adhoc

completed
2026-09-18T03:52:29.008940+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
1800
duration
162.7 s
total steps
182
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two upright containers with the red cup behind the left one. I’ll approach the left container first with open jaws, keeping the right arm parked.
move_to
left_x0.4700left_y-0.2500left_z0.2200left_gripper1.0000right_x0.2960right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6167, -0.3801, -0.0219, -0.0257, 0.9996, -0.0208, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5538, -1.6479, 9.6068, 1.7607, -0.0513, 0.0904, -0.0562, -0.4444, -1.4291, 9.7983, 1.7216, -0.105, 0.0806, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.25,"left_z":0.22,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.20},"note":"I see two upright containers with the red cup behind the left one. I’ll approach the left container first with open jaws, keeping the right arm parked."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe wrist view shows the left container to the left of the jaw center, with the second container close beside it. I’m shifting left and lowering to grip the left container’s body below its opening.
move_to
left_x0.4800left_y-0.1900left_z0.1250
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]: [-0.6701, 1.8782, 1.5841, -0.4339, -0.5549, -0.4397, 0.9996, -0.0208, 0.8051, 0.6426, -0.437, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4646 left_y=-0.2449 left_z=0.2036 left_yaw=0.0102 left_pitch=-0.0393 left_roll=0.0091 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1828 right_yaw=-0.0002 right_pitch=-0.0393 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6222, -10.2359, 9.812, 1.6337, -0.3199, 0.1685, -0.0611, -0.0068, -1.4154, 9.7983, 1.7021, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.19,"left_z":0.125},"note":"The wrist view shows the left container to the left of the jaw center, with the second container close beside it. I’m shifting left and lowering to grip the left container’s body below its opening."})
tool
executing move_to over 6 steps (0.6s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe left container’s body is now centered between the open jaws. I’ll close around it and check the resulting grip before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5415, 1.8641, 1.2705, -0.1123, -0.4889, -0.3653, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4774 left_y=-0.1862 left_z=0.1309 left_yaw=0.0472 left_pitch=-0.0482 left_roll=0.0222 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [0.4034, -9.4564, 5.6957, 1.1209, 0.1734, 0.1636, -0.0122, -0.0342, -0.9504, 7.0496, 1.6777, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left container’s body is now centered between the open jaws. I’ll close around it and check the resulting grip before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe jaws closed empty, and the container shifted forward rather than lifting. I’ll reopen and advance toward its body to bring it between the fingertips.
move_to
left_gripper1.0000left_x0.5250left_y-0.1900left_z0.1400
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]: [-0.54, 1.8648, 1.253, -0.1154, -0.4751, -0.3717, 0.0103, -0.0208, 0.8089, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4734 left_y=-0.1853 left_z=0.1222 left_yaw=0.0421 left_pitch=-0.0709 left_roll=0.0212 left_gripper=0.0103 right_x=0.2926 right_y=-0.0006 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.294, -10.0308, 8.1573, 1.5702, -0.2955, 0.0513, 0.7985, -0.0479, -1.388, 7.2274, 1.6777, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.525,"left_y":-0.19,"left_z":0.14},"note":"The jaws closed empty, and the container shifted forward rather than lifting. I’ll reopen and advance toward its body to bring it between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe container now extends into the jaw area and is centered laterally. I’ll try the grip again and verify the jaw spacing.
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]: [-0.4877, 2.0052, 1.4872, -0.2386, -0.4622, -0.3702, 0.9956, -0.0208, 0.8101, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5154 left_y=-0.1802 left_z=0.1258 left_yaw=0.0847 left_pitch=-0.1003 left_roll=0.0312 left_gripper=0.9956 right_x=0.2927 right_y=-0.0006 right_z=0.1812 right_yaw=-0.0002 right_pitch=-0.0446 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.0068, -10.4821, 9.894, 1.8193, 0.0366, 0.315, -0.1734, -0.253, -1.0735, 7.0906, 1.7314, -0.0269, -0.0171, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The container now extends into the jaw area and is centered laterally. I’ll try the grip again and verify the jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
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 second close was also empty, so I won’t repeat it at the same location. I’ll lift clear to inspect the container’s position and approach its narrower upper section instead.
move_to
left_x0.4900left_z0.3200left_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]: [-0.4877, 2.009, 1.4902, -0.2497, -0.4557, -0.3817, 0.0105, -0.0208, 0.8101, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.5143 left_y=-0.1808 left_z=0.1229 left_yaw=0.0865 left_pitch=-0.1124 left_roll=0.0248 left_gripper=0.0105 right_x=0.2927 right_y=-0.0006 right_z=0.1811 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3487, -11.3162, 6.5436, 1.5995, -0.2418, 0.0904, 0.8132, -0.2393, -1.1829, 7.1179, 1.746, -0.0513, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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":0.49,"left_z":0.32,"left_gripper":1},"note":"The second close was also empty, so I won’t repeat it at the same location. I’ll lift clear to inspect the container’s position and approach its narrower upper section instead."})
tool
executing move_to over 13 steps (1.3s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteFrom above, the left container’s narrow neck is aligned with the jaw column and sits farther forward than the previous grasps. I’ll approach that upper section, staying above the wider body.
move_to
left_x0.5850left_y-0.1900left_z0.2350
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]: [-0.5125, 2.0132, 2.2753, -1.0161, -0.4709, -0.4358, 0.9966, -0.0208, 0.8116, 0.6415, -0.437, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4943 left_y=-0.182 left_z=0.3164 left_yaw=0.1018 left_pitch=-0.0941 left_roll=-0.0174 left_gripper=0.9966 right_x=0.2927 right_y=-0.0006 right_z=0.1806 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.4581, -9.4564, 7.5556, 1.3748, -0.2564, 0.2906, 0.0171, -0.1983, -1.4291, 6.9949, 1.6679, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.585,"left_y":-0.19,"left_z":0.235},"note":"From above, the left container’s narrow neck is aligned with the jaw column and sits farther forward than the previous grasps. I’ll approach that upper section, staying above the wider body."})
tool
executing move_to over 7 steps (0.7s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe arm is falling short at this long reach, and the bottle remains ahead of the fingertips. I’ll use a forward tool tilt to reach its upper body without pushing at table level.
move_to
left_x0.6000left_y-0.1900left_z0.1500left_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]: [-0.4385, 2.3131, 2.3619, -0.8963, -0.4286, -0.4267, 0.998, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.5696 left_y=-0.1821 left_z=0.2056 left_yaw=0.1453 left_pitch=-0.1885 left_roll=0.0175 left_gripper=0.998 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0496 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.212, -14.5026, 9.7162, 1.7802, -0.1099, 0.4664, 0.1343, -0.3487, -1.5658, 7.0496, 1.7118, -0.0415, -0.0415, -0.0171] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.6,"left_y":-0.19,"left_z":0.15,"left_pitch":0.4},"note":"The arm is falling short at this long reach, and the bottle remains ahead of the fingertips. I’ll use a forward tool tilt to reach its upper body without pushing at table level."})
tool
executing move_to over 20 steps (2.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe forward-tilted approach reached the bottle’s body, which now fills the wrist view between the jaws. I’ll close and check whether the grip holds a measurable width.
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]: [-0.4732, 2.2494, 1.5429, 0.4522, -0.6296, -0.1448, 0.9981, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5985 left_y=-0.1855 left_z=0.1508 left_yaw=0.1541 left_pitch=0.357 left_roll=0.0224 left_gripper=0.9981 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.212, -11.494, 5.9009, 1.8437, -0.0317, -0.0269, 0.0073, -0.1846, -1.5248, 7.0085, 1.7363, -0.0317, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The forward-tilted approach reached the bottle’s body, which now fills the wrist view between the jaws. I’ll close and check whether the grip holds a measurable width."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe jaws stopped at about 7.2 cm, consistent with holding the bottle. I’ll lift it a few centimeters and draw it slightly back to verify that it moves with the gripper.
move_to
left_x0.5600left_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]: [-0.4706, 2.2517, 1.5425, 0.5137, -0.6514, -0.1268, 0.7617, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.601 left_y=-0.1815 left_z=0.1625 left_yaw=0.1802 left_pitch=0.4068 left_roll=0.0078 left_gripper=0.7617 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5402, -13.2034, 6.5573, 1.1453, 0.105, -0.2222, 0.8864, -0.1299, -1.3744, 7.1453, 1.7021, -0.0171, -0.0415, -0.0171] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_z":0.24},"note":"The jaws stopped at about 7.2 cm, consistent with holding the bottle. I’ll lift it a few centimeters and draw it slightly back to verify that it moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe bottle is held, but the loaded arm is sagging at this reach. I’ll bring it closer and higher, returning it upright before positioning over the red cup.
move_to
left_x0.5000left_y-0.1900left_z0.3200left_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]: [-0.5098, 2.0808, 1.4899, 0.3412, -0.6762, -0.1352, 0.6882, -0.0208, 0.8185, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5684 left_y=-0.1871 left_z=0.2046 left_yaw=0.1547 left_pitch=0.3674 left_roll=0.0393 left_gripper=0.6882 right_x=0.2932 right_y=-0.0007 right_z=0.1788 right_yaw=-0.0002 right_pitch=-0.0534 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.2393, -15.7607, 6.8718, 1.9121, -0.2271, -0.0562, 0.8571, -0.3487, -1.3607, 6.9812, 1.6972, -0.0415, -0.0611, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.5,"left_y":-0.19,"left_z":0.32,"left_pitch":0},"note":"The bottle is held, but the loaded arm is sagging at this reach. I’ll bring it closer and higher, returning it upright before positioning over the red cup."})
tool
executing move_to over 13 steps (1.3s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe grip spacing remains stable, but the bottle’s orientation is unclear in the wrist view. I’ll move slightly left of the cup to confirm the bottle is carried and give it room for a controlled pour.
move_to
left_x0.4800left_y-0.1200left_z0.3200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.556, 2.0048, 2.1624, -0.8093, -0.6285, -0.4271, 0.688, -0.0208, 0.8192, 0.6415, -0.4366, -0.0109, -0.0261, 0.9998] state[eef_state]: left_x=0.5094 left_y=-0.1901 left_z=0.3202 left_yaw=0.1744 left_pitch=0.049 left_roll=0.006 left_gripper=0.688 right_x=0.2933 right_y=-0.0006 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0542 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.7043, -9.7299, 8.0615, 1.3944, -0.2515, 0.232, -0.0366, -0.0752, -1.4154, 6.9812, 1.707, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.12,"left_z":0.32},"note":"The grip spacing remains stable, but the bottle’s orientation is unclear in the wrist view. I’ll move slightly left of the cup to confirm the bottle is carried and give it room for a controlled pour."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe bottle is now visibly lying on the table; it did not stay secured during the lift. I’ll approach its lower body from above and maintain an explicit closing command during the next lift.
move_to
left_x0.5700left_y-0.1800left_z0.0950left_pitch0.4000left_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]: [-0.4427, 1.7729, 1.7996, -0.6941, -0.5468, -0.3687, 0.688, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4836 left_y=-0.1237 left_z=0.3005 left_yaw=0.1929 left_pitch=0.0045 left_roll=0.0273 left_gripper=0.688 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.3077, -10.8513, 7.1043, 1.7558, -0.149, 0.1538, -0.0122, -0.2667, -1.5248, 6.9812, 1.746, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.57,"left_y":-0.18,"left_z":0.095,"left_pitch":0.4,"left_gripper":1},"note":"The bottle is now visibly lying on the table; it did not stay secured during the lift. I’ll approach its lower body from above and maintain an explicit closing command during the next lift."})
tool
executing move_to over 14 steps (1.4s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe fallen bottle’s broad lower body is between the jaw tips. I’ll lower slightly and close around it rather than its tapered shoulder.
move_to
left_gripper0.0000left_z0.0600left_x0.5900
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]: [-0.5003, 2.2799, 1.3193, 0.6415, -0.6998, -0.1627, 0.9984, -0.0208, 0.8249, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5622 left_y=-0.1736 left_z=0.0818 left_yaw=0.1851 left_pitch=0.3183 left_roll=0.0624 left_gripper=0.9984 right_x=0.2937 right_y=-0.0007 right_z=0.177 right_yaw=-0.0002 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.6222, -12.2735, 7.706, 1.7949, -0.1783, 0.2027, -0.0317, -0.1983, -1.7026, 6.9812, 1.7411, -0.0269, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"left_z":0.06,"left_x":0.59},"note":"The fallen bottle’s broad lower body is between the jaw tips. I’ll lower slightly and close around it rather than its tapered shoulder."})
tool
executing move_to over 10 steps (1.0s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe bottle slipped forward again and is now beyond the left arm’s safe reach, beside the red cup. I’ll withdraw both arms; continuing would risk pushing the bottle or cup off the far edge.
move_to
left_x0.3000left_y0.0000left_z0.2200left_pitch0.0000left_gripper1.0000right_x0.2960right_y0.0000right_z0.2200
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]: [-0.4763, 2.3981, 1.4124, 0.6361, -0.696, -0.165, 0.0103, -0.0208, 0.8249, 0.6415, -0.4362, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.5806 left_y=-0.1681 left_z=0.0493 left_yaw=0.201 left_pitch=0.2939 left_roll=0.0792 left_gripper=0.0103 right_x=0.2937 right_y=-0.0007 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0595 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.2667, -12.4786, 8.6632, 1.7607, 0.0952, 0.1197, 0.7839, -0.253, -1.4291, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.22,"left_pitch":0,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.22},"note":"The bottle slipped forward again and is now beyond the left arm’s safe reach, beside the red cup. I’ll withdraw both arms; continuing would risk pushing the bottle or cup off the far edge."})
tool
executing move_to over 22 steps (2.2s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteI could not secure the left container. It tipped and slid toward the far edge, beyond the safe grasping workspace. Neither pour was completed; both arms are withdrawn. Please reposition the left container upright and bring the containers and red cup closer to the arms before retrying.
give_up
hindsightThe left container's tapered body slipped from a roughly 6.5–7.2 cm jaw opening; a nonzero opening alone did not establish a secure grasp. Confirm object motion immediately before larger transport moves. Repeated approaches from the base side pushed this container forward, eventually beyond x=0.60; stop and reassess sooner when the container shifts instead of entering the jaws.
