adhoc

completed
2026-09-18T05:59:07.909869+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
1800
duration
192.3 s
total steps
185
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 noteThe left container is in front of the red cup, with the second container to its right. I’m bringing the left gripper above the left container to align a secure grasp before pouring.
move_to
left_x0.3800left_y-0.2000left_z0.2300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0132, -0.0196, 0.9998] state[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5812, -1.6479, 9.4154, 1.7411, -0.0122, -0.0317, -0.0562, -0.7863, -1.4701, 9.7846, 1.7314, -0.1343, 0.0269, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.20,"left_z":0.23,"left_gripper":1},"note":"The left container is in front of the red cup, with the second container to its right. I’m bringing the left gripper above the left container to align a secure grasp before pouring."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left bottle is open, and its body appears left of the gripper’s centerline. I’m shifting toward its body and lowering the open jaws around its narrower middle section.
move_to
left_x0.4050left_y-0.1650left_z0.1150
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]: [-0.7303, 1.4982, 1.1961, -0.4339, -0.5919, -0.4545, 0.9996, -0.0154, 0.7986, 0.6086, -0.3828, -0.012, -0.0231, 0.9998] state[eef_state]: left_x=0.376 left_y=-0.1996 left_z=0.2144 left_yaw=-0.008 left_pitch=-0.0326 left_roll=0.0126 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1802 right_yaw=0.0009 right_pitch=-0.013 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.294, -7.241, 9.5795, 1.4676, -0.3834, 0.0513, -0.0562, -0.3897, -1.388, 7.241, 1.8388, -0.0415, 0.0024, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.165,"left_z":0.115},"note":"The left bottle is open, and its body appears left of the gripper’s centerline. I’m shifting toward its body and lowering the open jaws around its narrower middle section."})
tool
executing move_to over 7 steps (0.7s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe bottle’s lower body is close to the fingertips but still slightly forward and left of center. I’m making a small alignment correction so the jaws close around the body rather than its edge.
move_to
left_x0.4350left_y-0.1520left_z0.0900
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5812, 1.6123, 0.8879, 0.0208, -0.4892, -0.3538, 0.9996, -0.0151, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4041 left_y=-0.1618 left_z=0.1123 left_yaw=0.0076 left_pitch=-0.0496 left_roll=0.0224 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0153 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.3897, -7.6239, 5.559, 1.873, -0.1587, 0.0708, -0.0171, -0.3487, -0.9231, 7.0496, 1.7949, -0.0659, -0.0708, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.152,"left_z":0.09},"note":"The bottle’s lower body is close to the fingertips but still slightly forward and left of center. I’m making a small alignment correction so the jaws close around the body rather than its edge."})
tool
executing move_to over 3 steps (0.3s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe bottle is now centered between the open jaws, but its base remains just ahead of the fingertips. I’m advancing a little while keeping the grasp above the table.
move_to
left_x0.4550left_y-0.1600left_z0.0850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5014, 1.7401, 0.8902, 0.1085, -0.4404, -0.3134, 0.9996, -0.0154, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4245 left_y=-0.1428 left_z=0.0727 left_yaw=0.0286 left_pitch=-0.0997 left_roll=0.0477 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.4991, -8.5949, 8.2667, 1.7656, -0.105, 0.0952, -0.0122, -0.3487, -1.1145, 7.0359, 1.7216, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.16,"left_z":0.085},"note":"The bottle is now centered between the open jaws, but its base remains just ahead of the fingertips. I’m advancing a little while keeping the grasp above the table."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe left bottle’s body now fills the space between the fingertips. I’m closing the jaws to secure it for a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5011, 1.8271, 1.037, 0.0391, -0.4442, -0.3218, 0.9996, -0.0151, 0.7986, 0.6083, -0.3851, -0.0124, -0.0231, 0.9998] state[eef_state]: left_x=0.4503 left_y=-0.156 left_z=0.0791 left_yaw=0.037 left_pitch=-0.1064 left_roll=0.0482 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0016 right_pitch=-0.0156 right_roll=-0.0031 right_gripper=0.9998 state[joint_eff]: [-0.0479, -8.6085, 7.9795, 1.4335, -0.188, 0.0269, -0.0171, -0.1299, -1.1145, 7.2137, 1.7265, -0.0757, -0.0171, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left bottle’s body now fills the space between the fingertips. I’m closing the jaws to secure it for a short test lift."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe gripper closed almost completely, so it did not capture the bottle. I’m reopening and advancing about three centimeters to put the fingertips farther around its body.
