAn2V_DDex7Yy35k6T9NkXxyD6qzXPEjb810SzG6tD3_QeNY0WSntcJGwuK_84j8jD-Vptn-pyJICBcvJodM6LWcfvYeDlYxACCpFM_DVSnhY2wodG-TuFE-Pl11vTnSXpLbe3S0tXeJ0MjpdKqwNlTnQX8W9UyTQiuHkYiH49PBeIea17Dmh8WoLjTGOKC5NBpHKg2XI9cM-Qmlm1UKnyoUtx9hO0eAMETvybsEkW4VXFuoqC9WhotThZTrFTAI-p9eESl34IRdz45aQbUMUG3l2X5-GJa3SnUeccd-4T9RYfQ2YBiQx-I6Iny9-B4PtgzXKLrZDUp8YAigFaRck87t5Ra50lC0nt_Awl7-CyQtKDhwVTAlxYWnLzshb9uEaUwKhQd1bZMWkGt6RNGS_UzUuFFcWtCKCe7Fm04r6BW9DPHBbam_M6irjZGEapbnKzLCkbgWOIT9NSN9y1lAaeBVH4mkGfIUjdDcxzreAiaCURx8av6I-qZCa9YvSUcrzZT4a_oFWIrF-uZDL055e7mvpdpKHva0rJDfw9u_G_bbgIlWcbof86QLZD5TsSpBBl3vOpISVfG4fO1Ro02of6yoqqCpiZToHzmsTfj-1WulXfMG4RDUdSh9OxyQhR6AEWtcmLEFjlk5KoHzVjANDXw_-fVaywjz5YWBtbHUvJyjqO1tZSSzN_ZAtndDQsd2PZyQKdRShtfGx7K-JwHqvLC8AtRbwIxB82YkWDenRsnQjYr8qsKa8Qlo-dCTU2WyTA6k20yfAFzftdR7Fa3IiuxQB-CVrKrpocvPC9JKU2o7cIPYvdsDzSRZElsKABfa783c_xzSoRNKsJE7ikZXCJLhJnZ65_NaXxQPKHV-5DioBK8WyfNv0_aJEpVXoG7mfQItZds6jKoZqpQ7xeEtHMW-fUqCkl_7TLR1UtC9ukK550nNsbczli5b85PZg1AGZLCfRqjbSABodThO6BpzA1uRg8GQ2WP_UBkHD2JomIMLSVfglP2P3nCJeEL54_-QVmuJA1fTlO1KjYompBHmScZiW3QV95mvx8imOQSUJJXPMXEhXFR0ZcLWHIEjVB9OCGIZ2EEOzQwNQ7xwQ9HuX6Cz4ngXvPeUtgpd5ZyiaCO6p4BRzCO1N5C2lx762fvEAeZBSZXLu6RtYrPtX3bkjchGGUkLs2SKTmDI7c4GW6Q69SDLHpIMvryixhOTEmmHEhD8nrrbfeAQ1lGk42xyZ-SDTuta6iX953blMjfOqtqZ8eGcMbZRfv6c1Wi_3WLT05oUKp5IGplLZxZX2dYz8Rk9QHAvK6Hzgs41zR7LaAD_7Jhxie9Cd8RCHP10mErRySpJMoM9ejvtvJQN47COz5hhmCHoRwOt58A6k14A==",
  "id": "rs_047749db83912328016aacc81a24d887d08826b4f1f8eaf9e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_y\":-0.115,\"left_z\":0.33,\"left_roll\":-0.65,\"left_pitch\":0.4},\"note\":\"The white container has lifted with the gripper, and the red cup is just to its right. I’m bringing its mouth toward the cup and starting a controlled sideways tilt.\"}",
  "call_id": "call_rC5AdzB4WMrAylaGduOIXcyr",
  "id": "fc_047749db83912328016aacc8217fc487d09d5cc616dc6f9af2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rC5AdzB4WMrAylaGduOIXcyr",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2562, 1.7222, 1.3544, 0.2066, -0.178, -0.561, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5419 left_y=-0.1059 left_z=0.302 left_yaw=0.1984 left_pitch=0.3314 left_roll=-0.5386 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -10.6462, 7.0496, 2.5177, 0.0659, -0.0024, 1.0281, -0.0615, -0.9368, 7.0496, 1.7216, -0.0366, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef14a2d5764924f59df1fa3899ebdb142c1508918c88cb67c7a43f24ae01f5aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed598a09bdd06255a07a9ea55e34db835dc078b28e3cd474d88072e5f7b36df",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f01bdfcb42e9825e18e2c1aa245a8f52f34c725c244079576ceb18ceaeb8d48",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 10.4 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4717, 1.7412, 1.3861, 0.0883, -0.712, -0.0643, 0.1431, -0.0208, 0.7986, 0.6083, -0.3851, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5103 left_y=-0.1267 left_z=0.2897 left_yaw=0.1785 left_pitch=0.3532 left_roll=0.1369 left_gripper=0.1431 right_x=0.2949 right_y=-0.0006 right_z=0.1796 right_yaw=0.0004 right_pitch=-0.0118 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.8479, 10.7829, 1.7949, -0.1636, 0.0708, 1.033, -0.3624, -1.1966, 7.241, 1.7656, -0.0024, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMgts5OJdNhE9h6HqBOnY_30qj8gw4uQQ1Dt64EBxq7eoC_ejUtBE9COd3K-cF7EPovIrTRer3n6FrXNzOUrOv4ujrBgpD-e6x5OVUH2A-N9WIgOGrykEFHlOyFgE_jnIcUXphXcuyMr4u5Us4F7Q9vrIcxhBOtB4-QfjZNxm_FHDF2tr-5aW6boC0KvHxPNmz8kUmUSk6TuKzCZEH0wuEm_lPb0IM_e47VCZ_fbrKB2K44D3g9gNARKVqpv9PeXXx94mMgN4lZf8uClMqw4VVtu4NOZR64cyq6ki5kv81Tcaq0xkq2ag9dvxe_f0Nwa5IXLcOIpPZKOJmEmp-mnMe45QOZXWRlHwf6oKTcTUC6fNMP-NEHAXI-gU_7a5M9PdH3FzGkgQwjkTXqdubc-VUnwsIQYystFu9VkK68zRA9p2Tt7J0DtvBonLJ5EUocNPH9ay7n9H-jrwZjrJqPmaAh6Bzf4QBAvRboSMy_4IvsdNIn5faQP1AXQ7mMK7nDv7LTSqe1AuYhHggZM8fBQS6Gw-kFa9eKYEj9sIVByWqzzhkVNkn_QPo7z9hhxjZ20gcxZ5j_8VXF0C2TzTfO13izICktZDjvk-odmEX-ihDILHkvF1yZtrHTQDakFbWchi8_CjRf0ivK16LGH84Akv6_9L05nyfXIENeqqO3QbKzxrfbJYdwo_tusfzQpf-A5nBIA6PREWINWtEw-xhGLK5USMYKD5kQfELYBeJzYV3X2qr5dbzBupS8WeaiGrPAx3Azzw3cO0LVNwOaaf5xDZ5j2hCFdwb8xHJre7wXg1qAjzCYKVPMVjSqH8a4zo9r3C9tQZjfulLbzF8oJgizcusiaBeD5sUp2jZ5ipbphp8gWiyzFG6SCN-pGBS3GuuliHcpoqi0E3T4Un_WrE9tHEkKiHeJoBf7Mx1gp2w-p1R01DfCcTTYvQiAeJpWDZmqf4IOiD0ouUoXqbRh5suWKUA7ZMoQ0rEjBW9aclODU0-lks4OxGOS_xRbFAjyaAVsjIE0Ern5LB58ruLktarj3qz5BrC7-Q9IJXy_PI4SycTcjCGGua8v4ovT9bLjljGHRWA9TN7bwhBgd2y8NDu4dADT6IGJW_plFYhw6xcf2kaZ_9Ef1spRTvvBCUBmZCme91nbjTvp3Qhf3wqrtz2qn66T9S3vVpvndcvuIoBo5vUNDEv1Bzjj7NWx5qM95oYrrQU_fugaUxNgFiQqYzkheOjV7fBzrERCArfoxu2f47unTq5gtYIpOd8IF3FrwdZ9TCuoY96BNlX2W3fzF4VUBZSP_qZIiHnpbz5S8zBT8MygaC5DzpUqrcRIchzlVar_XoKKRO0Yh6QGj3BB3qKgvXgN9Zc9ApebCtpK_lNzsxw4L58CVyF5mHZtviuZvHcUJ7lYl69ToO8t5iHbAFxfK6_WSh6TDOZVy8uWzgBxt5-zTKFs9LYUrngjgEgDZnvjXN5Pl0lNlUusc2cwEB9fSA6qb-rez_cwyPYejmKwoIkOCLz9Lmce0rZKvG4I-loN7LxI6XBGrrv1kLEf3MEkf4VrP_VPP0w3Tt_0Pd_L3EvgUviMAZoOMM68atCRqQm9NtnmTkHpnfjrCFMdJXBfwa5vi6YkpnIsNtfGsymhJqp701rLCYmW06q6t8Lp6SQ4Dyh5iToQNtBEc6vgq6LBqeLnlJSg5dGySow7rHKQ1gmjwp_FO1diTTSpbBWuq4g4hMDHZ6uQaYA1OB8xWlHEPgbK9YwBWjMbxyTcdbeslqvqtbJW3ps-ilFTeX_-YZ6xWxrBXsWIp-rEC3FFqatJyULGNmIRDG7hzgUSAjPHKkF8t2N8_2oS_mRRwYCZ29p0Pnx-zBupDYN9G41drwB0Vzr7vhIZzgUKWrco05LFtC52MgpFa9cbEY6wzGKs6ZEKT6_vC5y9JNkXpT8OBD9zBP69nhRKk8xO2kG2s2bxK1S5S6aXLufm0ux37NGG5gLJAgi09iqRznhAx-JZTCVPJO2o11yl6KVGR6jnspoU07FACTmr2whO0Q-HfOyelk84tIQCfiZRAIhsfKPEWgokbYDh_Qzq1tbP6Dnb7Lnnb0s19lYV7yyzpzO9XuPH1fFBLwuMcS5pG_IW1yXC4sr5RvY1XnDZHlsSHBVjhrjDsKlOfZd9LMUUL-3MITbXqh4r6H_TXhSIZHFpObFDZngwyNKnBUNHX3Fb4J5Xu6V-WZOq9q4PY8x08nLAKmm6ch3FDEsqnB2K2Al1lznEowNKS8CzvqTcEs6HPgpchV_2qOX-u_-ggG_0PSsBIcqlIAe-u4D-o",
  "id": "rs_047749db83912328016aacc826281487d08cf3fede12715822",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":-1.4,\"left_z\":0.28,\"left_x\":0.525},\"note\":\"The white container is tilted toward the red cup and remains secure by its handle. I’m increasing the tilt while lowering slightly so the mouth approaches the cup’s opening.\"}",
  "call_id": "call_xFenNbjKNOdEytJb13U2O7oI",
  "id": "fc_047749db83912328016aacc82bea5087d0b1e4ec613cf83109",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xFenNbjKNOdEytJb13U2O7oI",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1341, 1.8038, 1.0164, 0.8486, 0.189, -1.2243, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.531 left_y=-0.1015 left_z=0.2529 left_yaw=0.2094 left_pitch=0.2535 left_roll=-1.2803 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.1145, 6.694, 2.4835, 0.1197, -0.0464, 1.0379, -0.1709, -1.1282, 7.0496, 1.7118, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:596d4b3dc84998fbda676e6ed5196abc82807d8a87a8d92ebfdd0e65361421ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2fcb285cd069754b91181a0e97791b32164517de78ba6fa5e2f9643cabc911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94f606ce81a6525411432d0b9a73d82d53427a18d250d7f44d26635c449c7183",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.455 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2562, 1.7222, 1.3544, 0.2066, -0.178, -0.561, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5419 left_y=-0.1059 left_z=0.302 left_yaw=0.1984 left_pitch=0.3314 left_roll=-0.5386 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0003 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -10.6462, 7.0496, 2.5177, 0.0659, -0.0024, 1.0281, -0.0615, -0.9368, 7.0496, 