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]: [-0.2726, 0.915, 0.7586, -0.4408, -0.4622, -0.2317, 0.9983, -0.0208, 0.8627, 0.7887, -0.5804, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.3103 left_y=-0.0012 left_z=0.2142 left_yaw=0.2232 left_pitch=0.0328 left_roll=0.0647 left_gripper=0.9983 right_x=0.293 right_y=-0.0007 right_z=0.2042 right_yaw=-0.0003 right_pitch=-0.0942 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [0.1846, -2.0581, 10.0171, 1.7753, -0.1148, 0.1392, -0.0024, 0.294, -1.2376, 10.1128, 1.6484, 0.0073, -0.022, -0.0122] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the left container. It tipped and slid toward the far edge, beyond the safe grasping workspace. Neither pour was completed; both arms are withdrawn. Please reposition the left container upright and bring the containers and red cup closer to the arms before retrying.","hindsight":"The left container's tapered body slipped from a roughly 6.5–7.2 cm jaw opening; a nonzero opening alone did not establish a secure grasp. Confirm object motion immediately before larger transport moves. Repeated approaches from the base side pushed this container forward, eventually beyond x=0.60; stop and reassess sooner when the container shifts instead of entering the jaws."})
tool
give_up: I could not secure the left container. It tipped and slid toward the far edge, beyond the safe grasping workspace. Neither pour was completed; both arms are withdrawn. Please reposition the left container upright and bring the containers and red cup closer to the arms before retrying.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.85 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, 0.6167, -0.3801, -0.0219, -0.0257, 0.9996, -0.0208, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6068, 1.7607, -0.0513, 0.0904, -0.0562, -0.4444, -1.4291, 9.7983, 1.7216, -0.105, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80d2e96c5e0ccc79e20fa61983061c06cb02de76830f1ff70ee92f498b1e40a1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57a540c3e608d38970537e35a358b6a2fb14a359dc137313e51b29e0eb1005f5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75aab1072a9900fb6e1b7a94d7661b31fd0d53347edc09187d3e44829bfdcbea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 80d2e96c5e0c
wire blob 57a540c3e608
wire blob 75aab1072a99
call 1 attempt 0 · /responses · status 200 · 8.815 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrLWThvngFsTnmmuYbKpO3JBzoR8V3kkhz1NOV2vMoi1jo2pvFrcfcyXpbCblWgHbw2G6kfxuZ8-sAl4feKTWC1F2tE62n04rEnrWqglOeLqewz0IFvlNyBemNUhuhh5c85CM-1LjChU1f72mZb8x1W4JchdRIaZ5dmS2vPBWORPMMC_2ldAcyerTSMip8sCwS9N5x14WYFn9oK6NCHObfefwbaSYJq3Th6UPoJeKmZkxIIHEYpaKxU4lCOzeVQjLnTFUWPxEeXYWnWGY7LzSQw5-CH3FfN0lgABwla53NZKXsKQicTUqU1-C52esnNcml8jU38IOZurnmOqcnD73lSet4IajGq3VbJoyDaovM1DHfaZu5xrr9R6XjWDl9xkGs9LCkhyMyK8XuFqMD6uW5yYbmUZLcHN7TiHK0VQUcYMst1NHtsgCxcm2u4CdXDJ0r43Molmod12Rr8rFjqywkqDAg0OIP1zm3fkC68GmX70YYQQLnJViY2Prx6y4fhDcRcWNWyc-OLE-xJfseex5Owx1oIz-6kcGcQ7JqmBkEO8650e_nZWdTM3g6VSXVxhLtjgFqxxImWnHrnUvcBYOhTUrcE7LQtFtkmcoaycrYOWOVkK2iRMUozRXGTXazON_mF0vtqDY8FCrtlAzDl2gRU8Znf6AHwZKDcggk94tPtZ2ExQgVN1ASVlOw6DcbkKYAjZg5SHH2Fhjzqzt1gvyIkoNBUrACCM8xwXWmYlAhrhNpA13fc4pymIXAVOD7jkCltW41T3Nq_b-ggnA4f2YV4R1GXa1bzWcHnfL93tJXZ0-WeRX-u6SwHwyRjNq1fwdtw50pNo338fWay5ZM6AnlGedlujhDcQ7GfdmzhlC1NXNo7gTsDdJRyC4VpYO_y56oauhD_jIGd9s5vrCBfGDm8a7CHFNStBzAmRjnM1LUzKeNs6GtostEm_oOuBHWDnk1ebcItgGJ5N6s7yezT0IdDySgVFxHwXsuGGf0vflQpp99L7xKE5Aq9v5BM8JEWzxHhV25VXg1klkVLo6iIbz6c4ORRGfEJ0fRmXWue6KnzzcX_07sCi86qFFqfFVD2w6ym4LIEWhLuIRgRl9BST9LJsgnmUcbFz-2H2WU6VwnDUt7xRUunjrq6gUC14L1o8N8jrKTimYZiVPKa7oL-ckI-OGi9emBWcILTVZxqjb3r_laNBLqHR1IcFlGQtp6UC0nFcqUz--3DKmosk24EqBOtlkDn-AXeha_y2F7tR9AehIQM7mOR_Uu8xw_udNkwt1UG8Ot-lJy5X5RyWpKE3kE25epKsNIMUgs_7POcdkkxICziu59XHA9sodeGRKYkCihMdUHVcBvxba02Z9X0B7EpY0A8JVLURKKF14h_UKMUMLti-Pa3HXG7WtD7Li5wGb5K_1-kHjVGW24E30rDT6XiQQxeglNbgDsraRUzP3eEpxkkCwDhTlsWAI3dfFiJL7APYQHa8ywlhYUKnA4f2Kh3sragsF14LRRduWmfxx1C_puJN0BXcRSCF3i7yXnkOqVT4s8EVnzvyENRJh_9Fm-G1ga40VRsWmVHOp2l_N_jlI5lSDQVUiTLUI3zFZ3VJ5m1hDZlYGNHpmiVJPIgQjJTJoTQEoRZ68iX746eGytXEMa3PN1wppvH_KL7w-4S8pePm_iq1q3NabygfKru0t-U177UTkKHOH9qacfpjMMc-GdxBz96ACysc8HwA726ow9JKVqQvi4dYTz4xXbIrHg4wlG2wul025t8dYiXv6uRr--ByTVy2hYIgAYuvWUY3zeaXbJixN5sGhS5vlEd8YsN-1e3uJkZZxHlL6S6IJ8ZPknj_6ZihlFJcxvzUobZjTBNW0lIq6camMHKbVz4MOmuYd807v7bZqP9biBd6Wlg3o--onAWFQInGJ-KqwOI2Qd6T1VLcNfvz9y4_VdwzoJo_UX02tddzCjw_wJNJx1BO2PsKd-K80ilTq4bsdG1szd2VN",
  "id": "rs_03539d4cf486b2f1016aacb58cd69c87d0943efaf3e3a6996c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.25,\"left_z\":0.22,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see two upright containers with the red cup behind the left one. I’ll approach the left container first with open jaws, keeping the right arm parked.\"}",
  "call_id": "call_qnriykYZIAEhRyCrh99BCdSi",
  "id": "fc_03539d4cf486b2f1016aacb591eef087d093a6a0b939417593",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qnriykYZIAEhRyCrh99BCdSi",
  "output": "executing move_to over 23 steps (2.3s)",
  "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]: [-0.6701, 1.8782, 1.5841, -0.4339, -0.5549, -0.4397, 0.9996, -0.0208, 0.8051, 0.6426, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4646 left_y=-0.2449 left_z=0.2036 left_yaw=0.0102 left_pitch=-0.0393 left_roll=0.0091 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1828 right_yaw=-0.0002 right_pitch=-0.0393 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.2359, 9.812, 1.6337, -0.3199, 0.1685, -0.0611, -0.0068, -1.4154, 9.7983, 1.7021, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306b22647b72ae51b32014b55bac0cff160add192cbb2d1a52105022c6103822",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4c60baaefb2a7e08ebf7fe3947febafc4e8b2e43a9aebfe8e308b1e67f0a8f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d3c74bd2692c11062dcb983e3c46fb863a517a1961aeb82847181c130390169",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 306b22647b72
wire blob 5b4c60baaefb
wire blob 7d3c74bd2692
call 2 attempt 0 · /responses · status 200 · 2.7 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, 0.6167, -0.3801, -0.0219, -0.0257, 0.9996, -0.0208, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=-0.0006 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6068, 1.7607, -0.0513, 0.0904, -0.0562, -0.4444, -1.4291, 9.7983, 1.7216, -0.105, 0.0806, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLWwap9n3TZzNMpnEWpDSxuRfoCfrrNQT0KG7lHFNQoR5qMDIve5lVSdLO-PYekXw3MMRHdq3W3MvRwvaHpKDZG20qc4D6TRJxruiIVPPGrsFL8zV0KBzYDleOdwL8Bdz5tsp257OYBco-KBd81i4TyCxHogZ9_TL6tlFukBpy1CEAg26k4O9-NtDd_neVO5voBF5qCE06D4cf2k2EzsUxmzJoNGNmD7Zlp-M2wlvecBsynZvDtpRFOR-8xLoWjHZGCsQ8Ux-hjaddsfh7qTC1HjV7B6l0VB5aB0ANxtHTYdFNB-d3Kp-RL_vQzVb9_4M1WgD48OBU9eGZe8om_KeeHM516nCtcR1hXPTOrxjJmYhmVvHUm1NN21ju_4z2-iau0j_N3a0W3NAOmLF5qNf0X8n-kOg_audcXItApDjOvcED39fL0vpoIZRrtWt5bzEGsFJWUy0L8_YDZlNFw_iSehsb37y48iRT1_SS5YCDAKFPurXXjXN5jTTm2K2FFh4hiyfIXykJS5Z-tSz3a9fvHD9q1fLQoKKl81QWli5wxAsjJ7KHtzNm9lZefR7xI6X887fk-Qyc9kMrnyOHjrI3K-ViiejtdZsOlrqatbF4rT35OAQ0yUohuae5DMDJC2-KQVv_IbwIeUiiOEnZ72o4IrW-tuNLMa9oiFt_u10HZM8G9Dt6twdN9KiMxnz-t-riiwJShcBiioiWCb49IRQMAemhOZGW9xRIZp8-MgJOeMsiijkjg0lFY4rvcQy5hvPEjpwZ2LynZwmBBn0mGJXBetgeKvbCfnYE7FhLAKCR-zTKVKhB_O8wbc340Honh6bfhx8W81TbKYjloWz_0h5h7FkXNZTl5J8vFgpjyT3kj0fEIOU7a-sR9qD6LGsaeIOyV873clp6qukwnW7oM9ymlX-KQ_c67W9oYBodzfG4Ii_oHUOOJ2fkUIrwQjB5JwlpxRVOUV6ls0lGibF8xKeH7pHnvB4NfbpB_75taP7ublNCkTgzaUHvmzPfOpcSICzfTQ72ouPieBJYfhxsszTgPKxQchnGPi-ZiNn4NeZeTf9rbIf6s3Ck2VSEok_Zd12qukDHNazXeq30Hqd0SBAFnI6OUFue0R47lhnYtVwYNAesOfg2r1zKGCF1aQIDB4YHAjfMo7XdRgpESp2dVVpUiwIhPCKrbmHKycWjM1dgffF1jBmlZ3symDoYtWui5ot1OBRe_SxxF96SvyR5gCozg5SYH2s-pxnZ6NJew7957sO4_M0uFwm42OuawBr4dYUc8UFQkxRGW8gvT8FPSNzYk-tDetpBRUtSdItTD3lByICLgJfVDUD-nVTurh4e2RwPtI2lpFFloEtzwj-DNsEIzHOYwuTMLflWEcKFVkpLU7JAryVo9ZEayl7xAd4_i49e6nIIDEQfgj2ENkNxl8BJ5qBoekLFBg3fVwW34IxvNPNtzAqrG5n5_z_rLwWKN3KRm4xvRYxYKdvDKi9vBLRisdADk8RlmRygZra-L7zNgiDK8QOy4HTbK2hXRJ5OU_G3bN-LZRbf71RrFMK25Ygi8zGQqSAa-fV4qpfJt_P4RhAhE82qjeYRANOIg94PinXef5fZe9Qzh2SEZ7_IARxIkJ4ls8-pWw0DmBIZPpPxjIU1i21YF2jcODIDpHr4yqn-NJbJ4lgfEMr_GKBu2DEh-_ZPlJRTxhB-x-PmY-WSrZPzC88Mbd5LbuRI3s9jvBq9qBA8-UHEpJvzM8q44HUoOheexNBJgqizqh70J7ZQ3U1nw3TIJj3jCspkkPCwTnrKZXwNYs4Lh0nGEban4WRIgDQ0PwrpwU5LJilsbifhKqO8DhZfM4HEEBurA8UJJLu8Gzfy0MoLmzkZ6y1w-DrKtVCR6ktueZ0LIIj-NBKVuaEOdPCsc5UAcyzPVJfilqzGFEstMNnkQhAyDYd1muzzpQGbe47kB2dSqcYhGOBq27CfVgwOX46wT47U2YOkDmju-x4P_7WpTooKiu7VIBYx1ojzkCXTrcdAFWXvMwYdcjkvShL8NUOkImBDbZGN9ZU1lmXnqaOjV-JQE_G2hmD2nkQnQ0kXongx2iuPspxK51wc42vJcNZtkEDrmg60aMStZsPv5Rm7zTOOxHX4sMcKN3_cFZLEtsC7GatuwOXBlolujcptvNL4D4m6O7Sb8pjeZrbkmIqXwujiRKbpvjg7ShBisTasde7Ae9zyz0Fr4o-itj1h8fdsEl9nUOLzA7XsOgovvV01zdlb5gHYCG_ZbUx7lrAEMyJjEKEtfN09NV2IDuJcTKRqA5pPUDLsx9yEjPKkM1F_l8Lu2WvjPHjA6YFi1WWVvKkO5orfqu3UXY0V9qRTi3XLXlNpGKvIRiTM19",