move_to
left_gripper1.0000left_x0.4800left_z0.0850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5014, 1.8294, 1.0393, 0.0269, -0.4442, -0.329, 0.0107, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4491 left_y=-0.1555 left_z=0.0769 left_yaw=0.0412 left_pitch=-0.1166 left_roll=0.0488 left_gripper=0.0107 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.0889, -9.2239, 6.147, 1.6825, -0.1636, 0.0513, 0.8571, -0.3624, -1.0872, 7.0906, 1.7509, -0.0415, -0.0757, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.48,"left_z":0.085},"note":"The gripper closed almost completely, so it did not capture the bottle. I’m reopening and advancing about three centimeters to put the fingertips farther around its body."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe bottle extends between the open fingertips now. I’m closing again and will check the jaw spacing 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]: [-0.469, 1.8927, 1.1477, -0.0307, -0.4217, -0.318, 0.9988, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4709 left_y=-0.1535 left_z=0.0787 left_yaw=0.0507 left_pitch=-0.1357 left_roll=0.0502 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [0.4034, -8.841, 8.8274, 1.6142, -0.1343, 0.1148, -0.1148, -0.335, -1.2513, 7.0632, 1.6972, -0.0415, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle extends between the open fingertips now. I’m closing again and will check the jaw spacing before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe second close was also empty, and the overhead view shows the bottle has shifted forward. I’m lifting clear to reassess and approach its narrower neck instead of pushing against the broad body.
move_to
left_x0.4300left_y-0.1500left_z0.3000left_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]: [-0.4679, 1.8927, 1.1496, -0.038, -0.4217, -0.3256, 0.0106, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4705 left_y=-0.1527 left_z=0.0782 left_yaw=0.0562 left_pitch=-0.1401 left_roll=0.047 left_gripper=0.0106 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.2667, -9.9077, 6.0513, 1.5604, -0.1734, 0.0659, 0.8571, -0.1709, -1.2513, 7.0769, 1.7265, -0.022, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.15,"left_z":0.3,"left_gripper":1},"note":"The second close was also empty, and the overhead view shows the bottle has shifted forward. I’m lifting clear to reassess and approach its narrower neck instead of pushing against the broad body."})
tool
executing move_to over 15 steps (1.5s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe raised view clearly shows the open neck and the red cup behind it. I’m reaching toward the neck with a slight forward tilt to avoid the bottle’s wider shoulders.
move_to
left_x0.5150left_y-0.1500left_z0.2250left_pitch0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5114, 1.7035, 1.7649, -0.8562, -0.4419, -0.3748, 0.9972, -0.0151, 0.7986, 0.6079, -0.3847, -0.0116, -0.0235, 0.9998] state[eef_state]: left_x=0.4371 left_y=-0.1545 left_z=0.2848 left_yaw=0.0561 left_pitch=-0.1432 left_roll=0.0286 left_gripper=0.9972 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.0157 right_roll=-0.0038 right_gripper=0.9998 state[joint_eff]: [-0.3897, -8.9368, 8.5538, 1.3114, -0.3346, 0.0855, -0.0171, -0.1573, -1.2786, 7.0906, 1.746, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.515,"left_y":-0.15,"left_z":0.225,"left_pitch":0.2},"note":"The raised view clearly shows the open neck and the red cup behind it. I’m reaching toward the neck with a slight forward tilt to avoid the bottle’s wider shoulders."})
tool
executing move_to over 12 steps (1.2s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe bottle neck is slightly left of the jaw center and still ahead of the fingertips. I’m advancing carefully and centering the jaws on the neck.
move_to
left_x0.5600left_y-0.1350left_z0.2150left_pitch0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.448, 1.7729, 1.3296, -0.0578, -0.4751, -0.2081, 0.9981, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5047 left_y=-0.149 left_z=0.2108 left_yaw=0.0552 left_pitch=0.1166 left_roll=0.0366 left_gripper=0.9981 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [0.4171, -9.2923, 7.0769, 2.0, -0.2857, 0.2564, 0.0855, -0.1026, -1.2513, 7.0632, 1.7021, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.56,"left_y":-0.135,"left_z":0.215,"left_pitch":0.25},"note":"The bottle neck is slightly left of the jaw center and still ahead of the fingertips. I’m advancing carefully and centering the jaws on the neck."})
tool
executing move_to over 5 steps (0.5s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe neck is now between the jaw tips, and the arm is near its comfortable reach. I’m closing gently around this narrower section rather than squeezing the full bottle body.