1.7216, -0.0366, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMg43OOQsgACYcFYeq7rU3gldgHHlWaBYIc971v5YaGBxZU6HCXiau-PskpGhcLMVklF0avmiVGMtNyd5CBG1OwcI96Y3H5BoM1px74kUZwW2LxQ8t1Sc9PTYUzxSmwPxHrnkGTQwxEIiKAFQctmSgaNdioinQ6Gcg_7qyvaFWVox5y_2LzzpYqDrSs-sGtSwwg3NOOk5bHOL_-wtrkzbB-Gdvtk-2JSnj-Epzg5cw1soNtCwGDNOlxG-ERLocJ-bDV9EFxhpaP9S6Yc5C5U3aVBNXi3Arqu4eVCf02GYhb0PWr8hrgmKT21AyfvIcaCn52tU7YUGwDz0hIovm692kEmjwTgluFuPOuTBYq_k7cIiECXpEThY0ZYXkFJ5QH44zS6iVzif701AC6vlq395XquMceTKZqFJN0hJrA0IULo9yxIMWT8aVpF91kpv8-0MbdsS12FvFQtIGDC-oTWJQ8g8729KmRjROuqWk31u_qSbozuWZnHJYVBNq0eal6nyRXg763gm_vB9QZS0Z6m0PpQ1GHMEsuWRzqgqc-23pU5eBTxRznZNgzBX8vA5yXYdxiiHhdzgLYlIKbXNiOtsMD2rF1Wqv819hd8f_tiZHN69-bxqN8BifgjrrCnk2oPpXaWIz9bzVkBfrwJCUOUQMMk2OK-4b3IN2SXuPqAcxlLBtq94vuO-T9wCUHzi3x4mSmlhS4Yml_Q5fvp2n3Ne8CaSztwmtUex0siAm9mGdg7BgUY5SAeprMOiz2AquX7EjPgEd_Hxy2rkJP1YO7EP_2YSU9xhczCOKwOxLs_xHsqfK-VCreFzGhrsALcPwg6qk5fwF3ovBouchOVX_4vmmiWHiWEsGVgOsp2LmPICqk3BwCrD-vjBbJiMF0Gns1Z91WBZy0rEJylfA4QwEX9zXjfuF8bxbWhkDjpJbAoTqSLQiDKh0vnEMSxrIv46oAFd3Id4cSOu-huhARKZO6WyweAzebpnvI3-d_89lbzTooK8L9MULa0gJhanxI5AAS1n1gA-O0af-yoTIwpm6OgxynLd3UPqdJqmW0w1ZHgMvOqrHP_AQnTzZTyePP9aip56Ffd_v5JLPZQG4HA0ocxtRv84i2gKv3sj1MjHmcHOmMi7xbDdrFZB0U-eQP8QZXtiMZBi-P8YDRBBpVJrUW_NPsPf3eW79YrY6AcT1naxYHdtpmPcei33jniM6nUgIgpbOnZcdK8cbeEHB8Jx7yJwuZODT468qhwhM9e1Omv18YrbrDx68RpJ25CJFRX72OsG81VmRwGb6CT65bk9DTcW7N4H79l9NyGpPERzh3VrreLzHehtEu6CC9VtL7Kr2Nyzy4KDwiWtUUfCk-iXyF49V5TfiF5PpCMIxzxF2SLJNH-VArRxi_-mjQpzXP3O1r7YQFp3bYMgrYAy_Vhgetc5Pw9S8O5aJMPvaFz6PZZfQBZ97WWiKT-2Q9VU3hEWHUtQCVhmDEkQPs3EF1OvOBJWJVstGeNwhfHnGKbYossSG_jo_AEtNUqwzdBl_rCRLkjIE-StaXXcsyI8Fj6vL5mxojAk6nch45sHPGpte4bkXYG2gaQ3SguY6njexO9_UtH1HROqrPH3_X1HDDJQ0tD051tIIZIc0jGGf8cIka11XgSSPKSdxsG04T8XsleI7xmmQBpunnAU4mR6gEZTyg7zxKIRATwX-2L-szJC5PJVY8Q8OyuULSH_WQkI4erODRgp7jtZ_MnrbIrNBBgz3Wp0VrjWOFJaSubmzV57FK38Y6q-UkQKCyEjrYd51RBB-8sIMM9b1P6oOsnrEeK3P-0FNe2lfxbuQOzj62-pJfg-5oyju5TQQB8w4BO2B58UO7wGgAfB9_NY87lGi0dPok2pIG6dufRd9n1IGiQXDjF4SsgkZnvYKx2cqcuWlEffxTjtVHm59lDx3nq3lPd-GtDkI9WbWm9Pzgw4ycgCwKUoexjC1dNleq5JjIJgXvc8YmzqYu-cby4cRy37v-xfifEasuU7EqiznR1B4FaVFOoO0yeOxnE0nZPvHXpjW_TRXuF9gRdOBGLDCiDKpae2MV1R9OvHT4eipXkBQSilD9b1SkN743fSOC8BwHFse6Yux6GohbUOHgxyE-i_Gu7-k0bIbJQTU3Ju6dDsD-nN_DaMGLZykB__8FAFmpSiOWNWEkOzDxw-jWhWCIzWCpDe73i-AF3DosjFgZIlw4ko7e-VwmUUYHFL2D92JgBRvdlLNdqMAuQ31IlAS6rmnCTH8Ir2h53bg==",
  "id": "rs_047749db83912328016aacc831ff9087d0adac41b08eb443c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0,\"left_z\":0.31,\"left_pitch\":0.15},\"note\":\"The overhead view shows that this wrist rotation put the bottle’s mouth on the wrong side of its body. I’m returning it upright before tilting the opposite way toward the red cup.\"}",
  "call_id": "call_z31TL57jpptvXDZCoEJouE9d",
  "id": "fc_047749db83912328016aacc83721cc87d0a9dc198aa7784f98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z31TL57jpptvXDZCoEJouE9d",
  "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]: [-0.3492, 1.816, 1.702, -0.387, -0.4694, -0.363, 0.1558, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5305 left_y=-0.1043 left_z=0.2907 left_yaw=0.2239 left_pitch=0.115 left_roll=-0.0937 left_gripper=0.1558 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -9.6615, 10.8923, 1.8095, -0.1636, 0.3883, 1.033, -0.0615, -0.9231, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:304db444a26fc6da1bde78f50bcd05d9c6be77f59e292c40d5ae763dfdf9c7a7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bae96a31d382859e5b922bbab0abb7586b43a1a71569555ae9ef6b53e87f95b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbcb16ce614fb8d19f50834b1756f9b04d69b8bbc0ea1b6c3f0e467d7fe1cd2a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.779 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1341, 1.8038, 1.0164, 0.8486, 0.189, -1.2243, 0.1509, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.531 left_y=-0.1015 left_z=0.2529 left_yaw=0.2094 left_pitch=0.2535 left_roll=-1.2803 left_gripper=0.1509 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -9.1145, 6.694, 2.4835, 0.1197, -0.0464, 1.0379, -0.1709, -1.1282, 7.0496, 