  "id": "rs_03539d4cf486b2f1016aacb5a9245887d0a5077fbe8d248a6c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.19,\"left_z\":0.125},\"note\":\"The wrist view shows the left container to the left of the jaw center, with the second container close beside it. I’m shifting left and lowering to grip the left container’s body below its opening.\"}",
  "call_id": "call_lbrxLk4PkjqLB6k0QjCjKPUB",
  "id": "fc_03539d4cf486b2f1016aacb5af31ec87d0a7f1936b86f3b3c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lbrxLk4PkjqLB6k0QjCjKPUB",
  "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]: [-0.5415, 1.8641, 1.2705, -0.1123, -0.4889, -0.3653, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4774 left_y=-0.1862 left_z=0.1309 left_yaw=0.0472 left_pitch=-0.0482 left_roll=0.0222 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.4564, 5.6957, 1.1209, 0.1734, 0.1636, -0.0122, -0.0342, -0.9504, 7.0496, 1.6777, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2da65694f057838509e4207d9d9fe55212ea2ec59782c9b4efe8dfaed849d41b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2aef122ea5395de7d897c322a33206bb5033b0be8d0be0b973b9c9deb7fd89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e7a1e801543c90c7d3cd7f49f2f06c1484caf7999ffe14e3c69493724911ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2da65694f057
wire blob 1c2aef122ea5
wire blob 76e7a1e80154
call 3 attempt 0 · /responses · status 200 · 7.658 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]: [-0.6701, 1.8782, 1.5841, -0.4339, -0.5549, -0.4397, 0.9996, -0.0208, 0.8051, 0.6426, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4646 left_y=-0.2449 left_z=0.2036 left_yaw=0.0102 left_pitch=-0.0393 left_roll=0.0091 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1828 right_yaw=-0.0002 right_pitch=-0.0393 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -10.2359, 9.812, 1.6337, -0.3199, 0.1685, -0.0611, -0.0068, -1.4154, 9.7983, 1.7021, -0.022, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLWzn7U8UkdqdgWTPD-u6TjraJIj9QqXg3TiFOD3q02ZgaX0yXoDT4KsKuWfSWFip13nDfFDj-6GuxdYLuS-oy7ITFDKz3RveI2m_t56BIsohce6NDVTyKTB4UEScMIvvo-9F5FrAWKhOyto6ewwXYZ07TfCcvK_MikraJ8RgiEVypeuNhX-4uNk3b1ky9J4R-LUcLSkh4MG88encxup_6qMcqp3IkJiadS3o0Krw3opCgcDkk3extTE-qwc-GBIBrsEjNhjI6gtDWBGnJIzC19PdhxOuPu70jAtqeoGTxKq4PVXSq3jWmc2mu7SfQQPVd-dFXCTqDSW9175cHKxLAWuB5qujKBXX2UvlDGpPko4n-pCipELX8BoXjMj4tHsOT6Qtoek0QhQeLa4cuIBNuEh97iQ2zsizsInNUqzEGNFpAzF61TwRqUvnwvJHCkARbTkDrlzoMPgcOiHN7D0olOLvAcP-qK20gluaMMcsilo9FX1PnkVIdGfy6oREZ5G5nFPD2_vX_Vs2wwF5S8LZAxJyIx0cdVoXphFKn2P0MFH36ZKL4gndA2lyL1O2fpgSZwYgesDZEWKK8GoLjBr9nVDq7iOfYqjIRMXAOGJiHX2RlTLFzEbykpK_MNVDKrBFRGbJJ4YhmXGFB6iteHAuzpxhjNffljfjBYNDRNXhLKMjlkAcV9iBZoA0v1z7OegMWKjl9IwaAe7brCa35c-EE3HkQUSgytHwhyPXnQ3Gt8eFj-FejErKZO9b22tqbvKBStrO3FiO_nhAg9yIayHyiND1LBeSm0Tph2u7Zf4ZPKfrV8pSf6ewKyDMdKxo0bwk6ZHymQucpwji48RiK0pKAqUQu98kb5lAY2HNyV-WfJVISebJv_tuiSrGa8U4HmPnfYzA7T1TMPxWyPlEQWWKXJCkpVglQ61EXnLc2plDCv3-R9WE6FV3q5KjmMQjnMirTboFWeMZ3LEk6TSVGp0edgx29TsOa_hlJ98w6FbNaeZdyZu8Mk3BBH-w92Fzr1FLQ8v-40GFTAHlcoZ-P6T3HnDfp-EMUCKbcv0WeWrqPurjAZeOw6ln7muImmW8sQDRQ_Z3MzVei8CrtXT-Yz-XqLvSucY-Du_XKtl1sd7ePR98p3pr0h3x_cjsuuuWOR2UVC0d18idYgN3ivyY9Da-wPIvwk8Uw783K3kr7gHPiwHnJiSH4cEEx1LLnI-q6XDQDuDxrv4xhQCZ6dRIEBNVdPE9NUsi6KPh2bxWWKDeGgk55QZ1nRLRYt0snknkjqMJkRsmc3C6mYquli8xDaItO_jMwxIcWtcn6dBgI_13fq18qs=",
  "id": "rs_03539d4cf486b2f1016aacb5b273ec87d0aa724cfb00bb5341",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left container’s body is now centered between the open jaws. I’ll close around it and check the resulting grip before lifting.\"}",
  "call_id": "call_5XPWnLAHp8Y3BgwBu73MuWuC",
  "id": "fc_03539d4cf486b2f1016aacb5b2e5b887d0ab0d3f2674ad131c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5XPWnLAHp8Y3BgwBu73MuWuC",
  "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]: [-0.54, 1.8648, 1.253, -0.1154, -0.4751, -0.3717, 0.0103, -0.0208, 0.8089, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1853 left_z=0.1222 left_yaw=0.0421 left_pitch=-0.0709 left_roll=0.0212 left_gripper=0.0103 right_x=0.2926 right_y=-0.0006 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0308, 8.1573, 1.5702, -0.2955, 0.0513, 0.7985, -0.0479, -1.388, 7.2274, 1.6777, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a95f352e42fecea4b9d5846ab432b52c046aa3d94e9155798063ddec58692049",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b5b1264840a3024b626a0c895bdda42e5b31797d9c37ea6327a3ee0e8d28d58",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:142853a4847c472e1f637f292c7d430f672581e0a53a439aa88f041979ec1086",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a95f352e42fe
wire blob 1b5b1264840a
wire blob 142853a4847c
call 4 attempt 0 · /responses · status 200 · 4.189 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]: [-0.5415, 1.8641, 1.2705, -0.1123, -0.4889, -0.3653, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4774 left_y=-0.1862 left_z=0.1309 left_yaw=0.0472 left_pitch=-0.0482 left_roll=0.0222 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0002 right_pitch=-0.0427 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -9.4564, 5.6957, 1.1209, 0.1734, 0.1636, -0.0122, -0.0342, -0.9504, 7.0496, 1.6777, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLW8tjF7YIEjOhRDPp_rRx48_IJzBs4rgiOz3kihmxcYBhQLpL3QjI3_eE4EP9B0kDyJINzrzCDUev-ZBR9_pDSvFADiKd8eJ5-stYoNpyG15axcPWYm12YNPoToYxZ8u_LVPerLzl3Auz2w2hLUjH7KoUO0w2NqC5nHvzTHh4DWI1EKTlgHuNmzYrHk274JMCv084iKY1oNtebR-aHZ3Re0NBEEgXXMfZEIFj7UZxCgXIi7aYH-9BeIDovotklGj3GJLd1MfZF1WSqEdMy8zur9lqFyFixVgInxZrXYcYWN7lEPl8Zi8F4dF8YI3uVpLQ_x4Dgt7DG_9mIK_nEMuS4CAVtcXl_rTxYcQWhw3N8Q5fXeXCMAF-rMV15gEn4h_tReRMBLs0A4W3PFMsD2qPAsPzaRJkYVr8IR0Dn74SxooifuxAkCHq1BlkLXtISxuPO3--SYFty2Pjc6lhNQvj0608NczDgYPXAitDnC8a2W_SkvTSzGnuZPM2hx0xQBS_twjrI2p4vA_A-MmsZzMFWbCH68IL-LPUIbqz-QHrZ4kV_lmyR6Rx9MLASF1TPGEQ2MWwvovVfcgZAfpeOdopUz4NrUwMcMwqSqStJIVvuJz37VXL1evzo-UWg1p9vsiTCLQwXbaf8deJbAbIxcfRrHwNaiH-buM3GEHoDJWAGmKKWZK3fvab9ttvqjocP0PjE3xErIkasPZh3u9pbDqSu9qOL-DKHtrKW04T_vMG4LsGjo7f8bDvXHnU84HIXIL1b6ruarnQBQVn7gP_5dl2KOkszX-DVYzJxHHVHnzvuFXkue6pJDxVUZe6Er-CyBop-4aLTBVwigbmFgZh-Idwz8-K85w2q2BXsJn8rIozldNnghMsNozRij8G5asweStWghstRridhk8-XYghR_7uz39R6FrkJQjFyAybQxsow_1QyJRgzvi3YMAkxxgYtVNnLBbnaaY6heSnC0EtypMxTwg09zuZLztvz8EWP8Ec3mvjz8RMpPSgvZqleqC98oVgvem92o4Oith8tedOUiBpI6loHknpOs47ECDK2NT9fYzYWy6184kdGpTcX0ysW7L0VYsbdfxJuQsCnNeV7NQbthgLGmyYGtL8NURWVMa2t17B4BullQ0WNiKylGJa-mN893lnfLQ5i08NUAijx7PtiaEQV59ade2FFBsrPhh4lrAur1P3O02kQiWl2vAv35DibFLD5CHI7jh5jLC32ILFOdTLuFNoFSiTZtqZxKZiHwN-RuxPA_9PQa2EFfkSNCwyDkyPDmBKyMG2IUITFHyKlf6M3wIuisEt8mnijlA9n3BAAKxudhd6yRL59d5CHrfnIkKG7rln0SBy7h5zB-ZDQb8egQt4GZTwtNcyTr4rdnCp1fIEjCnwv3sWIgGsLD7H3pBztWHxwlmwIkJ9BdtYN_hbWXnjKdmpKmL9iUZBfgLpMvp8_zf0g7XqYkhKXho0VSqRrfB__VPzy4dbQYh1O4IugrnTEdpt8okmeuvskCBnkZwYSqoJ6Ta3QOrQKKCDb5x0gnMHYj8_4L7bq4jq-i5W5qRd95S8EqRECDfxgdGp03XmU1B_qy9peMhUw31tpzRlUgkI32cPwuSafmKN8P7MGGBVjmg56YrgoX7yQcHoitvMcjGNXFQ48c9zeAVNHx0BAPSjM6tAWykRdF5DaLkZGKu9mkJ6ZCpqadeTDXWfl1cRjUyShSVkn3oGS-qSdtnihg2P6x9xh9mL20N4LJtGVz0kX0SB-L05wRZKjfjb22sVrHGfszeS4kYAB3rELUujkLiZRXt1Vv02tEer19tEc-kS9d1S8yz13Lb-ZVr-hUm5KYzVJIctCxTgUtd3Rc6MPxSfDA48YW6_1VA3hcmg2xRD2yUCCD-4eCZiiSfRs717X7bSdT1EI783i3MdqhY6sZYcSHsA1QaN8F9zKv7sVzK1UIfU8d2SPVvGYpKeH6wQSUAMzqJIc_VKL31uJPE6rnTaq2Kj6r0x461IRGi0NrEZplHvOUUCb7pRM6fTH_aAqpgZ1U_Q-qqTkhpOfM",
  "id": "rs_03539d4cf486b2f1016aacb5b644c087d088800ed319e2873a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.525,\"left_y\":-0.19,\"left_z\":0.14},\"note\":\"The jaws closed empty, and the container shifted forward rather than lifting. I’ll reopen and advance toward its body to bring it between the fingertips.\"}",