move_to
left_gripper0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3729, 1.9133, 1.3567, 0.0986, -0.4507, -0.1486, 0.9982, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5453 left_y=-0.1268 left_z=0.1811 left_yaw=0.0809 left_pitch=0.1478 left_roll=0.0611 left_gripper=0.9982 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0014 right_pitch=-0.0164 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.1436, -11.0291, 10.3453, 2.0488, 0.0073, 0.1685, -0.0073, -0.2667, -1.2786, 7.2274, 1.7167, -0.0073, -0.0415, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.25},"note":"The neck is now between the jaw tips, and the arm is near its comfortable reach. I’m closing gently around this narrower section rather than squeezing the full bottle body."})
tool
executing move_to over 8 steps (0.8s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe jaws stopped at about six centimeters, indicating a grasp on the bottle. I’m lifting it a few centimeters and slightly back to confirm it moves securely.
move_to
left_x0.5400left_z0.2850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3698, 1.927, 1.3766, 0.1596, -0.4438, -0.1303, 0.6241, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5553 left_y=-0.1301 left_z=0.1951 left_yaw=0.0735 left_pitch=0.2065 left_roll=0.0462 left_gripper=0.6241 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.253, -11.4256, 9.2923, 1.956, -0.0122, 0.1392, 0.9939, -0.1026, -1.0735, 7.0359, 1.7656, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.54,"left_z":0.285},"note":"The jaws stopped at about six centimeters, indicating a grasp on the bottle. I’m lifting it a few centimeters and slightly back to confirm it moves securely."})
tool
executing move_to over 6 steps (0.6s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe left container lifted with the gripper. I’m raising it above the red cup and beginning to turn the wrist so the available sideways tilt can direct the opening toward the cup.
move_to
left_x0.5550left_y-0.1450left_z0.3300left_yaw0.7500left_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]: [-0.3809, 1.8751, 1.5547, -0.0998, -0.4488, -0.1463, 0.625, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5497 left_y=-0.1337 left_z=0.2503 left_yaw=0.0728 left_pitch=0.1813 left_roll=0.0457 left_gripper=0.625 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998 state[joint_eff]: [-0.2667, -13.6547, 9.5932, 1.6337, -0.2173, 0.0611, 0.0806, -0.1983, -1.0735, 7.0769, 1.7265, -0.0317, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.555,"left_y":-0.145,"left_z":0.33,"left_yaw":0.75,"left_pitch":0},"note":"The left container lifted with the gripper. I’m raising it above the red cup and beginning to turn the wrist so the available sideways tilt can direct the opening toward the cup."})
tool
executing move_to over 7 steps (0.7s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe arm did not reach the requested height at that extension. I’m bringing the container slightly inward while completing the wrist turn, giving the arm more clearance before positioning the pour.
move_to
left_x0.4900left_y-0.1500left_z0.3100left_yaw1.5000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5018, 2.5278, 2.7445, -1.1957, -0.8577, -0.8009, 0.6252, -0.0151, 0.8032, 0.6075, -0.3916, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.562 left_y=-0.1519 left_z=0.2214 left_yaw=0.5893 left_pitch=-0.0161 left_roll=0.038 left_gripper=0.6252 right_x=0.2942 right_y=0.0013 right_z=0.1766 right_yaw=0.0014 right_pitch=-0.0275 right_roll=-0.0034 right_gripper=0.9998 state[joint_eff]: [0.6085, -20.7932, 10.5641, 1.0427, -1.0085, -0.105, 0.0122, -0.2393, -1.2513, 7.3368, 1.8291, -0.0366, -0.0415, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.15,"left_z":0.31,"left_yaw":1.5,"left_pitch":0.1},"note":"The arm did not reach the requested height at that extension. I’m bringing the container slightly inward while completing the wrist turn, giving the arm more clearance before positioning the pour."})
tool
executing move_to over 6 steps (0.6s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe large wrist turn caused substantial position error, so I’m returning to a neutral orientation at a shorter reach. This should restore stable control while keeping the container upright.
move_to
left_x0.4000left_y-0.1600left_z0.3200left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3119, 2.344, 2.0556, -1.5402, -1.0489, -1.6646, 0.6251, -0.0151, 0.8074, 0.6071, -0.392, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4438 left_y=0.0216 left_z=0.1361 left_yaw=1.2911 left_pitch=0.0448 left_roll=0.1785 left_gripper=0.6251 right_x=0.2944 right_y=0.0013 right_z=0.1752 right_yaw=0.0014 right_pitch=-0.0324 right_roll=-0.0033 right_gripper=0.9998 state[joint_eff]: [-0.2393, -18.6051, 7.6786, 0.3346, -0.7546, -0.1392, -0.0317, -0.253, -1.1966, 7.0359, 1.7558, -0.0366, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0.32,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The large wrist turn caused substantial position error, so I’m returning to a neutral orientation at a shorter reach. This should restore stable control while keeping the container upright."})
tool
executing move_to over 17 steps (1.7s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe left container appears tilted, and I cannot yet confirm it is still secure. I’m moving the gripper up and inward to regain a clear view, while refreshing the idle arm’s parked height.