1.7118, -0.0317, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMhAYmahGB3d1sPPNFcFHTjopOLbZMA2ciYlC5d_X76hC5ZgCzp9Af7yu8o50D6jtMnJdoqsAsS6ld3OahX80kAiI7iBH_LZ1SWY5TdEX7pVHSHC7h-db_hiI-wnHHg7dwwuGkIR9McgguHcGLsNrXcWwAD6iXSbSjVHfz40y8YtdVSxA1cY9TUllQoTrIJ9tz8A_VjZwLlIohYVifQB_2946WXKVOa-hN_bU3zfabG-mX5iU2NY3PMk5TyVR3-krB1y5mcE8-sWEP6f-jnaOy0Lh14nSpYrcCpji34n7PTtPO2VqEcBKAQHDwJvgccEEss3r4ESFEi0OdSFrgokUFFbCKnvKjcKBn9oVXFglN7GvRKXpv3Ui0R1BoL57zOOs91UTawcgtWOTc6y_o6e0NyIRS5J6ilkCBIhea9UAk0iDEqSe-RLVGbRvN5NiaMN4fMAIW6GVP1--9ipbHrpU4TVZZRdTMyk6XU_Q8Xqt6xENlvyKDFdAHXduhLYtEyKNK7mHGjzoAZ1rGlbcaudVEBERdPuZpUyUWSOCcMy9k6nI9sRD9ALMmRy32dFqshH-o57zPWBC08qQUT9dmjcXTKV5YQOx7pTQkGqnGYc3TivgRmzVzakxuCXbtiLu0WcvzTfANDxBBkhywJil4fqrdWQsQQjkK6MF3D-HwrSvlMRy9ZofIInLdAAyVBcVT1kbbwCIYuuAB7G0FPbfrYG7QNEWvUKuyyRxPOKv5W9rwGdLbeIB2OmF7AH1MzX6KQEnp0DsI1UxYJO4YHCa0Sc_j5XfrhkqkFhhUC9KIc0KuTZnyZbALL1Dmf4MmVk2qt6hxXXr-UcrYWU2rocYO8Tmn6IzDCQY8M4IhiLWRLeAMdLqO6PFlcy3QzXhuppxxeA6RO2tfnLT7nEdkigHhpvByOKtUxMpvQI80-Qp3Q7mepqxcUmdW_m4lucX2Rc8sN8bAwFJUVZhFPeYEKZB7ooeUgFW_cvnwm_cH8oxHeH3tKu5UkAkT6v4cFDbYltGR9hDD2zQA8hzjnb8SrhshaBt4nQRC4795ruA96AYRAh3E49BdxuYzVsrRhAkHMLSWdyDkt79NQ1gBzihuX-o03E73XB1tfx3yCHXGEoxx9iqddxUMPm6F4XD1mThvpSrTimYaoj3eLBYTXTogiVuwXPsr_eV0XCz6HfVwgCkgmbx9cETc5eFg3JdRsa1JEvk0ioTIEYXkP7VQ04p_FzhQxHcG_PtQv-RPiVAe7K_XZqu9Upa6KRf_d95dvtanF8uetOKmN9F3YR24Ap-6y-OWcYypQGzDj-ZzB5E7GfQDPezNxNUIgcetAzGnSf0jJYj2Kv9y3ig9Wj0XxcWMc7C7zvk3b8GPr3uj8fixnz-zksqs_RNOD_7ytAdIR1qFWeFz2McOHP3daQ5z5bRMwaTKhW0hZMKWS65TUu7VXqDzaNf2fgAtM-oJpW7B3ocRBQNDqIbzdGkPkgXyCL1rR0CEs4rdYtHU67CV3chK1mdiyDOZqSzWxIhcLXoYQmJ47RUepg0i8MWhU1vWp83EUCPYymIo7yjWEx9sAz2ksvZ1i2yysjt9XoN1mfJFQvEzXsX2jVQ42znzCha-nP5iXzS6zuXBA3Ag==",
  "id": "rs_047749db83912328016aacc83c6cb887d0a94d0f1acdcc65d0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0.85,\"left_z\":0.28,\"left_x\":0.525,\"left_pitch\":0.15},\"note\":\"The red cup is now clearly visible to the right of the upright white container. I’m tilting the mouth toward that opening in the corrected direction.\"}",
  "call_id": "call_ngxhC7LXhzAJmEU9KUvKNoCP",
  "id": "fc_047749db83912328016aacc83e7f1c87d09822826691ec5272",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ngxhC7LXhzAJmEU9KUvKNoCP",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4946, 1.9793, 1.734, -0.3378, -1.0378, 0.2695, 0.1606, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5234 left_y=-0.1053 left_z=0.2651 left_yaw=0.2193 left_pitch=0.1128 left_roll=0.7691 left_gripper=0.1606 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.3453, 7.0906, 2.0684, -0.4371, 0.3785, 1.0281, -0.0889, -1.2786, 7.0496, 1.7363, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:567c02730db09d11d14d7d4740dd2d87610e9102b0ef6247f1195c4a1ca6ad1f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5dedcfb3262bf02c1b171989b7687d9658a6da37e1cc89c591f71413903759da",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebaad977ec00f326b33b0e0b90889ae0f88d9c583ed2a6f5b37a93415526f0ac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 12.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3492, 1.816, 1.702, -0.387, -0.4694, -0.363, 0.1558, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5305 left_y=-0.1043 left_z=0.2907 left_yaw=0.2239 left_pitch=0.115 left_roll=-0.0937 left_gripper=0.1558 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -9.6615, 10.8923, 1.8095, -0.1636, 0.3883, 1.033, -0.0615, -0.9231, 7.0496, 1.707, -0.0464, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMhGag6KSv-eXOan_G55Vzl1zLtkF4Nbgq9WidnboHmhN0GFPs-5r1JPOtQ_uI_UDtV9K07Yl1NBq7Kvsr8x2TcLaPeKuXs7sEcVDdvAhzXf074xPGP2IjK9qGZepk_tUbTWQkjryImIMWDJnJO19U9s6_35T4keef5TG4yLijPAmz7dTxv4mPStbggdinXu7mNA58BZLX-LrZ_fTmKIStKLacow2nsk_adLFqh1QB_FLKxxGuc-IvLoFdEi1TOciyTBHpU8e3EPnYhbpYQyhG0dUvW1i1Q9qNMpDOUFTqohWhYFERNQWx5iok_-NtPvmi8zpMGTLjlC6oA5O7tUcSjPRkVlnvyM7MexFBXSXaeuZmC_F281S_V9owWQW3euG9DA_0yrIvaISUvj7pm4DB0U6bADjDM5S395HHj3zRNj1yzw7rycbZf86K9NQTYQ58FkLv6n9dSyjm3iu8H_mMO9gM6mzU35D401QKtON0N92SymhZhAGdBrysQwMRZgeGCYFP0ZoA3Uv6ev2fbgPipsJuxn0OubHoo1_bAIyzkfrPJz9vky4C1UbE4hlbFzvahZecc8pBkUFWmWolzE5TdSq-Zg6Nvh6i4x6Fup1R1fqKyLSdu_vgojyrKwDiDtCuJLv7qcy5v5qhVMsAZhX6Ij-GTMm9qLeV7HYrUzSGVSdGIFULHfSZVnFEXUGJKRMLQgRsCLjc3SXa44XsC3tPToaWyVNWnC5tyFIB9Ia6jEm4go3zx70I95GTGcwkwYyN_QPlDtOg5tdhyf0IXNd1vFpLWLlCMsbNbpO5ZDStqGHCAetM4vN2bDNU98whaiw5xD5UZ5YqwVGL0Qbj4LTcslVXk_QJI_TZw_lPvtnGr_g3HtluEhA2bq4rqKCgxDylz7n3gDbcR-OPgZHZaZSq5_5IS6dc500vef97a688zYGQELCkPZbMotu5PT5ClewyDw4KvfNkx1OkTAlgdYlMe1Rw8KXTMiGUI0gx9jOwAmJYX2S5Wu4zDjBAaEfBg0NRzYRUALBtebvpgNOadgXULa1mNH9ZRIkz4798ggAL7NonMsjc5wsVbaRKcDpjLykUT_jl9Oa0twXQU7ecz4UFzed1yWhpK4sc34w1HEgbRpifCkiX58rbvQ0TKutHRocldnYpWc9bO_zWeCqvxSzZgV6kTGYIIF5Q9DCRbpi7O6GcT3UAli3Djk0wgn2H754jx79_d3dvEfv1gTjvXz-JlC6RJhNgaQH-IErwsV3NdJpir-i2hfc0MOpLfgFWZU_18y6lAFi0zuauq7LtXuMy-YgtpUmhwF4Y0z51ZKUKSFBSwYW8YU2egfRK2dJJg-oRkvSXn4itgCivmixDaNKtyDjqwOJPJTn3-6-CI7bMT8vMI=",
  "id": "rs_047749db83912328016aacc843276887d0b764974429216c43",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":1.5,\"left_z\":0.235,\"left_pitch\":0.15},\"note\":\"The white container’s mouth is swinging toward the red cup while its base moves away. I’m completing the pouring tilt and lowering it to reduce the drop into the cup.\"}",
  "call_id": "call_kPcI84hS2ga7mxD9j9VUAZaZ",
  "id": "fc_047749db83912328016aacc84495e087d0a7335e8a148e4787",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kPcI84hS2ga7mxD9j9VUAZaZ",
  "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]: [-0.5251, 2.1914, 1.4242, 0.8337, -1.2964, 1.4773, 0.1606, -0.0208, 0.7986, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5279 left_y=-0.1052 left_z=0.2081 left_yaw=0.2152 left_pitch=0.0836 left_roll=1.4603 left_gripper=0.1606 right_x=0.2948 right_y=-0.0007 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -12.1504, 6.4342, 1.5995, 0.0904, 0.2955, 1.0281, -0.0889, -1.2513, 7.0496, 1.7216, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b6d8e6150a44552c837a77406c7087e9fc4e4d3a5318f2db5d67bc18b62b0df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31c5961856e22e26c4914837497116b9630da75d9cbc568fe18195ebe3adbe44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d22300b2f442c82c6a9f6e3246217291c80fc26c7c260c05af61ee93bb15a498",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.815 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMhTe8vv4US5a3uNSDup6vorZIIDMIcW9LMaqXPpdCUuDpJVhw03zbmXLdMWTGXUbc1XH9LT9rlyTBv_fSMH_0Z59tkyq6NCt6ynb1QLlzavHcBy-VgyuQneqe0uDb3klHKabMsTQIlg_nouasoBvYG6LtOkFRyiZwE_mwJua20WpVf7yJKjkI661d1edlqGO4HW5AEv_BGoRfK1vP9O-IZd9fiIBmD137fCAn-hzqjkHY7KfNYEEwY_XwQmxbvW1qFj8FGagW86_JmgqpTx7z-cVooYNTk1RocxA3Tysi9hUEhGcX-luXid_194qkOyl75wEfbYlQ6wSS2MQZ_dszND-vb6d6bHHaJsFYmRMJnhblGra04h_tOiQgSm-l-FLF3VRA1ldR9AjbTg55VvH_QqQV5f36fHesFb3v7UTmgrFNF5uwI0p8HdcvYgLvKetB5aFd_VxSSf0eZKBugYathRUiW2JC31Vs-bDf8T0FZ2pwtpGcUiy0rb8sinFjl6_kGA2-44pP5nXj5Q_HavGbIZMroyzBxTZCRRC7b83S7fuQ9-pGCIfoT-AZSCey5_jY4m1-5c_CAcQR0oADsJcI9QvtLz_T1pwrCVZ-YRDC8o1lLHrJsux7NXc41Ux_fHsgJ4M5zZePi31t-IGUxknLsEemkcjgPTV1kRve6Hjd5Nm6ohotmGtguVyhMV5nDARGjnrR1rF1NWGIHAvUidzsznZsVYT3rlk_WD2lJNcn-yIsVfYXtxAI2ZqcLsqjiEo9OacnZNLp33oaLYmleN-wbN6vxC1J_WQPRQW9SbxWiz6ZBV216jhOoZ_K5dCmVuUAsIGSg5cfJSj95p9L8mX5jRzzLnPA-B0_fV7pxidw4OijC-jhD044I5OcsIcr1ZHu-JvbLp7TzIk8D-4T5qFeM5vb4dZaTK7ns5tRIemcpuBi1LfqoRJzDAeiupvbMxWDRjpYoYj6HS28kX4y16GG5cFtkyIstaAloiEmz2snnVtQfQgfYSVVzI_ILz1TNTjNU8voalu8ApAxvYpNZ98tOw_k2vDLFWjeWkky0PoOcnO9nA3wQSBcOigprWDWUfV35yHy9bz0ci5S6_q7uPJdvaCAPEtWaiC8Y-IRBgi523CixF6T7HBNqR0FJAUIAjjv3GSGiZLdyQlNbThOzmKhE0YfGJh6MtjMuq_-QWzeiD7hAa63km8IurerXHrrnMyHD0tNl674-NYFUIpVQIJD5b5D9JmITmJGSM02hL8XtdhoeKBZCf567Vw7P0cWMujZsbkKa1OPX-5RaRY2Ob9GDXVssUrwXcCqhBOKViK7vgJFyj44lphqctxweB63cYQ-u9FOs9ddKqxYvz94ZQl0NePJAyEHXdskuQT_nIjVSMBVP5lqDsy-0e2MDJlmLPzd21GhC7Dn8ocKQ5wAaUEQqgJCLDcsRdOVWMPgJrAA3Iq6yu-YkKaGxZbNz4Bz1fObZhr8rEUIB_f2KkCDRgjikFvvrn-X00321KLPUEHXI7fna_eqXlu7Fs6lNY_FNszir6eINJufGLnXS0klrn4JkOxBJpQ1IeNyv9aKTonGHiDIf-QRJ9-w_z3N53ayOi5YiRpzeAMgbEzfjsSbQbcF4HB4ZATab8tBqU7RPYb6on006vu_0HobWCJSzWgnrDz91qho27NmBJzOVZm0uYl__saSeYOPLSNqUEo6PUhT6x-TjabbH31hatTn1Kxcp2uQmqwgNVbZ0NPTjmc_3i8M8zSar9P3Jl6RR7NV5YiPWt_vwRMWci_2_7bApG74p7-u3TG_2d4oGvscoCupXCsw--yOnmu6cXW6LImrQjnpbOnlwUHDUmy8h3QJrqe1LprTCXzs-_d8jTFF9DB-O5dkFKfueL0rSM4dc2ufH7hJr266BGZfCixugZBNKkYpYdBuvNMGNJluWIluFGppApAN8h6SItDmxw3JzCg1Nde5Ek0zuPodM6JED9zooT1kxNLZcojoC2U-AYSbRQcssZJR3LNNfZwZvvdu8mltYugftQa7MVo7ndr04Q_I87PX34XPepLprYYU-M9phwGclP-O48KiAKPuAxfWv0BRpiTk9ibNuXkUbQzhil6MKSqo-v1n0Cv9GdX1gdp70q571UTAyU4E5IX2_WldaIDZ9QB2EaW_hkE1kT9xWnxLWNJ1h1aGm_IYm8iZejvVj0JsOuyByu7oMol0HkzxBn_BtIajBvPAaPFbA7BK_sGdfb38Gzy3SBm6JzXxoLJ0mWT46pKTdbhfRtW1f__1T64eHPoej_r0ITjHXZ-EogXTa-Xuwyb90yI-b7mUDhUQBbhBPrEfRP5jRWydjGzbJSYcOwwhdsXEo9Agcvck_YiRbulF_Dl2oK3xKIw-cs-kAIEOlpKCKz6tpG51_pMtbuLQkJGLRHYUV1oFn7DhNSyBgWvTtzyaxePNDLsZ3O7B-iIOfsI4qYKUVcUUWgWXhYARrrfOXSFvSOXy_YZ0lR7vDAlwNpPE7dwxdT5GkvbsFBEHe2MgRSHhq_pMZf1_d0GLgQ36F4UCHXyqObycIBSq3D80W56g-bu4Bueqsnw2y9JtFCHCh449cqO3puckaVzsnhYHhEfOoctq4ljKogPTI1S9YRPVMKD45NGBKHgdotoBYcke1BiRWRy9OSLnsPo3lWqXEwUOyVqKPcOs-UJf-sOoexi2V7bbdfkjr24ENtGWjhcf7jgpnMrA9PdCrMcoXBwyGcy29UsVrmRY8LMBrBsahDg64-SAcazNesTqehcchKQTh7rA==",
  "id": "rs_047749db83912328016aacc8492c9c87d08936286873709904",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.145,\"left_z\":0.215,\"left_roll\":1.571,\"left_pitch\":0.25},\"note\":\"The bottle is nearly horizontal, but its mouth is still left and short of the red cup. I’m advancing the held bottle and shifting right to place the mouth over the opening for the pour.\"}",
  "call_id": "call_PICK3cV1nlRuxROVZ33BYhtm",
  "id": "fc_047749db83912328016aacc851c2a087d0913568e982212697",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PICK3cV1nlRuxROVZ33BYhtm",
  "output": "target for left_roll is outside [-1.5707963267948966, 1.5707963267948966]",
  "type": "function_call_output"
}
call 25 attempt 0 · /responses · status 200 · 9.38 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4946, 1.9793, 1.734, -0.3378, -1.0378, 0.2695, 0.1606, -0.0208, 0.7986, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5234 left_y=-0.1053 left_z=0.2651 left_yaw=0.2193 left_pitch=0.1128 left_roll=0.7691 left_gripper=0.1606 right_x=0.2949 right_y=-0.0007 right_z=0.1796 right_yaw=0.0001 right_pitch=-0.0118 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.3453, 7.0906, 2.0684, -0.4371, 0.3785, 1.0281, -0.0889, -1.2786, 7.0496, 1.7363, -0.0513, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.145,\"left_z\":0.215,\"left_roll\":1.57,\"left_pitch\":0.25},\"note\":\"The bottle remains just left of the red cup. I’m applying the alignment move with the tilt kept inside the wrist’s limit.\"}",
  "call_id": "call_1nHHCio5ZVcVYSrGuiYNMyCE",
  "id": "fc_047749db83912328016aacc8560ad487d0bd9be700b0d61097",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1nHHCio5ZVcVYSrGuiYNMyCE",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5217, 2.6625, 1.9373, 1.2984, -1.2964, 1.9648, 0.1606, -0.0208, 0.8024, 0.6079, -0.3897, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5867 left_y=-0.1369 left_z=0.1805 left_yaw=0.2507 left_pitch=0.1955 left_roll=1.5262 left_gripper=0.1606 right_x=0.2945 right_y=-0.0007 right_z=0.1774 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -16.4308, 8.0342, 1.1111, 0.486, 0.398, 1.0281, -0.1162, -1.5658, 7.0496, 1.7851, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5680d859a5eae5bf106b51a3a76397ffec06bf4c65e26da5b302f23f852c8854",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb7b7a990e61967e185b9d3cc54854c2a27369c28d1864f43cb57d65b9f945a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03524572e8b98a9d07427045d05e1c4d67e73df1107c6c71aaca4ccc9eeaeec8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /responses · status 200 · 7.