  "call_id": "call_ac2YdEiNDg4IjWZ8dlh8uN1H",
  "id": "fc_03539d4cf486b2f1016aacb5baeb3487d0bbe5f830c18ac90b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ac2YdEiNDg4IjWZ8dlh8uN1H",
  "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]: [-0.4877, 2.0052, 1.4872, -0.2386, -0.4622, -0.3702, 0.9956, -0.0208, 0.8101, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5154 left_y=-0.1802 left_z=0.1258 left_yaw=0.0847 left_pitch=-0.1003 left_roll=0.0312 left_gripper=0.9956 right_x=0.2927 right_y=-0.0006 right_z=0.1812 right_yaw=-0.0002 right_pitch=-0.0446 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.4821, 9.894, 1.8193, 0.0366, 0.315, -0.1734, -0.253, -1.0735, 7.0906, 1.7314, -0.0269, -0.0171, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e87b63ef66422dc815280c4a2786e2208bdb0f20e6e0c757e36b144846be41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d946e75083213612bd490b21075533c4d96b25d6d6b57a5d3e469824b4159717",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2d31b70dd54bc80352927e491bc408c5474ade81f35770e1a43d4409dddc4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 72e87b63ef66
wire blob d946e7508321
wire blob 9f2d31b70dd5
call 5 attempt 0 · /responses · status 200 · 7.086 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]: [-0.54, 1.8648, 1.253, -0.1154, -0.4751, -0.3717, 0.0103, -0.0208, 0.8089, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4734 left_y=-0.1853 left_z=0.1222 left_yaw=0.0421 left_pitch=-0.0709 left_roll=0.0212 left_gripper=0.0103 right_x=0.2926 right_y=-0.0006 right_z=0.1815 right_yaw=-0.0002 right_pitch=-0.0435 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -10.0308, 8.1573, 1.5702, -0.2955, 0.0513, 0.7985, -0.0479, -1.388, 7.2274, 1.6777, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLXBawoiKa2DkXdmaZ4DV515G-hcI9q3xeBOTohwdmHyqbBjtXwhh55PL61CDCsdTEEZd_Wtvk_GYvVAwfNws1GhTFDsI40N9yksok7PPWONvvJAbc07ksgi1SOlzMEmUAkXVXC8TUzXX_Kbc9WwUrye3749Yit-nx5HA0xO0kEw_2CpYj7XadEDHPWB-o4CxW5MGvuZMjiG__DbA_RKs-fWidUOAyZtjiIajBgijxkr3lUvhgzmK94TPj2F2QOkd_vAsTMupf9SI7k2y5SSye1YjeQgDa_ixpgNyOXE_nCQJ9xKjgcmYUYl8ffOhHKw2ZaWRieKe8QWfBltjNZMaAkk3qP1UZ8CV9UBa5s4VgUcBV5SYzQ-ENCHv5nyudP72G_iXcxWaTPr5tlO0PEnipgQq5IcQEFfOU09i_-HqztdO6MYK00H6PyE5WCOkFQSC6GNL2_xgp3ezf8PpRSxUWTXHSLAflUYcsymCcbuT4nHvnlqwwrFaZWSEWEWJNgy68brM7rjViSf_zqtdLdsBfmMN00OhuXLH86E-LD529o0_jDvCuvKIv4wzCUPNHeldXTIDRyFv3nZOJU7h9RcPPVVA05Hz__F8aSnPZVOVEbNuxpaiRZGuXBX70YfQCLpvYR7Ly6xKCMIFipSxQQ0Lj3gvr8yX4sXb-iv8ZdD0XlR5s_tFE-7Sh5Wq0dj3PbFz_z-iSFudsoyqJOwcJp-ZXfCCgmTmSb6ysdwtT8E8_kgBLuVGB_vRV2U9Gm0SeOuJQda-vJEsXs51GRVSE-S7Jco-2io6yGZQHjTzoaVovl71AJTqnHF2oYSSsH08cOEruDW4IFeFvEirsH0KBiLce-a4BGXZ6VSGZUKLrIwqeRknyeRFuB1NlpkHOMEVqJMSIjJ_Nu7CNdqOM2V8uIXlp4URqmO51C8hmbGpFA9ybYu2IdrbVrTjBDOmgOe1UUwV7jeczLV4Craj3at5KmnTEzHw-hc0qoUaZoyaVU73BoFTMxisroJ4hMYRzFbtILXjmAxshGPusW4G1qFJ4iUMROAEj0MNcBq9WDqpkLCCHc8T3I8HrJX1DP9gUCImOLd-R03XmjfSM1l5ekXM4BWqm1oEzcbqtrkETe0nyXpAIWEbLsXh7ditYjTbYG0uxiKfBJQofWtikAUacEGv0Kn777mUG89N9b5XL7ELPVPfnCD49FFAoPWMfqFdXhS6lukwd7Q4lalaHZaiPD9RW8AlrQPMLlaaAuUTpuvo1sO3nTRIeegHTvxcLHKrUZjJ2eSae3cxYDRUS7pfKmARzbMCP1LxHrh4L3AY7Dr0oVc8u4Hfepure8JJRL5rikGeLmkzmuuetbVOiAjVE3dhJfkUKqcrM8Ye-MCUiKuiqBuPWsBunqTVeVj6AzX3yt2C8vkMZqIrPxJyDTawpMZvz16IlTAaA==",
  "id": "rs_03539d4cf486b2f1016aacb5bee40887d0aed0f356bb07a8cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The container now extends into the jaw area and is centered laterally. I’ll try the grip again and verify the jaw spacing.\"}",
  "call_id": "call_Lh5GU3Y3Tx698mRBJqF4IBS7",
  "id": "fc_03539d4cf486b2f1016aacb5c03f6c87d0bb87003d4006c121",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lh5GU3Y3Tx698mRBJqF4IBS7",
  "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]: [-0.4877, 2.009, 1.4902, -0.2497, -0.4557, -0.3817, 0.0105, -0.0208, 0.8101, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5143 left_y=-0.1808 left_z=0.1229 left_yaw=0.0865 left_pitch=-0.1124 left_roll=0.0248 left_gripper=0.0105 right_x=0.2927 right_y=-0.0006 right_z=0.1811 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.3162, 6.5436, 1.5995, -0.2418, 0.0904, 0.8132, -0.2393, -1.1829, 7.1179, 1.746, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b786ad8b408b0ed0fa66963ac570284e8878dc0c97fdf4ad20de8d05b98b24",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c2e719fb072a36c92fa2eb099ee53009b4bcf2437447b8667c090584340cd3f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc8d55998c30e6e1d478cfe06e1d39edfc025b303b66c12ec240a636ad26d90f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f1b786ad8b40
wire blob 3c2e719fb072
wire blob dc8d55998c30
call 6 attempt 0 · /responses · status 200 · 5.972 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4877, 2.0052, 1.4872, -0.2386, -0.4622, -0.3702, 0.9956, -0.0208, 0.8101, 0.6418, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5154 left_y=-0.1802 left_z=0.1258 left_yaw=0.0847 left_pitch=-0.1003 left_roll=0.0312 left_gripper=0.9956 right_x=0.2927 right_y=-0.0006 right_z=0.1812 right_yaw=-0.0002 right_pitch=-0.0446 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.0068, -10.4821, 9.894, 1.8193, 0.0366, 0.315, -0.1734, -0.253, -1.0735, 7.0906, 1.7314, -0.0269, -0.0171, -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": "gAAAAABqrLXJaFIP3DRHAXoqNj1sZbMLtqSM1c8w2i2_JAPl1ZZS-bP78bCRX8dsZL--kejojz2ygXg6v_axb7jRoaRisG8tDJx6PM3ky3HNjMzvlPBCGdKi9MU3bAT8F9Pg3qrHm437Apl77gZh1MtkIdPFwBTVnHxPzAMzE9R6RdPNUye4fGVlnV2FkHcweU5hSVLy6t3VYNIyofqzCgYxfQgK8_VP-XZN6JmTBYHPJTDTOEON7pWPK-iyI0jwgU43znweCzUsXOVqVsHmTtQDMdWjYh_9OGnQB1srzMI8vNDkkRhnhuvWWW90EBLHbzh93vpAosJKngdH8CdLlvWpANhIKiVUM5s2FTEIbX00M1NSqrqEqsYUfEs-1wn9ssKYt_7wVi5joLHfd6snuy5umhOJzpTlD76SEbjViBYfGL66hbdnh_TikN5FASSnm7Nb1fHscD-bcLm-FNcEaxcGhlnW6mvIlEky78-fV_wRrTlgxFflexQkknQ-gdNl2KziIabiOwnsscvmJ_U0JZ2pB_A48pb7nGMm2fZaQw4dvsKOJ7yjTCWeIJcwiVgqL4cpf632btpc9hhHitJyTFEEo13JVOFYPVaAd9z379JLtiJaQNOEUR-_7MobUHhil2wQiT9xKlJqWJmsYro8z0lN0o7oLzCNzvNC2Njq5zqGbUZ_KYectWQ8mJwSJC61P9bM3cWHOKjFFBdSNkOeKzqKTSXHRxcvpGKiE57E6t6TfG1LTYGGoqXGM2x1Zj95z3H01mJL_mzx6Snh-ZR11heIHgiUfEoqSXQJWnf2h244lAGdzou6J1nyIp8BZChDmWV-I4Q2uuz5DO0oa3otyMlkk73AWBCNEka5195HjwD33qW-wqxCmenTaXOOPFc8tjb0uEoJAQoXl-ptmMtdnl45C9SwCrRIhT-TGQssFcd3rENgBMaoxQotkQeLnplSTLHVmbgSbtoTuk5mf_zP1GAcuoWd-K_gX512dME-3Tu7p_ABcssZtfcf_YtClg45x4KeAFyVLwsphNZ0Hb94GgWGIDZAEliivb0W_c7IjGwm8W0wD02RS5OfCDv1pSdQybofjvN5fs55Cdx4V3qwG3ro_xGCUiw-q3degu-S1imPKQRSnaCINs3y7g5YiMpMqyKfPWj7gg4_qz-PMiEqiB2eL0fRENlUGq1_AgQx1H1Sn_YXRxRQX_VD8LCXUFW8iYNmYtEYVy6S6ft6TZizwW1tlsCpcUY603xUamomKq_pSjmaXQgtxPIbXw3xcnwaW6ZQGcu1DZUDGOJwBZ_eOr6QuuhByeUVWckpphz8Xqpkc-zFpCLtIr8_FocoF32VoN6jmY98rL_LZFZQeXVEu8ZUlX6D4wiJBr28HWhecWteBQbNPo6h3oZJ6e3ePrd6Ijxx0_kqXGZD-kyJqhA0G9L5TQk1RKd6MR8v_9PYhjfPru_wAOserscYd_FbvDAF3kv9mQ58f1_bLOI7TY4LvCusrFS3nj7sWbVSn3cnaEpcESToKB0QFcT16Vohdd-beQoHW2p3e8K_7r2YVnTjF_fR3x5aId2oeHl898_POUsED3SJELEfQOwa688Ml4xdFxbLDRSQ2AFI0SMKMwybYJBHjHnnCn513AZfyLFvI7z-VjEi7sLwcRdwCaDydTQVEpB0IXoziUQmVcjjO7ktTPkJZJrbKK4uFBzBoFlxpAHL0mi8q3MIOzhy3cEefKGq2TpLAWjBGzlBKwemwYAw9oEi8D7mRAxuQA8Tryq7C_ryjcn3QZyP1Bbn1ukeFa_2lyoXUxzzaZ1dzeKIT3E-bIFGPYYwObkgLxKCJmnci5Jq10w1bn1o0Z8DeEt1bREBqEx5ndGbGvmRlH_ryRrJh1TSQ_QFKF47hN1-TWKkn1qhIq2ykDa_Da1ZulU4XpSL7IQSZFH1UzIlYN5W4fpyz9S5SZ_8BASuOXT74ZDgL9AU7dbrUm2jYq6nuhJAqr-2kSQQq6YBlh8f4H5LNp38fUgnXOgrS0rLqTI93Bf2IYT9fm8QecJCIrKQjGgXcwFq_dSb2ghMDuKUAT3jJ_VOoyvOI3OoO349Xfqiv-KsGIweOseK4RgYYLQ=",
  "id": "rs_03539d4cf486b2f1016aacb5c4284487d0ba2cbcad45b3bf74",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_z\":0.32,\"left_gripper\":1},\"note\":\"The second close was also empty, so I won’t repeat it at the same location. I’ll lift clear to inspect the container’s position and approach its narrower upper section instead.\"}",
  "call_id": "call_QclH4wcs5aKOZ1olZdJ5Vy4x",
  "id": "fc_03539d4cf486b2f1016aacb5c821b887d0b91813a41d089337",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QclH4wcs5aKOZ1olZdJ5Vy4x",