move_to
left_x0.3400left_y-0.1200left_z0.3400left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.2970right_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]: [-0.5957, 1.5406, 1.5707, -1.0084, -0.585, -1.0153, 0.6249, -0.0151, 0.8101, 0.6067, -0.4004, -0.0124, -0.0235, 0.9998] state[eef_state]: left_x=0.3684 left_y=-0.1275 left_z=0.2631 left_yaw=0.4437 left_pitch=-0.2244 left_roll=-0.2412 left_gripper=0.6249 right_x=0.2934 right_y=0.0014 right_z=0.1726 right_yaw=0.0018 right_pitch=-0.0439 right_roll=-0.0029 right_gripper=0.9998 state[joint_eff]: [0.3214, -3.7812, 6.8444, 1.1209, -0.3639, 0.2076, -0.0317, -0.1709, -1.3607, 7.0769, 1.8095, -0.0806, -0.0317, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.12,"left_z":0.34,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.297,"right_y":0,"right_z":0.2},"note":"The left container appears tilted, and I cannot yet confirm it is still secure. I’m moving the gripper up and inward to regain a clear view, while refreshing the idle arm’s parked height."})
tool
executing move_to over 8 steps (0.8s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left bottle is lying on its side on the table; it slipped during the wrist turn. I’m approaching its exposed neck from above to recover it before attempting any pour.
move_to
left_x0.4500left_y0.0150left_z0.2000left_gripper1.0000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6174, 1.4704, 1.4902, -0.8982, -0.6048, -0.8303, 0.6248, -0.0154, 0.8364, 0.6815, -0.4816, -0.0128, -0.0242, 0.9998] state[eef_state]: left_x=0.3659 left_y=-0.1322 left_z=0.2739 left_yaw=0.3225 left_pitch=-0.1366 left_roll=-0.1779 left_gripper=0.6248 right_x=0.293 right_y=0.0013 right_z=0.183 right_yaw=0.0022 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [0.0752, -8.2393, 6.5026, 1.199, -0.4322, -0.0611, -0.0171, -0.759, -0.9504, 10.0855, 1.6581, -0.1001, -0.0855, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":0.015,"left_z":0.2,"left_gripper":1,"left_yaw":0,"left_pitch":0,"left_roll":0},"note":"The left bottle is lying on its side on the table; it slipped during the wrist turn. I’m approaching its exposed neck from above to recover it before attempting any pour."})
tool
executing move_to over 14 steps (1.4s)
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 exposed neck is very near the outer edge, so the bottle’s body is the safer recovery point. I’m rotating the open jaws above it so they can close across its width.
move_to
left_x0.4650left_y-0.0350left_z0.1800left_yaw1.5000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0189, 1.4586, 1.0554, -0.2253, -0.0433, -0.0654, 0.9985, -0.0154, 0.8406, 0.6796, -0.482, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.4386 left_y=0.0195 left_z=0.1886 left_yaw=0.0832 left_pitch=-0.0693 left_roll=-0.0264 left_gripper=0.9985 right_x=0.293 right_y=0.0012 right_z=0.1809 right_yaw=0.0013 right_pitch=-0.0832 right_roll=-0.0028 right_gripper=0.9998 state[joint_eff]: [0.1162, -6.6803, 7.1863, 1.9853, 0.1685, 0.1978, -0.0073, -0.3761, -1.7846, 7.1453, 1.6532, -0.0464, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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":0.465,"left_y":-0.035,"left_z":0.18,"left_yaw":1.5},"note":"The exposed neck is very near the outer edge, so the bottle’s body is the safer recovery point. I’m rotating the open jaws above it so they can close across its width."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe jaws are now aligned across the fallen bottle’s body. I’m lowering them around its sides for a controlled recovery grasp.
move_to
left_x0.4650left_y-0.0350left_z0.0650left_yaw1.4000
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]: [-0.3405, 2.3363, 2.0918, -1.3506, -0.8906, -1.6321, 0.9983, -0.0151, 0.8436, 0.6796, -0.4812, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.4717 left_y=-0.0176 left_z=0.1203 left_yaw=1.2588 left_pitch=-0.1215 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2933 right_y=0.0013 right_z=0.1802 right_yaw=0.0017 right_pitch=-0.0855 right_roll=-0.0027 right_gripper=0.9998 state[joint_eff]: [1.7299, -13.5316, 6.7214, 0.4029, -0.7643, -0.1148, -0.0415, -0.2393, -1.5385, 7.0085, 1.746, -0.0317, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_y":-0.035,"left_z":0.065,"left_yaw":1.4},"note":"The jaws are now aligned across the fallen bottle’s body. I’m lowering them around its sides for a controlled recovery grasp."})
tool
executing move_to over 4 steps (0.4s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe recovery descent is not tracking safely at this wrist orientation. I’m withdrawing the open gripper and parking both arms rather than risking further movement of the open bottle or cups.