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5251, 2.1914, 1.4242, 0.8337, -1.2964, 1.4773, 0.1606, -0.0208, 0.7986, 0.6079, -0.3855, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5279 left_y=-0.1052 left_z=0.2081 left_yaw=0.2152 left_pitch=0.0836 left_roll=1.4603 left_gripper=0.1606 right_x=0.2948 right_y=-0.0007 right_z=0.1793 right_yaw=0.0001 right_pitch=-0.0126 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -12.1504, 6.4342, 1.5995, 0.0904, 0.2955, 1.0281, -0.0889, -1.2513, 7.0496, 1.7216, -0.0269, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMhho38qxf0pKuRIdnOquQBzodFTYiuHVo3cf6oM4oOig4qhr9ZQdzCoNl-FFBS_b_iyl5rwOD4seXenEQa8zC8gWbOpJgMyjVpLhCI-CvPYBu_BOX3y73VYsRlTDysrHrzvhsuUxmozEF8L84Li5ob4t_cLHA-qurdhh9MLZK1epUOa97i0M3-mSOKJky0x_ZfPbeBMFUyR6kHFx9-7VN9DRzqspcmxQXxPIZEysd13DJpkptAsZ4TtMttfju7zQo-JZJiQ77ffA-qlSKbuwYtJYYgjvqognV2JagViln0cu5JURY6iwEBYUrLxdmpvDGf0ru24aT8_d-AJiedmvBhfrVRc1tr-T7u1XA1x4n9t9Uf_v8rwwtqNJDCXrgl11krQvsJAbTu2ywKfOSOsGJWMnHf9YiD4YtkqXH0GUrb00nLzTeoDxPba0Qs736I3ztRoK8IrZZJ_qDnLaHBaOOJ5zboG73riFws0lIj4mV5HXxHjylWTTljKIRZfSYme7iU-oIDQAaXJy500N3DN4PQhscNqKwJz1XUpVPN4CmV7yT8ZpoBBcADQjM0OUanpCoc_2ksoyoU2yUnmzDvxJrqkxJYCq3BdGRJwryYNdBntAjYv4mbBGMFk60bCFLd393tH_ru3ebmzfM6juS9xnI4JlEG7ML83swRM0ThXh1BmAKz9CAbozDBhD_7h69GPMSZRe-C7xl-Pqg2eTO_rd3bFOiHY2H5TwQ97s8fvjQq67xOuT746ZFh_jWbOzmWCnLgZ4XyGMSoPHtolN1Q2p_562AA_xVimpDyTQTUj3iKCZ2Wk3-xceqrcNToWvwEv6Ozq0dqxZ8pAgMCtSOELsgY3RHUrY5-_INvZdhpRSS7kZmUoaEv27rqtw7rnVInaxRGmYs29rL0KkIB4L96a2xY_rlx6HhhwLpAFMTwM5GZW9q9UvxWolmPZ5c3zpeqUHx4xkhVS-xbKZEiWRERPF1HpHWgDQWRKUVCjL0C92cDcl7jTS0ySFZMl8OZX4BSFHvy6oLRbeRHWFeMs3MkcQwdyRs01ut8bASUHvvIEdihU76Lto825aElCLBzs9tPvcOysSZ3tPRIeH9QdaC6P4SEttEmH7VgHuIcD6vYGYZhnORzpupYsOFCUDGxzYKjY8exfrHpdnONd2FwIk_xPetOPQRrFAQdepqyY-0zKgmBEE8a-NvTI1buCCC5b-s7MVMiApaAzkaAFOEr3WAZsRnQTTwvRrYsAOUT6EtZPZv-O2CxPzXIcIAidYWbkSsvWOAKw4vJ_3KEh2Awi3h8UmG8ohk3tMLhW8JagvusnqIaBcfJbuBjPU2rjIf55M9ydBO1TztIbCtbttxIby-TEk3u6MBCXKuPYvw5kOgtE8tCbHBj94Xlkx1WhmhpbYoJco_EXsYNvGFUUDuykR6KRiu9mI21CbXtSHL7AL8F83lPh1mOcd26Fg2KSs3jdb8VUOONu0KVTWRN9ZBa2EHOmZsQ_FnBvztZtqpat7wHocZoAZMi7Jk9o074ygzBauMe4Ezp-95wotgV_JbMlkSknJ_5E1wtMCOnAm-O06-1o_vCEifyzDf8nSNMZ9et5afWGMrlAEYZeaFhNpv598qbPVbk4obmqnlxwd_gc-_ZcnhM2iseL3-3Nv5yLXVuyPMVvQ3dPUwR7VRoh513N1KLqAC3MljlK9EhNr72tepcpKiW607LQkY6CZpH1FvVlFSKOE0j6z_VmHMNT6HrJMzAITEReEInVQuHByuJ9cW9attxxTkOeQO9HCkfkaM-WX6oxIknh5AeTAqgizXw7gX8aGOfueBXt7PgO74TfMNUDItIOWg-thTw4jcmuYzxM2-E6mrqg5X73TetakkEHuAA3Gw77chRWPF7vtoPt0YTGpnG_jE3SE2qQ_QYYPYHGE0F7w4FzUmzx_o7qwf1bDGOSCEpxPJCppD-wMAqGpupo74uZB3ZSb1YBFs_pCvfrAgJqFyAapf1Wo97Ab7r65L1sXSvvT5M8mmt3rS-sFLW7bZm4cgbnJxFsLewS7UX2CPagijShjOCJe408flQPh1IQaETZad_5CbR_blulFHC1mizcQugpZR8QQP3jyO_IEJtrrF9VE_hekFCMjI0Nwvz68XGDczIoMryyEon-iQmYtZB85ar0kwStAT82v8PMbfQ5ad81BXe9WhwO0A43AX3OWJl8FbSFhHObiMm9Pd7kUqE3JEBNGpt4ksmbDVxtYiPi57QAslgiKcYGlYSBWGFGJQDetjOerjPBkwy86oFhvD24kFw=",
  "id": "rs_047749db83912328016aacc85a366887d0a572f643fad5a507",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":-0.3,\"left_x\":0.585,\"left_z\":0.24,\"left_roll\":1.57},\"note\":\"The mouth is now aligned at the red cup. I’m angling the spout downward while keeping the bottle raised enough to avoid touching the rim.\"}",
  "call_id": "call_mDeP5UzYWhbD8NahlXAPQwU3",
  "id": "fc_047749db83912328016aacc85f789487d0a07da5127f73f27a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mDeP5UzYWhbD8NahlXAPQwU3",
  "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]: [-0.5201, 2.6995, 2.8593, -0.8944, -1.256, 0.923, 0.1606, -0.0208, 0.8051, 0.6079, -0.3931, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5917 left_y=-0.1412 left_z=0.2397 left_yaw=0.2403 left_pitch=-0.2246 left_roll=1.524 left_gripper=0.1606 right_x=0.2942 right_y=-0.0007 right_z=0.176 right_yaw=-0.0002 right_pitch=-0.0267 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -13.6547, 6.8034, 1.1355, -0.5348, 0.1001, 1.0281, -0.335, -1.5248, 7.0906, 1.7167, -0.0317, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6eb4f34a2f15280024dd63ffd99fdab247be938a5e631894191bc6f47bfaabdd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62494b723b84e16ebb64872e6727f84a242ddf8f2e2527bb7e7c638a628267e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:047c846abbdc6f48fe4bf28b6b4244f95da9beb7144e30316374e9d5dbda2feb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 6.061 