  "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]: [-0.5125, 2.0132, 2.2753, -1.0161, -0.4709, -0.4358, 0.9966, -0.0208, 0.8116, 0.6415, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4943 left_y=-0.182 left_z=0.3164 left_yaw=0.1018 left_pitch=-0.0941 left_roll=-0.0174 left_gripper=0.9966 right_x=0.2927 right_y=-0.0006 right_z=0.1806 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.4564, 7.5556, 1.3748, -0.2564, 0.2906, 0.0171, -0.1983, -1.4291, 6.9949, 1.6679, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d5e31b8d54b5d2e4aec16ba4eafc30e5ba21c0a766bf11d1305cff6cc198bab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ae098ee6cfa928f840d076cbcea6d72d5edb0e31395db22c103a6d27aa51c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d66527fbbff1fc960d4ae3bd649400f73fe95979da3837b707e33f40c6d0f622",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4d5e31b8d54b
wire blob 99ae098ee6cf
wire blob d66527fbbff1
call 7 attempt 0 · /responses · status 200 · 17.91 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4877, 2.009, 1.4902, -0.2497, -0.4557, -0.3817, 0.0105, -0.0208, 0.8101, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5143 left_y=-0.1808 left_z=0.1229 left_yaw=0.0865 left_pitch=-0.1124 left_roll=0.0248 left_gripper=0.0105 right_x=0.2927 right_y=-0.0006 right_z=0.1811 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -11.3162, 6.5436, 1.5995, -0.2418, 0.0904, 0.8132, -0.2393, -1.1829, 7.1179, 1.746, -0.0513, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLXQNrr7OdbRRxJO7RRbYVwUDKtX05hktxYmVF-9P3_YWhMYqING9moxFX4agvUcG2YZ8V4uJr8Lrcu828SsvS_K09r1Ltwpdo5JgJQa7FDaj27IV4otMgl3tFekBP9wN5Zxcn0Vn3JsOFFiSK7B2kIhLtGucd16V0N3cUzcMEo_eIuLGHafdtuLjW3NDPsktpjFQTRo7nVIhQ6b3x-8xjxysLVJHms4xA0HggKDq3HSfcUsMZX3FuV9vxrwtHB76a61eQgUKIYz5E7z5uVkQcLZMS3QPo_HQvvL4Uer-65wXERVyd6Ybo7JIulCNEmaX7qfyqjb_TVEXjxS5SvfBGBTrIJqjG7JXPVrx02MBatMQrk0XB7D0Gf_IbEgmVgqQvX9iQOmB2LasjgOcDUPbUPP_SikkwXatI1rslISrdKSAM9KRNwuiQtbTTZE_OlOLWqnPaQx5kHbGyWJ0B8vLJfgPW8Sv_1jBB0HYHq_KawvDwfGIGOWM9D-I0uVRMJSuOeTMMrSChr0fFqB6OMtbH1qdYbTG40WgaQdUS9aX0Dqkh_zr-k_rILjq2oO-DfkyUsCHyYH4_MfoMwH6pkKAH9BcX1o26V1vFb7jTNRwvKgj4vYcyfHi_J0WsxgMRJMOmNEe8fur2krUtKfah2wJx7svYDWdn7JIUh3_ianHphYYOjNIyU2YIODTGaQLSKSueLdB6ZcjyTEX9wVL7may_XPV6effQK-LcmXfADEaSnSXsi0ZRzzd1SzxEOfgcqYh05K6wRbm4xsl0UGRmrtQFMZWwRORXUwPHHnY0a4npKjmksbFwTDcW_Dh5Zrwy8ntFqkDYyXz0HsMptGBZjTycJ3FVkzD_7j5tQXRhYcXDqurdlMc3AmAJ3MOOeC9WWjc8kIrum9dVoweNZvIvyJvOR6sCjIJITFZ_fOc-PZ-_XTQXXShd0XNq0FkdnVgeSzFgEinx0CLoA_8zADrPIS6xbxEs03sPY7V4AjyndqukZ9D3L9Oyqfumm21jlpLaK9qLuHmjNx9Ly_YtmNqw_OwhgrvuuF-fBjGANKwn_kZa0ssrpnpA5zU8FOcwMX2AZzr3zWm1FJFq7JUClOkH8NH4MirapmKK31GD9t1fn12oiHaj8aEZXgy83Rw8kLwad0k7tcGmL5cnb4v4cet-Z-oaN5pprzdJPru5Zk2V1eeYrv_BsGO-AsrcIilaM67bMEqGaffPj_Our-UXoZE2xksuag7xBbeSMr-WrwarGZb54Q3FMNd2RRvEf5Bap3Y6Ez3SZFuN3ChMyTDTkUQW8yNkqwS8DAZxOCROOpz1IcVgw_ZAgCJxNjOnseeH-5DEFzSH5wasUHryDIztLbrghSGL49EjGSEOZFvttnpqUMFE_3nUZB5JuSYXnmpF5wJjZgb4k28_GIC1_06r92ale43Ri8XAD2ThoeiTwczhjxj0tVzv0dwXP72VoYBaYoeH_psR7KuPyL98ZBLV4VfjaWXVRI0Ggh7jIA2PdqHlm2T3KtJ12LUevwSZfkH5vvPUT0jySnURNQfFrWtMK7l1h84sKREg==",
  "id": "rs_03539d4cf486b2f1016aacb5cc7cb887d0bd7093a0e913596e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.585,\"left_y\":-0.19,\"left_z\":0.235},\"note\":\"From above, the left container’s narrow neck is aligned with the jaw column and sits farther forward than the previous grasps. I’ll approach that upper section, staying above the wider body.\"}",
  "call_id": "call_e6lx1lskH1UL6TyraCneUNfu",
  "id": "fc_03539d4cf486b2f1016aacb5cf22a087d0b1f44342dcabd13b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e6lx1lskH1UL6TyraCneUNfu",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4385, 2.3131, 2.3619, -0.8963, -0.4286, -0.4267, 0.998, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5696 left_y=-0.1821 left_z=0.2056 left_yaw=0.1453 left_pitch=-0.1885 left_roll=0.0175 left_gripper=0.998 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0496 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -14.5026, 9.7162, 1.7802, -0.1099, 0.4664, 0.1343, -0.3487, -1.5658, 7.0496, 1.7118, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68232ff7d8ae0b757d529ab66c4cd8f5525fedb6defe864a920050ac3343448d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703289a3ba9c6c5e6a9f980a4b95ed8a42819d2df325b161decb39f95262a29d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25b9e67faeef4f505d800c7199186829d66f86d845e7b1c33d341be63cdf78c2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 68232ff7d8ae
wire blob 703289a3ba9c
wire blob 25b9e67faeef
call 8 attempt 0 · /responses · status 200 · 4.38 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 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]: [-0.5125, 2.0132, 2.2753, -1.0161, -0.4709, -0.4358, 0.9966, -0.0208, 0.8116, 0.6415, -0.437, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4943 left_y=-0.182 left_z=0.3164 left_yaw=0.1018 left_pitch=-0.0941 left_roll=-0.0174 left_gripper=0.9966 right_x=0.2927 right_y=-0.0006 right_z=0.1806 right_yaw=-0.0002 right_pitch=-0.0469 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -9.4564, 7.5556, 1.3748, -0.2564, 0.2906, 0.0171, -0.1983, -1.4291, 6.9949, 1.6679, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLXjxFkbM6tBXvQYrCer5lkFMM6TQMz7GB5zB1F4izPDCTFhvH1riSDfGUiV8pMfPoi2tykStHUDsaSgerrRxoT687Wo4mFOouKesopmxGtSmtoJpQ8-qrvI-wSz8gh-in3MrTya-gbi8-G5lStVL4TTvmUMuBT6FyT8WqzumETT3US7yp0oMpT4M-cnrfmKhDTlnyWfBPzU3O7fAsd3q34hmqQHYenb7ZP3r4vlJndINVfs8pun9S7rOIdRLpp-thYIHOHMZX_C7rp8wCaccL2_g05Y-ZvCOXnSnno8msu5DbImgFUYYPkPppBOioG9T4am5DJDL-_sizS4sg6LiI1hYQaP_o8qsv26TWLHAyMlIN5QG9kmDYF9VRPe4t_zOGGqGNzD7glDK9BzQTcEn_KSKzbG6mdin8BGJje9gI6UqY18IatUOaoc4BicHeN7puaa5Ob-z6g1Meazly8QkHpqriNNx0Rnktw_Pdoa-5Jkka6WT8j1TZRU58jpAuIz8K6eRN5S2DwereucfqbUYT3zfNI9UBMuuPJWnp2gdTjWWjhHss6Ei7a0tnWvccv7yAugkJku29EmdPTp45Y8OyABDm9-uhNP1zmVLYLcYb2kW0yx4MXCSszQ8QX0kNhNoCtY40G3TQHqa3yqVaga88tSVIGMdMK8nARNqJ8D8pyzvXt5EYFW88aNqlgOLgjtFtR7Vt0EScBEdjQLNXYiCJmhcHkTYv_Ns8EfjJHQ4uN7865F3e502W9xSAtdn5OZXerXegZ8TwthjcDx5W3r108GdPDThhJKGQWRQwDLuWKraACMoKquuqqd7IpcwBH_1kt0DhFgFjwNVpXlSpCN_qjg-VYmf0lDk4mqlPhrrAmb_E3CjabIuBWq1Rxjn2jSMTv4JGcE2evpgn152QYwI_Im25e1FCzJMTF31oX0Omqt6_oUaBn5r8o9O0ERGSYWC6V_YnmfVncMWvCkBI-jwQ2d5ftJrLgiGQL4efRPtcENSbjg6aE-XMDk8CXEA2b2ndbC-8ZJOAcmH651hqKwxHKvUPauWxXdSaYmcNRO-vyqAzKAzsvl9ZtiPZWu1oIdPOpf9Z-619DnG3mhMQJ_g_x8NwZLpCnopGhgmE5qusfxhpsFzvK33pKvgUvRiBLmip4RrILR-S2El2MBQHUUfUqKfX4ta5kmLqht_lULXLbqaBTXlXpkUQ7HmiUe--xSzjFmAAWALaPgpEgCn3NaIOEM8jenkgE3HMfeIrQfIt0nzRuknwFvnLsYb2KCUq3y91tFLJ1WEHK-U0UdBIvIBF09-4T4qraOIm4z7e-235j9DQA0pLerkTygDEQd0YhIPK0gQSB6eUkOmDIurICnzjFAmHWAvFN6AQAhd3djtVTdFL6eqQkp3KslXSG_5wE0ZlkLHAoAoyQl5ktc02Mxh-BcgxvtUWnFtI-hqEfCMc3kvLlxmh9_vR1160fBxrXRwSygm4hCo0IvzuiW1w40OaxRpZJRJHFIkqrG3bIuOziBXNQb4u7no5vlQ9uPbUFmEgd9XfmpQawwbYea3D4Nxkq-guFJY1pVus3ga0tOCBCAruxjlfhn7rmdspr8MT-orct5ZRayfZcRSmfvjKXuKA1u8EiGzc3t7TnlW6V_8QIVfuSdtuTY2I_A4cKOolLX1Tvb",
  "id": "rs_03539d4cf486b2f1016aacb5dec9c487d0930ca54170e76d7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.6,\"left_y\":-0.19,\"left_z\":0.15,\"left_pitch\":0.4},\"note\":\"The arm is falling short at this long reach, and the bottle remains ahead of the fingertips. I’ll use a forward tool tilt to reach its upper body without pushing at table level.\"}",
  "call_id": "call_IO6BLCXpIx3zfbKfdQVAfGcT",
  "id": "fc_03539d4cf486b2f1016aacb5e1949487d0904938820826252a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IO6BLCXpIx3zfbKfdQVAfGcT",
  "output": "executing move_to over 20 steps (2.0s)",
  "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]: [-0.4732, 2.2494, 1.5429, 0.4522, -0.6296, -0.1448, 0.9981, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5985 left_y=-0.1855 left_z=0.1508 left_yaw=0.1541 left_pitch=0.357 left_roll=0.0224 left_gripper=0.9981 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.494, 5.9009, 1.8437, -0.0317, -0.0269, 0.0073, -0.1846, -1.5248, 7.0085, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:828c30a1ef4e5464f9168312522678e92547f17dd6ff644e42bee3fb654bb21a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d523808913d0ade21b4815d3f9cbd2e416f6daa708099466107b075ec4d079a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98bba1dd4e4acb7750fda60a5cdb7b3336f031dc91451e66324123be6c1ce6ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 828c30a1ef4e
wire blob 8d523808913d