move_to
left_x0.3400left_y-0.0500left_z0.3000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.2970right_y0.0000right_z0.2050
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3637, 2.3959, 2.27, -1.5513, -0.886, -1.739, 0.9983, -0.0151, 0.8474, 0.6792, -0.482, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.4658 left_y=-0.0271 left_z=0.1393 left_yaw=1.3029 left_pitch=-0.1217 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2934 right_y=0.0013 right_z=0.1788 right_yaw=0.0017 right_pitch=-0.0904 right_roll=-0.0026 right_gripper=0.9998 state[joint_eff]: [1.0051, -12.7521, 7.0222, -0.0464, -0.6129, 0.1392, -0.0171, -0.212, -1.7846, 6.9812, 1.6581, -0.0464, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.05,"left_z":0.3,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":1,"right_x":0.297,"right_y":0,"right_z":0.205},"note":"The recovery descent is not tracking safely at this wrist orientation. I’m withdrawing the open gripper and parking both arms rather than risking further movement of the open bottle or cups."})
tool
executing move_to over 11 steps (1.1s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteI could not complete the pours safely. The left bottle slipped onto its side during wrist rotation, and subsequent recovery motions showed large position errors. Neither pour is confirmed; the right bottle remains untouched. Please reset the left bottle and check the arm’s wrist-position tracking before retrying.
give_up
hindsightFor these tall bottles, low body approaches pushed the bottle forward and produced empty grasps; approach the neck from above instead. A roughly 6 cm jaw opening initially supported the left bottle, but the grip did not survive yaw rotation. At extended reach, yaw targets around 1.4–1.5 radians produced severe position errors (over 10 cm) and recovery descents failed to track; verify rotation feasibility at short reach before carrying an open container toward a cup.
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]: [-0.3157, 1.9293, 1.7325, -1.1603, -0.477, -1.3163, 0.9988, -0.0154, 0.8814, 0.7521, -0.5598, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4186 left_y=-0.0476 left_z=0.1485 left_yaw=0.97 left_pitch=-0.4974 left_roll=-0.1074 left_gripper=0.9988 right_x=0.2933 right_y=0.0012 right_z=0.1869 right_yaw=0.0032 right_pitch=-0.1293 right_roll=-0.0047 right_gripper=0.9998 state[joint_eff]: [0.7453, -10.8923, 8.0752, 1.5653, -0.3297, 0.188, -0.1343, -0.841, -1.6889, 10.0308, 1.6484, -0.0757, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not complete the pours safely. The left bottle slipped onto its side during wrist rotation, and subsequent recovery motions showed large position errors. Neither pour is confirmed; the right bottle remains untouched. Please reset the left bottle and check the arm’s wrist-position tracking before retrying.","hindsight":"For these tall bottles, low body approaches pushed the bottle forward and produced empty grasps; approach the neck from above instead. A roughly 6 cm jaw opening initially supported the left bottle, but the grip did not survive yaw rotation. At extended reach, yaw targets around 1.4–1.5 radians produced severe position errors (over 10 cm) and recovery descents failed to track; verify rotation feasibility at short reach before carrying an open container toward a cup."})