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 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]: [-0.5217, 2.6625, 1.9373, 1.2984, -1.2964, 1.9648, 0.1606, -0.0208, 0.8024, 0.6079, -0.3897, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5867 left_y=-0.1369 left_z=0.1805 left_yaw=0.2507 left_pitch=0.1955 left_roll=1.5262 left_gripper=0.1606 right_x=0.2945 right_y=-0.0007 right_z=0.1774 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -16.4308, 8.0342, 1.1111, 0.486, 0.398, 1.0281, -0.1162, -1.5658, 7.0496, 1.7851, -0.0317, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMhp6fjsmInYPWT-uzNLvw3vrsimOGCSGfSCKJ588y11bClhmRBaY6nYRetgJWsH3Q8u9PoJVi70IlKf3rdScyYFKrZK7qbQagEXuN-jtX2MLAN9b7pkwUYUjahMC39euPZDwzTY3T8e3wqwKcxnCGQf1gfr4wMEXCG6F16C9MJ3Dnq7Dh57BX4M2CnM8iF3_0jvyWX7Vc31_p-UOWi21zQFEgZPd4hwEsALYG-tZJ9pcvFLIlNrmQKkvyLoZsjkLiEQfn62CPEusOlUvTYwlnjovg3Xdmqjg4ButtHa2B7ECH7mbtm0ZknWHg6qgWFCZENxtV7bVyB39HTSzAWYrH7toidwAiAk9xwp627B2c2KA6DR2wtPPhaf1Nnl7iJO1ECi1evk4uwZq0_RNqEblz9RrjelDht-WyGwBjqhRnSbdb7-NgO8LKVjnUcsEP565cSVULfKXZ21TI_0K4EOblDQn0yvZEENE8f2GGdFbEThqcvoOUGWHnwVP5mgL8uUJNtkIziYIlLKO8QF8A4oTqjvfZroPBs-nITxmyA18392g0HTGrs-O7RlzVX1bVkI1WyF-IfeJXofzE2yGptlcmo_57FQnv93KUp4JCxVKPge21nbE5rGz9LKtpFq0-Tyg_GFmND1Qhp8LnHrX6vAVZtvmFK-NwLgVYxYGb3d-H8PUEi9o_U6hXi4BdUuDl8rFyvEu8fQuptI5XL-hR8HRFeYK4RH55wQxlHCBq74p77U4JMqWhTKLrEk3f2CUr5JNythl4kNOHvXH6_DidXWKVdgXnARrkjwonJDRbKyHyfuaocI47vtBq20dibrQZRAkoiSdJbAHZsqDO46-0dl_iJ1I9iUWxRUaRhRbq9QPubenGQ1tfDrR2LCl2UaXghzuyH0-Q5OLM5FOiLzcM0yBUhyS-z6HVpag6qQ4pf6P9vKG1l9ipRhp281Gh4BHSorADWAWsA1CrqrnThss8-h_-DjVGKcIFSdaYtL-oCjFuBgaWTvM-PvkKbailh2vT5zImuqngN_fC7RtkCilsoU8Proiu7U6wgZS8GrvAb2PA5yYYbHxEGefuz7l5xtIw1Hn-NoFHw6Q9guOjik_oS8TB-nDBoKp4UYsWrykDM5M9VLIh2lM-b4NRzS2YmV5h8dPK9OZUt72e0M-aWC29JVPK7RWF_mijKSfUn9ILnnHjUYkgCeFtWjSqOWF-A8t1czneOGE8S7a2dnMS-vITBtH5Jh78dBQjnYUj9vbGpBb2WsigysDtPcJfAphFzDgXdZC9ZlyboFDKbOUW5ZmKi5eRasjYFLlbGGxFNinnAboDreQSJ9U6k8honj9MU6xPeEaNNPnrsarF8zMB_ijsDT9hfklRtxvWQFUBIFGDuHwZJ8VtRHjwMWwn443uF7Ypoh8wwMbvPGYSGu2L8B3dyqTmqV33Y_hX0Qw12XmyCHKLb4JWG3YkraMf9VPDCsCE0jODRschP4KH6wFO1kXR89V9rajTJJ6RFEl6Ab91Wi8CXQ0exe-QY8FFqF7mah9sjPgumac28oykOb2M-Hub-kND100ONf--GifLTl6K4IxBH2vTJYwyBrFfbmZvZht2sZ78KaJ8SrWnFk6b3-axdskfztpnYdBW34uAAey-OmZCvoi7lbJ4ntJsSHqBPY2TYRxpHVTP5Uj0XO15xEwUrkmFbpgZjiul_B83iBLhKhRar4NV24-ZV_qtLZlw6-7ktP-VLMLSY4HyjswFv7UHjY6t_ZyqmHl00cSgGz-JqKSRlMVeJDvxckGMaw80Gn8sHZOkvz1m7CDPxCG8vbGFcKJ7Ip2A==",
  "id": "rs_047749db83912328016aacc865100487d0964d51c8da3211ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_pitch\":0.4,\"left_x\":0.585,\"left_z\":0.215,\"left_roll\":1.57},\"note\":\"The pitch change moved the spout too far beyond the cup in the overhead view. I’m returning it over the opening and holding the sideways pouring angle.\"}",
  "call_id": "call_nmYpAqxSp1RuptCgzdZ0FRFu",
  "id": "fc_047749db83912328016aacc8685cbc87d08e0b65d3dece1a63",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nmYpAqxSp1RuptCgzdZ0FRFu",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4347, 3.0776, 2.7472, 1.0512, -1.1801, 2.08, 0.1606, -0.0208, 0.8062, 0.6075, -0.3927, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.6492 left_y=-0.1174 left_z=0.1974 left_yaw=0.2555 left_pitch=0.291 left_roll=1.5764 left_gripper=0.1606 right_x=0.2943 right_y=-0.0007 right_z=0.1756 right_yaw=0.0003 right_pitch=-0.0279 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.5265, -24.7043, 8.3897, 1.58, 0.5885, 0.0806, 1.0232, -0.212, -1.2786, 7.1043, 1.7363, -0.0659, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab76e27842389e07585e4647e1b0d340c13ac098fb90ddbb2616c3fe4e25efa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84d29cc1847830172a769441cd4a6b255240953b8c16eb4f165d1af137fa1c98",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b4d2b937ba7ff74ba756e8987d8e72a2838ab40866a80dc0bcc7f7cdaf11b60",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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