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.328 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 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]: [-0.4385, 2.3131, 2.3619, -0.8963, -0.4286, -0.4267, 0.998, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5696 left_y=-0.1821 left_z=0.2056 left_yaw=0.1453 left_pitch=-0.1885 left_roll=0.0175 left_gripper=0.998 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0005 right_pitch=-0.0496 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.212, -14.5026, 9.7162, 1.7802, -0.1099, 0.4664, 0.1343, -0.3487, -1.5658, 7.0496, 1.7118, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLXpDgI5G47REMS6HDNAucawgtOIxiTNNDECxvMu5ZP74tmSUAM2e4SvP0oI75aVq5yK4nqgdREjuwPy80x7s-MvFPrkMf7lFSxA2TlCMFfXVPs7hvBVE60b0DmXUO_4nGKvPgTK2FscN3RWm9GME6GVBg5HQ6uPQXIJHhdMkWVYwoZXrE0eEUbg3Jn1znDaLebcHFgm_I9ZtMqt5zy7VT-QXHFXupRlngixidYA5CmVbn7tilHjVjLYMXSB0yvPmATzHNnOmjKWT1v6gzZhStApdRYIwfctIxIG8I2iMK57dOGODlB1gcL131rHXJpv7FrySFAA3oljVYNaqHYJfTwStO9pZV7uGL4VyWuDXBAwJp_ccOI1a0kzitushLpq_avpO4BBGIGUP7RX4wG0OuR0TBYfxu2zJWgIC1ymlaikOofXtmhyRmpnV9LQvjiG1WJbKgNR5PS-FuvVMLjkKn-ww43_XaixI_uvejgpIvnOpQzlfQnCDg2G-N9Rjj-oUvpPSvLHLdaQY8MONHm_6ZWPmeuVBY0zGgJ1cPWjGhxR30mbgpwbTZBGM0P3zK01VyktAZMV-TWasQwyGtT6NVW_fb-A0qaf-SW2QyT-K5MVN9DMh9BJsgz5sp7K9ONRsWaHg5v6yeMORwJL_9ZOW8v8aqIROdb98DfiwfH8Y8LZcH816eZExgNV1bBt8-JvDgTW7J02KHCtiuHCPuolZr8_1mZzucYKPxFZZgFrA0BewD9_0pWUofFSzcm4GSdEbTU-DKxwBLeYAdPgPjOWzYss_1vjUpDIWYZlG8O4C2chZo8VMMEm0CDjRJURnjCUTxD6b6NF2aF3OXw8rwpyV4GS21oZ-rgAImseZxMa1NfKZoXdPQd_KHYvcJSRbfC30hFf39FrspFmL0QTCHsJfJO5Vg8a_HBSkcV9bVLt1Wrzw_kRvyvAzHR1tn2hwZRmd7aPjnsOE2ojWPfNJyxkQQReMlQcPPvdMJcsK1IXlBmTdlS1lQizqHaBLPiecN8Nu6wzhW8kUT_djvbahBoOIg3A3kU9RAsfmIUQNwar7vg7nxp11c8rPCLRwjIEHOJD-34vsX8i4EUHcQFidouIDQGcaW6RWaVP_59d4LaWJRnXcOnyiwy7Pl6Rx3Uy2tcygmQTBRgK2iAkaXMLcEDj0DVf3ZkI_IJPWJJ3gFXPfpAfekBuFTndslAdY60p84ckSLEgsrui9XloGsJiX_S2g9xej2Kd2j3b2sdW4TVLF8Ruz-g3c47RR6TyvGyyusaechlbDvuXR94bktYFmhibcUYpotWb3jWnrVXOuc92xK03qU5moamJYQoytsEu4IC0mir_r1jCGK0ghIpF90AFrmQyHt4hrOKWdROUqWtVbCZ0xAmAYEujiWXI1fy5ICkSKZZFSypWWNySGrEhCSHJWS1QWYD-EtW83tzIMh89DJIcRJvPHHOdapEMYiVP78wsgTnP",
  "id": "rs_03539d4cf486b2f1016aacb5e6b22487d097cd7c775bce5d0f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The forward-tilted approach reached the bottle’s body, which now fills the wrist view between the jaws. I’ll close and check whether the grip holds a measurable width.\"}",
  "call_id": "call_MBva22zhhciHxVydt7mHN9oc",
  "id": "fc_03539d4cf486b2f1016aacb5e801d887d0bbe64fb07b402a80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MBva22zhhciHxVydt7mHN9oc",
  "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]: [-0.4706, 2.2517, 1.5425, 0.5137, -0.6514, -0.1268, 0.7617, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.601 left_y=-0.1815 left_z=0.1625 left_yaw=0.1802 left_pitch=0.4068 left_roll=0.0078 left_gripper=0.7617 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.2034, 6.5573, 1.1453, 0.105, -0.2222, 0.8864, -0.1299, -1.3744, 7.1453, 1.7021, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4e6c34eae7629d4deadb164c42a8c5e033297c795e36c2c2c70f928bdaddef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd54b4c8d31781f19c06227eb1c05add1cb3313ec2f18715bc2a474541af3f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1af0f7ad4f9f2e0f4ee9ab094f6f2ea89ef781b9423cfb68be1a6784ae7c025",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.494 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 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]: [-0.4732, 2.2494, 1.5429, 0.4522, -0.6296, -0.1448, 0.9981, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5985 left_y=-0.1855 left_z=0.1508 left_yaw=0.1541 left_pitch=0.357 left_roll=0.0224 left_gripper=0.9981 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -11.494, 5.9009, 1.8437, -0.0317, -0.0269, 0.0073, -0.1846, -1.5248, 7.0085, 1.7363, -0.0317, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_z\":0.24},\"note\":\"The jaws stopped at about 7.2 cm, consistent with holding the bottle. I’ll lift it a few centimeters and draw it slightly back to verify that it moves with the gripper.\"}",
  "call_id": "call_vvvUo8wB2LqBdz6Cf8JsFbVl",
  "id": "fc_03539d4cf486b2f1016aacb5ec5da087d085efbb60ba4e0761",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vvvUo8wB2LqBdz6Cf8JsFbVl",
  "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]: [-0.5098, 2.0808, 1.4899, 0.3412, -0.6762, -0.1352, 0.6882, -0.0208, 0.8185, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5684 left_y=-0.1871 left_z=0.2046 left_yaw=0.1547 left_pitch=0.3674 left_roll=0.0393 left_gripper=0.6882 right_x=0.2932 right_y=-0.0007 right_z=0.1788 right_yaw=-0.0002 right_pitch=-0.0534 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -15.7607, 6.8718, 1.9121, -0.2271, -0.0562, 0.8571, -0.3487, -1.3607, 6.9812, 1.6972, -0.0415, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f725ef9103f66cdfd145624ba251dd1fea6885bf9307c4a767fe41f709eb79b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d3e5a813b8ce97d165359e3411bd68ad609b66c6c0e12224605529844f70cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aba94115026f854598d202e5dd129da99b12acab1925fe7f5ab7583bb7f422d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 13.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 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]: [-0.4706, 2.2517, 1.5425, 0.5137, -0.6514, -0.1268, 0.7617, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.601 left_y=-0.1815 left_z=0.1625 left_yaw=0.1802 left_pitch=0.4068 left_roll=0.0078 left_gripper=0.7617 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0002 right_pitch=-0.0515 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -13.2034, 6.5573, 1.1453, 0.105, -0.2222, 0.8864, -0.1299, -1.3744, 7.1453, 1.7021, -0.0171, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLXy6gTGQgeNXi6PGlrtLI7KcECoh7hSY-Baz6MMBZYlDVfS66TpeX2O4ZSq60YUjuO81Xny87N5pSSgMMD75wHjhTJqBF3FaXIFuu1ikuGSOV91qUdW-9wvtwR4mLVX6JcylZySy27SRkUoaZDb31Wb99I2FseYzJw2G5YUoRnw71G7mzEeT9HQqOBhSTYeq7BqGX3Nmk8LowtgKJ2UdpXW1gSKnYtCB1EZGs7147uPCFVy_aQEyjVw56LK4jXKCaDDLPZsRuOn8I5Jjypx4gsXWEAZtUrMac2TX5buVbLka4YzDHCRz_qz3GjeWOOFvq7IKX6-VToG0MYKUOn7rGwqqOMZIzvV42ttgiEZrhfHmHjeN98fugq3kFZ2msdMKqKhcGDhHfKY0nlwnqSJ6UEu6fjXt8nlO_7FoXSfZTMUPqAABNnDCDy5K7OE3O5YCfyKV-fHnUUCQuiXVaYpNy-P74aoLZAotMnl0Caeqp6kmMVVmC8zNPryJJZquQWXtDbMHJkd24ZE2TWAlFjqTqr9UoWYj32AL7IQrAY_iW7qOtoV2k7ZOU_yGr56BrLQ-J73yT_4M5VxiWaYdLkFQJxR6DyvOPSGKWFoifCCg7I_DNC1WQyCDU4wPK3cG92VWkrd_GSPtp011YQpM4AbrmCFbxWMGMf2LARB7Nn4vnfWvqMLMUWcM1X1G6sbR_ZbeXMjnDX3ImBuci3XdO8QtXJdRwHSSLYWBfNFa5KetEr6ScHHUn2smRRBCoQtCE8A9sg0XNwOllO8hN1O9M3T5JOigSnyRBrQMhKus4psubTRoYAEH6FE5G0FIaPfq8oVEBidmFubcPJIhTAPQpFJSbeX4pHZtZTB2NwBhEl2ztpZqOHPXXYZrrrI7wPDVFXoQoHaHFPoiE5KGjew6nAjczN2ZiikYsa0_ip01lbIV_VnS-tCtQnpQAQKuZinXHaAJr1_01O2r3F5Gq-OIPnC81jAtHlOFisJlpbUJ6zToz6dnsPSnvUembxhcjKmIsbOHWM1tOvRzcOsXZlLQqnu4FFX6FAiioCljFKmNcs2De7k2QGjX5kylPRam4TIxHP8LjeocBUyRVgYwoNGDqggwYsygOplmf2LBUItz56PsE0hQtvubaILrnVx0SLj729FEbv98bGWLrRuKwmAMCl8pcMg26OLfpcz8VRuChi29kcRhKlRrGWQcE6obbklMdRc6vSZMkr8QhJ2chd_fp8XF0AXb_hpyePUJiMDWOOwGjyq9SNUy0wHhU8r0mzO7jMB401H8iZrfcfe5ZgZN-ur9A74peKTvfPr2D823MgDIvCcwjlxflWrUxBkJYq8dZwxBpxAyXG25_d3YNW6wk6H11sdVMRIeI8P_vm__VcFlrDbG_g=",
  "id": "rs_03539d4cf486b2f1016aacb5efb26487d0a9fbe59ccc50e731",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.5,\"left_y\":-0.19,\"left_z\":0.32,\"left_pitch\":0},\"note\":\"The bottle is held, but the loaded arm is sagging at this reach. I’ll bring it closer and higher, returning it upright before positioning over the red cup.\"}",
  "call_id": "call_4rOfLuPdeWGxGWWa9m9GYLmF",
  "id": "fc_03539d4cf486b2f1016aacb5f1103887d08c2ed6ecdba63857",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4rOfLuPdeWGxGWWa9m9GYLmF",