tool
give_up: I could not complete the pours safely. The left bottle slipped onto its side during wrist rotation, and subsequent recovery motions showed large position errors. Neither pour is confirmed; the right bottle remains untouched. Please reset the left bottle and check the arm’s wrist-position tracking 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": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.389 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0132, -0.0196, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.4154, 1.7411, -0.0122, -0.0317, -0.0562, -0.7863, -1.4701, 9.7846, 1.7314, -0.1343, 0.0269, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98f3569544bca61e642180239d6a0fca912562f74f31f9c10a5195c6dcba2534",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0313ef6aceddafa64d733c796ca9ac113c1d23aecb322ab875951d7a3552be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1ae45701a23694c72c3605acc6af701b356c04fcfe3930683dcdbcb390ca77e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 98f3569544bc
wire blob 0a0313ef6ace
wire blob a1ae45701a23
call 1 attempt 0 · /responses · status 200 · 7.504 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrNNAt4D3FZjVWpDrUWPcWudSzbxex4l788KuK7GJN0xAEyCwLWc1-hIz3MlXywrMqkOmh0Z2_qFK5-9nKTNHG4R-WKx1mADlmyRnpcVJHBc6_DxjX8jRGWsrKZ4JChpK-2blx8ZNMj4a1Y9bh7owqc5oy5XrLDjdgiOW2xadFzmAkHxfpA_DpSnd06SHLbFhcSPu_sFJ36OoFvncVzpPLeVOUabeZpYaZllmt6geo-hQ-GHtrD9D-lSlztve_3lPxu_fFlA899nYwiycFOKnuTclN2DSPGdyjf8K1ADYwzfQ611ulB2PGnJvOIJCWoROfg7HiazBG3GH0FtU17jdDP65NgvIJGrKsTwFYsk91xhhUI2Ic0TIR6Nl8ys6H1UqX23ym6L8Vxj3_ovjKlYGbSJQwWqyDcI2SRt1stkHTOBoUAarbcw8snocf1mJHpWYpwc3c0O_VUjKxB43FkE2f1lAUxIi2PNV3P6Mo6bBvHWUaPCH5NfPtZ7VenJ4Rx14Odx8px-ZLF5XRw7n6CDqtCqswTpmMynRINjFCXRqg1WUMLwst2jWl1kZ8ZLmR873mUmFvbIUOeJORG6ChX9z9ubT14TG6uyIUDJV-GxgBqTWm8OXhW_qP09OB2OVptERkcCJzpqycDqzUWxcKqrfyRLfAUpHgP9s5WceT8LFIXNahWxEwMsbqb5e91huBaTri5iPzkom6v5epjdacSx_uhkPshXvBwB_sR4IIguswJ7DVL-YiQxGBLrUQ0qXl1uzAzDehNWsB0IjenVx2X48YjB6VeszwypfvIw5gAInakASRHklFySrllauXlZ02MXxs8Fb_EQzBdD5ADlyKBExTFyuuHkEUpymBUlC2fPKoccTTrUh0mYfYPHH_TEzYf2DCtkMQR5NS1wYd6gAXTNAJG0rqVyxgxJXeNFvY1rLGerFaPgXwzZugWSyWbrVVXBOPTwfWDweCAfbYrFVR8k6CyUP_uOOoJEtqJcXhHhq1CiBkfX7vLSSY11xZLd0QnVEvcH5ADYste8nBfC7mUInWVfe7Lq4QERvtwhm0bM2-LCYn5wRytWg07Um3p6-KfAMrsGlVZGxQBVBpj3i-2CIE9y6LaNoh7JEgvycc3-FObafa6g-gR2pDwNluFIUvQgmdPiGdpc9R6g5pleoo5Q43B6Uv5lE2ZvG_4fFAglad-VeweotxqMSzuXasfrMQg3Hj1eZtz14KNuETvEn28_CADpTwt8A_b0UOguCF7XN4Q6oqoVu6Quk0-TdG9BRiUKsGwFBYGVyIce84KjZPVNTcegcpEELxVW_0iahcFhKHDCP2XoXgPFnrL_OFaTU8_nRMEfgpqjdj3fH6GqCK0o82rDJ4_L3pIqmzeVaTHXq3lBZ4UgdGuGy85zOdZs9xIhp8QviWAcVykmY-0KGuc4vCiQrUVXifjq16J1fI055703EsgmGkv2fYF4TlsHm59g11yIB1MofhIEJrdhmUXGPq1-jlSdGWqUeEU2zIX4oOzWNOVr52tfxhzrLx6Er6ky8-zrjn1rqAE1JbVjtOikLdNpiGNOS1WPS-P2eMqvRvC00hf3nXeNQhS4CXzLvqVjO_CHJlPiZFropLwFLO4zDnwGENpJw6rlzaW1Q51de2Zy9azvnqM-zRE-6QBc4kcxaAlZqpno0MmCZVh0Lj6zRlzs1dXrhS-QDWBP629uoH0lQ2K8DtFC3IfyLjTkKiXweJN8DbV6hVBbVWqWz42Bf_eg21T_TjA1Ez2UXAmnadvF2rU0AjbMsmdbew_mwe4EVurU3vfYVck8BRvbQM5nRtEGA5w==",
  "id": "rs_0ea70ff02577d62f016aacd33b59dc87d0b289bc279dd0577c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.20,\"left_z\":0.23,\"left_gripper\":1},\"note\":\"The left container is in front of the red cup, with the second container to its right. I’m bringing the left gripper above the left container to align a secure grasp before pouring.\"}",
  "call_id": "call_JLR6M3bRVwZoA9Ltu49doyrg",
  "id": "fc_0ea70ff02577d62f016aacd33ebff887d0b3b48ef21be16c04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JLR6M3bRVwZoA9Ltu49doyrg",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7303, 1.4982, 1.1961, -0.4339, -0.5919, -0.4545, 0.9996, -0.0154, 0.7986, 0.6086, -0.3828, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.376 left_y=-0.1996 left_z=0.2144 left_yaw=-0.008 left_pitch=-0.0326 left_roll=0.0126 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1802 right_yaw=0.0009 right_pitch=-0.013 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.241, 9.5795, 1.4676, -0.3834, 0.0513, -0.0562, -0.3897, -1.388, 7.241, 1.8388, -0.0415, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f943653e5d2f2d0f2d10adb183aeb71f7a362a29cd418da691401abd74a77da2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:257699078e64d9354cd84ce5ecee74289d9421ba06671cc59186b5d28379b152",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:083d8f7b246df47fd80c59defeb39ab2777e636e97076772aa45c873dc8077c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f943653e5d2f
wire blob 257699078e64
wire blob 083d8f7b246d
call 2 attempt 0 · /responses · status 200 · 5.156 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3775, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0132, -0.0196, 0.9998]\nstate[eef_state]: left_x=0.297 left_y=0.0017 left_z=0.1854 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -1.6479, 9.4154, 1.7411, -0.0122, -0.0317, -0.0562, -0.7863, -1.4701, 9.7846, 1.7314, -0.1343, 0.0269, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNNS4jxTfBHoMVMQ6YWQAMv7BWosmapFKiqR1hCsucTADIUsWy4TUud1CEhNi5NdeLhCnrrf8-iVlBaN6Uj48QU0xmEx3BXuG2JhJuPDwHiQnP3ZB7ieA93_FRAZ0DJkaFvU6HBfXKhPIWSmuROkaOwVUzdygD7rZk2PydPcXprgeFUZRQokmjGzgWAycYa8FS-asxkx1BvmGYUKHYJEqbvrvlJyUa5CRjwdvxEuFwfKdlxCsy1rj-YeuicvbT8YFODNhREDzWvwnLsyoQ_hv1JnmbUgHiSbXGP6LXfKtk27r_wYX6oG5CYdFr2P7yRA62rhwpQEhT1ydvkXTUA-4S5ZNrgPD6DdufeJus56CSxeb9U-QyM90i-W2DEafu_jEt8ACFeI1080Z7FXKwNnoVzVEhTObGg-W-aHO5czt_Vq3cNrJIfnXaY7eL7ygZRG-pOgXhdX2XuP_dT40pait7X0DzXb9zy72EO5y29aJjCewUFZeyX5VT60t4K5vVb53_40gh2HnEESCC94B2ILpgRH350kD32xqULqwjp_aquUENkFt0WWOtI0bWKEto_Nf-p7fth5kt9W1QifTEsp7UO5W7CTlYOMcbnqPlOHjXnJ_dvlpWMZ7x3GYfsFW3jMa2DU4Q2i2v_iAuUJ7G8UoHG2yg2ooWoS7KBBcpZRZHUBhcql-QTrYa8ctq_Wj192PEW_P2uWc5tq2ZP76CvMbrndqtM8sk2YNLCnus9xdqbJ4vzILymd9ZJDoli8Y2tUTJ_qJUArBggfjsoZ5nWuWELl0pL5yMojtt1N-_CvRYly-gypNWYXiLF-Hl4pA-WvGHNTT-XZc6RONaNb19KJ58gGfEjewEJurzhV4UhvTo296txp4F6aFW1DdeH9oo5erh_8zqXshw70KTzQFJC8uEHX--zrjuA7wECUpabhvXxY5fZsyAo3cgu1vbLbMOqJQZnfAYEY0ABYcnbrNQGmQqCFu4vurRIIc-QcbEsH-67nllBrzUuGIAddMIkGj2w9dseGcdNPqqyjiWw79YuiH-Kf2KSht63an1ODcrSBUXzAwPK-r1CHHVScN_FpajvYj8s31MogJM7_-9zfr3_XDISGVputJMZ6VuZCEk3KNlNVDCPLPMNdhVDe9YDgx_NGd5jkkqQSwFt29AzdigwUhSePDoh5tlbbVY8rTqY0Ym0RqyHf6yEzam35O7dATbuhxouB9eku8l_cqH5EXyY3gI6utG-M1-dAAaCiWnV17R_OAByJ6ouS_lcXboaBeFpwlUSale8ZnU9csdtqqg8NTtaIXbE8K23NGFAf0mIfUhfsmnJ27E4raCy2-CQZovmhIV0IBN4xZXtbq7RH5rplnfjALbCfk0v8r4ylZbhWRPxydbxDG5r2hmJKy-a7x5iF6kV81f1SrsDlz-99KSD_MGVH9eAdWjLgS-2R3mQ1__Sl0Y7patj5HM4z2TRwJyER-wJYsNktjl5Gzam32HlJtnb3RX-jpz_ivACO4Vt2zfEF38Jfb2SGhcEE_pAA1tMP6D9_IIX4NjhadO5tKLvpAk9FNr-OKmnZbx7JTC12U5D-1QcupLqdZ8mqSr9lwUiLSXObxbGzNMO9frujNxFbrpxNcTBshJ8jlEYUaEbw01ZYbC2EowBzeJh9H5SHLVlbPWEtDAnc7rmxMwXbz4m6G5VGTQ==",