  "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]: [-0.556, 2.0048, 2.1624, -0.8093, -0.6285, -0.4271, 0.688, -0.0208, 0.8192, 0.6415, -0.4366, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1901 left_z=0.3202 left_yaw=0.1744 left_pitch=0.049 left_roll=0.006 left_gripper=0.688 right_x=0.2933 right_y=-0.0006 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0542 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.7299, 8.0615, 1.3944, -0.2515, 0.232, -0.0366, -0.0752, -1.4154, 6.9812, 1.707, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9d354a5bc48c5bc0dbf171c62b96ff4fec040ba259aa69fbc7a183169c9d64",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e99f97e267a5508287fdc4a62f3015073a0b53e9163ea694312e74af9b1a7ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f8594cd26e8f47b0be1fdb7a6b6c69e2cfd260fb28649c52665599cb6c3850b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 12.78 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5098, 2.0808, 1.4899, 0.3412, -0.6762, -0.1352, 0.6882, -0.0208, 0.8185, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5684 left_y=-0.1871 left_z=0.2046 left_yaw=0.1547 left_pitch=0.3674 left_roll=0.0393 left_gripper=0.6882 right_x=0.2932 right_y=-0.0007 right_z=0.1788 right_yaw=-0.0002 right_pitch=-0.0534 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -15.7607, 6.8718, 1.9121, -0.2271, -0.0562, 0.8571, -0.3487, -1.3607, 6.9812, 1.6972, -0.0415, -0.0611, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLYBy9iFCrnp-evb95F-jrYm0YjZQ8mAQ12P_mfU4pVxg3kDhkHAVdGgFnetOcq1tOFFQJeJI4Ew1PVzAKDSKAZoHDgScObotZShlaeqApNaXbIflCbuYp02CpDyNh7xZjtgVVp_0bA6INSJZ2jKBXnI9MOlIVab5nYDWxpN1MErMyiBXS4uiJOMqbtzSe0bvfVP5G2KfVUB8muluDA79u7CKjDe8rpMNMWlAZUFR1P5eRrC7FX3KJKzUV0Gp4MIgC_PjFcHGTsiKAVkhatQHB99Gx9oSWtWZq-XsR24TO6zb-94ZP4AyNFj8u_fIftN4RdDawJ5buFCT_Gve3151EXvaRUf_7hB05HJNFElJMTU6Qe5DDCV0eE3f2rBVEFWAoAtW33qbTOAsITJ2NzarT29qAu91tsy9yqlaMlpTn8Jb0iA5XNmoLvMkglmAqvqxdrYQCtq0MpzkkPe6cW8SjIO7fgldQ7WScur2eobDsamXV8JykO4KPN0ft9FUDxVVCVC1DbSdzLCS5TG30XPm2Cba3Vamx_hrG1VWNCBu_3gmAhvy5Xgg3G_sD7IPSi_Q66DnA6P1HGLs-g3Hdoziwp7MfnUQ0cvqlO-IfAuZxftVxv6nrd2Vo4MBQDkAYbFSxCouPKF0itCQkKRUsxc6-_w14WQUga6WllSo-DXjxEzzRfglkWFdXJNe3bcE8SR9bw_Fv59CxaE_9HYkM-r8m60MYvJhVXHTh24ITKSsmBUh3fwsfsqKByV1lWYE3HECsf4CD4d8xL7aCRKreZah2CpIXr5yRhmvum-ZBdqA0peJwvnLErh9F2-CqnAtQctXbrkMSWQ-tzCvol9OZ32dIXMrkTN1j6YTGYMvk2otuxLt-w4fZGD-bfOAEYO4WhWS5hX036iXCS6jXFyYDpvakL7FhkPwcnoXpGQ6PHXz8bEjSIGy1qNfIyN9uwpDoCJMNwbb2hDWcDZNkfTYkSuaUOygj-Kt__aiJ5hE39AwdMRU4asEnZmTfgBi4tYEMuG7mMH9PPR4-l_ZKqGbllOMDh6G4Lv7fi_jQnZAAl-QjFoxttVle3vc7QfdMljOEtZLgbjQHspLuPJ9I2p4iMmACy7vMjzhKabv7WkH3KuHJIMCaEcJlk_xqDUqRmQRwA5sqGfupNM0rVYRw4cQC4Shn-AkbGbv4DSSYXAgfCZ_6354c_VHyY_kTgUoK_KHP2F2yBb7ecVTY9m-sEqqIVtvU1DLkILEs2MKDMazzbREccaqS6Ej1zjKhvcHXEjqtSEUdNSztAKj1Qnd47w_Jse89CUhkMXhEKDkuK-HASWsBPUA4QC1sNQ3Gb1u9BcNa4GqtTdugyLzGQGhYS1eFpTPUifl_BsLIDyVhCNNIOX53i_YMBM-B5A03XQBsuKFfdtEzpm7y800746CMood5CJF_sQI6gazct3ghVcg_B-SROzKgwOo03Qev5Y86xsBHm4deOU5jcR2qsI0Jhcc9pQZVgWWUyM1fVmckZrYoOsx2cmi2enRp0vMQ-sDQHBwPdSrelV4MgvOpJUROIN0IYDxOPmVssTZVJwUMtDttzF1JBrgWeoCqZCN1rEbZV-M5UYctQ42uQJMu1BG0PwGoE703CxnTCO_KJCVOgyVb0P8mT6cmANmucQGVSE5NbPd1dy5WRG5SPpkaGGutWKug5ly8gEIQihHHNOCp-H9rpKSNJIt_CIECLX7n7BzPZuErUpwHvx9Xwn1MKNUsD_pM6hfRV_iuvgu8k2H-C06NTs99dJXluH8B31Iq-GH4mHDqj-NQXQThYQWjnOWm2GNd84UGyJ57MFLIFcan_JovuGJNIR_xxiEfeKRloJzor4xyb2NP8fFMkDo5ANNK1RDLLy_rJ6qc8RmNmNlOv69M6k5Sf12CAI_I7ccrwtNRTlrK2bvd5gjAiGKL9l4WOllWQN_9xykqU3h718Utwoc50_Rowq5zwlOll9DN6TI-wnbP4azV1n5FGizIxI_WlFnoxjFPz8KekSP5tSB_2Sguc2dlHUmCI6u7hFzbu8Goh4vHOhZGYAV7BMghAPVnJv9RmVtJwEiPltDhCGp2vM2bTcc-wWW2DRRtnVvZcLdwvyrNMlCy1oWrmvO524F-BgeIUmPvY1QwtNFGlunOYKtmDIKpsCnQDEL0n9XXIqYc9Zj9Hj5yzohXcqe_DhpugsHFQZYNMJ9wRCMryF2IKvHGBfkSEbpsGfGbWqQULtu2TiRHgf-MeAkYpzzStJZj4_vQRsZP7hvzR5xu2Yc1awgAJlNKrcmuRiaWpovGVidJCG1-NlfnsuZ-SXYS95ZCpJnK_1nifOd4Ntv34B2VImheOy5rnG_GaOk9kv87QnL2TPRQdNkPmxjj7l_xJU2Zpz57K6uWrzf8-Eul__Gfz63i70T3Ktm2b86Oz3gNSKzORk2ngDZDBNZUgKBzDQBiSHxOz5ZyqZ5Pjxh2LPaKlWT1oduGwEhXlK1cyh5DnvbLbMIu2MyBdGztPz4uSeU9nVnLTTq0fSD9biSWvjJpUbX0QsY7BqUXrtzlaBsfXLff74mtM4NkYNNbrC8s_w3ERyNU-ta_NZUywglt5iPvqaygQxPMUn6uPUs8I0VjmhzmbqwAGpjVUTkTLV49Ju1ZWMFjLU5zs5CFJ33CRpKUrCJhHcL2rGmGihbEKzjBqCJ3qoaIWY4A06YAtjl45GqcGjpksBGxew1g==",
  "id": "rs_03539d4cf486b2f1016aacb5f9abcc87d090a526122ca0e638",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.12,\"left_z\":0.32},\"note\":\"The grip spacing remains stable, but the bottle’s orientation is unclear in the wrist view. I’ll move slightly left of the cup to confirm the bottle is carried and give it room for a controlled pour.\"}",
  "call_id": "call_AAoRdm2wOJKkeX2x7tsut3p1",
  "id": "fc_03539d4cf486b2f1016aacb6007d9c87d0a2dbd43dd2bbe214",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AAoRdm2wOJKkeX2x7tsut3p1",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4427, 1.7729, 1.7996, -0.6941, -0.5468, -0.3687, 0.688, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4836 left_y=-0.1237 left_z=0.3005 left_yaw=0.1929 left_pitch=0.0045 left_roll=0.0273 left_gripper=0.688 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -10.8513, 7.1043, 1.7558, -0.149, 0.1538, -0.0122, -0.2667, -1.5248, 6.9812, 1.746, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe3913643d6ed44f787a6fd800d8cd4903281fc1088304808b96c43fe88378cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dff49ed997917bd069039f39510b68a6da59b16603671447dc48c698e962cc03",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db1cefdda962ae2f560540e0909a15462a3ae20f33b96409c5017c8d866d1d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.683 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.556, 2.0048, 2.1624, -0.8093, -0.6285, -0.4271, 0.688, -0.0208, 0.8192, 0.6415, -0.4366, -0.0109, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5094 left_y=-0.1901 left_z=0.3202 left_yaw=0.1744 left_pitch=0.049 left_roll=0.006 left_gripper=0.688 right_x=0.2933 right_y=-0.0006 right_z=0.1786 right_yaw=0.0001 right_pitch=-0.0542 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.7299, 8.0615, 1.3944, -0.2515, 0.232, -0.0366, -0.0752, -1.4154, 6.9812, 1.707, -0.0171, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLYPYvkHFBaDEnCnw8kNdJ1-TfGEOOuZnKrLYBJBOLUgR58X7Snxsv_mlm7MugggzobL86waUtHe9bFyZhdC4pcV3fKj9VutA9EoLIVcIQAhTQQ0Zu6QYtDMp_ozfMT2HdvV5Qa747bH1FooYnAfbv_9dbntT5fRU3jgTDlM9lDKUjVrujwhQqQawNXiEBlulYkj61ucDhONlMPQ4xGIAwzDbSC01JzvyutcFqCboFNXWX36cjev2_FCh4NJBAjo6UT--990NLrSp8xHglzZtVn1Xv4VSsOpiAOeQhAPe9TN30_awkYtWTAJ-_zRv1lFl7nWAj6i1MuJknL64uUJe-xezv71BECvM84g9zbpOXQ_xMz7hypTzxO2zeVcMSvhgpaIkj3_sZAyevrbl0aOlDNIk5lBlOn_WhvcRP137bt52cXZW9ttnFTNGSSEhXLqaj5teHdp_DXMRuCliQn3cbCtCrGICc-tnar43KreOAPL0ikH-T_YZjoYukIlX56_Q9Ode0r_PzlmpdqoxIgUwNHZb4VH5YvcBFqN_slAqQjkYhon1b--YYkUZgpYnj68fyHn7KiJVoGg_mhv88SuF36QJXIOGHWisy3g5YhTyldqZ4hPDa0pDbu17wdSTqsZmGNN3HkqnacU-XXsNB3Wrp1KPzX1yb8RYv98RK1d5J-OiD-S7FugJNhCW_2OUjXPN6OD77nYgyNUKuz96UwNJrTRUXr7qMr73p-jccsxLVYqHy0K3dCi-aMk8B8X87ku-80xIkAduLJtBZACu8yg33jWtUXlc6x9gAqXoAQel8JOzLX7dDp2ejJwgKbWKPLBIYt3mcMNUZARE4C2QDReSL7iXVQJMaOraQFYd0HIZkz3RjH63lFZX3TQ8iEQELIOeh_vrJl69dmB9wGvXwXK3YeGLnMHYJ3sRcnX06gxls_7JZEfBKTRLxOsE8H2A3BFaBixgA6pYvKZILlfFBciEtlSYjD9SV64MCr0QuqCx8jGnf1mfCnj7z9wK0Ihg-FBYp_sLDLs9ddLoczgol739HrzJiHFdqqZSDDWeqMgqwwePYxVQqKwaRxcW4c4BTHVGyXumwUUI4C0qaUKqE1HpJ8zI4iykKIvGPPnIkBOtGQCU8aKMyE_vHhtnaMnz2SGKA7BC4P1kRLdopulHfY7bQ5i5_MfCEuykIcGVdD1IU-FfKqmWP_v46wsdtV-SjJs_nCT7txwqyV-uhyUa5XmeVCrbpEkG7p1brtwUr-lllF4W_Zq3_4VcHW3wbUVEY8wu39-CXCcNja-ir4aIuRvs8WGfQZf8NjEQ6g4mqVn6Oa03zhXLXow-9fWHc0jzpBavwzdxJnX6JXW1frfLVg-HqaysvETt2MfBL-T7B3k9EP8oRFn7eeZeIJAEUoxbyGv5w9aIr3iQhMjFC6ozpfx6Q1vuRJgGs98Gd1BWr6gpN7JvMjPJvfsSITqhuWpkEXF4b8v3fiqTj4nk4S9pdmmRVnjqExXjmasFwJZFJJpXNr_TUYyr1roic2XmaoxQ2T4Vwg_UMPzW0Qa9wOOUFgvizAWs3nYJDqw5LpzRl1MVHvtv10GQYagtrIw77PYnIZrahaGBPlY5m2QOVrp39B3yx8SWElaxNZiZsLYiD9PV3p17RAwfSgQQN7V1WLDVIk4ZITHTIpJtwCxPSziktgB_Zn5r9J-ZdaVKjiV4HKZeJH9QN-cRzeWQE41cK8k_iE3sMfXzC9zHVSm3F_npXfuL3xqi-bL3uDXRIQnYf7hkav4313VqqEE79ejO6BSToR5yHlKaH-NxMolrky-iRT3LG6wGRMjLEop4By0a3Jr62kxpkYEcxaYALE8Q7VnLqZTbIy0k-FDtFXQABOBMg9WelXn_QqXnDHlVGB6nrfuJE_EfQeg9LEcRK9M4GpOlrC2j7zFJpd0nKwRPRPNmSaWZHuYSsgydg69Yam1M0pg8Mr8qEB4z3x6jdPa5MIeToK2SB3z0u5GNWJolMPlamYylyjAXXsln8ipJysn0eIuME7JUv0qP-HvShZdXC9vXURDTYFE8kf30gXPRxkb_S269VRnnc0zjcCBaZ7BEBr5k1Vp2kPGDPw5iBgVdvLsP7WOZKx7u8bPC6ccI42UlkHD3pal59HSqV2UNg25g4pftEqg_50Nk-SOYb-Tm8EjD58Lc9938thlgDWZtx4EH2V2URuQxr49PQDhFVrOq4Vf2Umyt3ZPLWUdCChPkGHWLxinu41PS90Eie8NE_Uaal479z-uP2ex_aD_oFv-1zFdNEOI8GGxKTYsEWDvgVG26CYeAH8olbWCnISVvCcriKUKl__uDfgcfip4iqdQ7jr3xdmAjOg7s-8PISn1MlZZxi1U3Wv5NfX6tzO1ObiPrGkfx_qqoA==",
  "id": "rs_03539d4cf486b2f1016aacb607716487d0aad787110a46871f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.57,\"left_y\":-0.18,\"left_z\":0.095,\"left_pitch\":0.4,\"left_gripper\":1},\"note\":\"The bottle is now visibly lying on the table; it did not stay secured during the lift. I’ll approach its lower body from above and maintain an explicit closing command during the next lift.\"}",
  "call_id": "call_SCBvLglFAvKQb3YXmGG6cYU8",
  "id": "fc_03539d4cf486b2f1016aacb60d653087d09ee564a7097acde0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SCBvLglFAvKQb3YXmGG6cYU8",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5003, 2.2799, 1.3193, 0.6415, -0.6998, -0.1627, 0.9984, -0.0208, 0.8249, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5622 left_y=-0.1736 left_z=0.0818 left_yaw=0.1851 left_pitch=0.3183 left_roll=0.0624 left_gripper=0.9984 right_x=0.2937 right_y=-0.0007 right_z=0.177 right_yaw=-0.0002 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.2735, 7.706, 1.7949, -0.1783, 0.2027, -0.0317, -0.1983, -1.7026, 6.9812, 1.7411, -0.0269, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed626805481bac3bd2ce8bb461f4bd4bd24ed26b9682722bacd1cc92b27c310f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e620fef464543727e011c4c6d9e395f520834bbf9ec11f3d0c50f63d2d6f09b3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84a3e32144a79fdef89c42e2b023a7b027b5bb599d33f5c3835266ae4ace8e82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 5.79 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4427, 1.7729, 1.7996, -0.6941, -0.5468, -0.3687, 0.688, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4836 left_y=-0.1237 left_z=0.3005 left_yaw=0.1929 left_pitch=0.0045 left_roll=0.0273 left_gripper=0.688 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0002 right_pitch=-0.0561 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -10.8513, 7.1043, 1.7558, -0.149, 0.1538, -0.0122, -0.2667, -1.5248, 6.9812, 1.746, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLYU7yi1I4MGvw8fUfsNuSScj2A5clXqNXn6GeiXt36-ttGsDhqPZkjoZx2CeLIb6M97NMTXG5a8zeOQ1XsFGGlhIbW1Wv0TQrxd6D9MQLkx73oHF4l2N5QzFxNVbzIk4jaQah5tZT-_WOh4_ryy9KGqI1jOLUbL2SdFfFQRGSLP7Q4p_5OV7OwovRQFGcn1YdoAhQgmULBAOfSAdWaMTeeJXlTJD4p8oJEzmLzu7iwGpItgjPPS4eHLeS6yW5tpAoVxPu1t4IhFkLUkLnqwqMoiE2L0eYwshF222izRXGCtJXxujGOl8xlhZRV4fDDtVrymWAUztcUXklLGOhmoO7Azw7KWCgok6u3NJO1zyEueD4XXplUUPuE_jdJwIWqZ7JAGSYcbx0Bri1GhuXibz4xyR-06Hk4OFjMSaZ2l4gbLNR110HzIiug3qANWLK4a5mwNXIUQinc8DIarhyw1Wss0XuuHubmRnWFD4OOMTh4JQg_UW3JX80gNed8Y1askybpsX65DLVKw5uyoEOmn0N5K2b-L_HNHm739lZ2RJQgb8-r9_wpr_HA4T8sTupwZajWHPgeZpBW3xLjo84OPnY5iCKUB7LZlS80jB6QCuJ75U1yhvQ3nRDKR7uuh_LFYT6fx7P0H7ewhD3y8n50ec-EB2KlUzW7BFjKuJ9GHJ13Mx0xf0QICO4sk77FLgiQ5s602Udhann1boue6JS98VE-e2pyrRk1ps4ysJrfdNNRYlDa9llNcr8Pi-8yEA8ScCJHNGKn8LgkUbg7FDLOA2AWCUwyUB_LJBgzotGrrwfurx5-XM7k5eHoOnPRcFktQiSAMsFCTsnLTAb91FFd8ScLyfJiQGEhA1fs_RE6T6cOu7uE9IyAtJ5JvxzbW_7AC54N0Q47nmilUNZovePjRzwsK-JLv7M26KaUrZRxz5kzd9N4GWSdgMpJSZf9ImALpqIWZtXJ6WfLTRv7OnCrfvhDYIplKkT2Nww3J85b5cHDMhcb-Hc9jSfKbFzs11CFe2Ll7pZ4xBJOkGd9_ZHKRvOBai2dLNFDZr9qLbVTlEL2nN1Q4OJ6K-1x8CdvRMCoFveotmM_9ltL8Bq_sbAUDIoc9cNAwxYwif05eFslgELVoSLR2IOVdPztC5QKNLvAj8frwhZXi_T8Uv-5BOydpH3po93-13t1nfRisXJNWlzd__OHJ1Z6Cd0NCgpkosFlJfkooSEfdci9ZRMqeV-hjmReeZsX0h6NlSRtCP6FFNUe2uUmoAPPvd1HAj4D3LD39At7Xna9XWh2R_4_whkJ4RryMxw==",
  "id": "rs_03539d4cf486b2f1016aacb61218f487d099a05dff89e95e2a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"left_z\":0.06,\"left_x\":0.59},\"note\":\"The fallen bottle’s broad lower body is between the jaw tips. I’ll lower slightly and close around it rather than its tapered shoulder.\"}",
  "call_id": "call_38TfStLRqcW7QEjyUH7vJwsc",
  "id": "fc_03539d4cf486b2f1016aacb612986087d084f8a078dce21cdd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_38TfStLRqcW7QEjyUH7vJwsc",
  "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]: [-0.4763, 2.3981, 1.4124, 0.6361, -0.696, -0.165, 0.0103, -0.0208, 0.8249, 0.6415, -0.4362, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5806 left_y=-0.1681 left_z=0.0493 left_yaw=0.201 left_pitch=0.2939 left_roll=0.0792 left_gripper=0.0103 right_x=0.2937 right_y=-0.0007 right_z=0.1771 right_yaw=-0.0002 right_pitch=-0.0595 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -12.4786, 8.6632, 1.7607, 0.0952, 0.1197, 0.7839, -0.253, -1.4291, 7.0632, 1.7167, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e484b29936b204588f37e13cab280cde1458f51afbd59f0678a56dd4a9806763",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c7daba4cb7e663210fb2e073cb9759d4ade5850c5affe0343cf3f84cd435201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbbe0480c8bf0fe2171d4726c5a83e8e900f790cf920a582938e8724b41c64b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 7.487 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 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]: [-0.5003, 2.2799, 1.3193, 0.6415, -0.6998, -0.1627, 0.9984, -0.0208, 0.8249, 0.6415, -0.4366, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.5622 left_y=-0.1736 left_z=0.0818 left_yaw=0.1851 left_pitch=0.3183 left_roll=0.0624 left_gripper=0.9984 right_x=0.2937 right_y=-0.0007 right_z=0.177 right_yaw=-0.0002 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.2735, 7.706, 1.7949, -0.1783, 0.2027, -0.0317, -0.1983, -1.7026, 6.9812, 1.7411, -0.0269, -0.0708, -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": "gAAAAABqrLYbzDdJuEhAPRZo4UtzlU77DomgAQjAKEHPhRFq4DOUH__UjQ-or9Lur34rTNPLHizTjVM3tI7xhGKgxEV_aFKS75CzAWXZsN-x0Xz9lHDWxG1ax5iNu-_WLKq7q0bqh6vRJauR_J4_Kx84V2q9rLt9MAGrE8n_ssm0zNXtPif_rrfjxuGc_8Cwsbv52o83jU2CcKCrEZ7lO3AAibYYIV_zx-zQg88JW_OyXLXJXvudfkT3FeEHGsstKWTnGyCKIKJReOj6fsGB5o7VMWBnz6jhXTxzpiQXdqNDqaoNDADPS3B6QhqZ2zi3opHYhnFzZh8NQnx67Z3q10gZkAZieyXPJ83EwGpc8gh1QfGwCR9l_6aHMX9Q-nHNMGiFxP_8TPPsinps0A4oUQXUfjfIF5ut3JlgjOwCs2oevtHfsfFtSHbpG2eu5yVC2KjPxoJRXTct3C1rY3Tq1XFluCvAOFmViGlpnPbbAOsrRSayvQswij6En_rxueNtlvrqKNkDrS-36v5Ekj1AtN_t3S0ZioF3qplgET3gNGc5qvUL3O7qNP5_YTnWaQ8v8M0M31sKU6ysfUbABr2thWeDzaBSqyo_lCDAtbnKQTa2uoC6TvWKvmLsAEwzYWAlcCz9hh0UP13UAI4ipHMu86mVx3-r5RfVQPE7QL8TLFM7_AITNAkndk5NgPwKsAnNSGhBoUgH4I6Ic29-IhoFbfo50XRqXcP6G_Z-kl6qjbXm1JvJ-6-02NKDoR4xJ0ZXpcnJfgvsQteI_kuN77f7WRxwE1KKkyVf713j9v19E20qWVqCBrZNVFBcTc4h1Hgvd1xVMB6i2BVKkD744UUmds-PWgqb75YR0U6toQOsshyeh9Eyc3SvHFn93WRrCdl5duAZFIhL8PIxyEhpnRI4Qibyp1Wqj0RHQa-Mq3aDZT8tpuOPP-Hs-O8RV016luhhpL6u7Its9iLhCAIjqcvYOK1kuSTaE9InETBoeVWzSpSQ60K0AqqML_GSs2MaD9FF0sNTNZoo8jtVtLxjp30AlXLTGFDYZVmzygkD9BjnDohL7cg0aIvsFLu9ACSL36o7HmzZN3Fpzwa56oZlStH7TlXGKB5fM9Nye1Q7Cn8nLb7rqCqnd97J5cyLdRsiGVtiJd03Z4_LFTD1ASw5XKhVaeavGbwc1CsI9H54AeAlqbSfdhxWnL0GR7utVas0bWvy8N-mNr8BpvFATUMwfRRLoNk0SurUlskmw2tryY6T9OzEnDBgh9nRSpjRbzp1UGHmmUCBSnFQ3y8OmhyX9COgVvENn2_9lqkO0m6x9dP0gDf70GRRr-wjHc1N-kDJt7HrwlREuZipQA7tbCEiTxkBFyvncJLtcxk8j2FxSBtP7ShxrC1EM6YJUm_gwfB7Yjkfb7AZR70kRs0zwgDog_9-P9udNHwMhGF75MtOm7ZR-cLKYDKypo2zDgcxrbqUDfJ76czxvt8Mokh8R8FJmw20bk9QvJDKsKAy8rSZLh8qxOGPQZWoarTCzmo=",
  "id": "rs_03539d4cf486b2f1016aacb6176b8087d08aeddf2d94ceaf09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.22,\"left_pitch\":0,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.22},\"note\":\"The bottle slipped forward again and is now beyond the left arm’s safe reach, beside the red cup. I’ll withdraw both arms; continuing would risk pushing the bottle or cup off the far edge.\"}",
  "call_id": "call_eohasSQgfkbe9eJYPlqKd3Qo",
  "id": "fc_03539d4cf486b2f1016aacb618edd887d091e17402a0455493",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eohasSQgfkbe9eJYPlqKd3Qo",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2726, 0.915, 0.7586, -0.4408, -0.4622, -0.2317, 0.9983, -0.0208, 0.8627, 0.7887, -0.5804, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3103 left_y=-0.0012 left_z=0.2142 left_yaw=0.2232 left_pitch=0.0328 left_roll=0.0647 left_gripper=0.9983 right_x=0.293 right_y=-0.0007 right_z=0.2042 right_yaw=-0.0003 right_pitch=-0.0942 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -2.0581, 10.0171, 1.7753, -0.1148, 0.1392, -0.0024, 0.294, -1.2376, 10.1128, 1.6484, 0.0073, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fb437716c3de84bd240e6602f6e6875e49358e6b02526558009aa25621f2853",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493f9cb3e33de0025edca45aaa3b23c6d0a41cb969178c475d2b3420ae166b0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ab5e143cf57b9b89939c82db10c8c70ce25063ee89b57322ef016477ad0606",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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