  "id": "rs_0ea70ff02577d62f016aacd34e1a4887d0b62c662e058ee2e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.165,\"left_z\":0.115},\"note\":\"The left bottle is open, and its body appears left of the gripper’s centerline. I’m shifting toward its body and lowering the open jaws around its narrower middle section.\"}",
  "call_id": "call_NQ7a2SMznMqC77Q5yxLLhVAo",
  "id": "fc_0ea70ff02577d62f016aacd3510ec087d0ba6fbc4325446de0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NQ7a2SMznMqC77Q5yxLLhVAo",
  "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]: [-0.5812, 1.6123, 0.8879, 0.0208, -0.4892, -0.3538, 0.9996, -0.0151, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1618 left_z=0.1123 left_yaw=0.0076 left_pitch=-0.0496 left_roll=0.0224 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0153 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.6239, 5.559, 1.873, -0.1587, 0.0708, -0.0171, -0.3487, -0.9231, 7.0496, 1.7949, -0.0659, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98c034ea5b86667d5ac72649ed8d0b9196052b6a9a5ee359ecebf1c4b9ad9c3f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20b151331e9d69ef652da4ce624993fd4257f5ffd25e92acd1f1b9fa52e0662e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd310ed7d69c5f270c12f009b61ae682bd1070373b5668fdb103350e57df7dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 98c034ea5b86
wire blob 20b151331e9d
wire blob 2dd310ed7d69
call 3 attempt 0 · /responses · status 200 · 8.618 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]: [-0.7303, 1.4982, 1.1961, -0.4339, -0.5919, -0.4545, 0.9996, -0.0154, 0.7986, 0.6086, -0.3828, -0.012, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.376 left_y=-0.1996 left_z=0.2144 left_yaw=-0.008 left_pitch=-0.0326 left_roll=0.0126 left_gripper=0.9996 right_x=0.2953 right_y=0.0011 right_z=0.1802 right_yaw=0.0009 right_pitch=-0.013 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -7.241, 9.5795, 1.4676, -0.3834, 0.0513, -0.0562, -0.3897, -1.388, 7.241, 1.8388, -0.0415, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNNZcXhdr2uedmabJ96qp_vPY-295c_GCTebRrYnME5Yt3Y2c3LKIgBVPyZy_Bi5xzCX1YMEMp0NATEk5AIv81e4Lzxpr39ett2ra9Yj8oJa_S6R124sORfjihEFox1Nyjdbdb3i0RspLNmFWuQqj72KzgMm3IgnKWHqomvkjHQX6HBLzEUWW6MDqxRAnUSPFIJ8AGZarhsiQVCraHtZT-_vuXcmMogJcgHnlkXd_wL3ByU-yqwUuXHqn4ZGk1nX4srxcF5WGBnIq6vVGp6ziTwZOxmiolAN9naGji-OBxg9MX_ggfFSULQCqhMlzqkxUhPy3kwZ0GRIyiLD5s4kaachEt7t-Nn-c-RS-1m586SJQVuafSckOWWeFdTZlps3OiVU4n2pvK1FhwlvmtOqhwUky8887vTvoPSV4Fy4rYmfdWClnrCqYbxjcnQvlRh1GkQLxeQeVWvFeeYPHGSnhKL10bi5IK1-kM_SlgzwTbauxY6oonGzLBDyz4lLZ3dzEgaDQJbIAszDNFHUbEh6BrFtYP7jrxQq7xJ3tt4UcYsxyqU32hNcx1PFBIwVsln9XcN1ZbPP6v2pCVy8k_gKSVz4hViv9XKZCkx_H6I48Td8ja_r6Dnwmg0FQQ5d03cYH96mtmCeb63B9oZ_et6GDPcUL58WJg-VyNY_9gSSsKtZouD0wL76ENvItCLsU6ZczIeXBgsZ0sWoIzEQjyDWdbm1eNEV-_HymY9I1A7UuODFeDvnxYc9F837p2TuNNm3oWUD3CcmpGtIwSTmW5Wi3MvsFXar1pym-zkqublTewq8wmw7E22gv9IakaEHyctMflCRLW7ZLjLPfaZBXTpCjzLpoEFDsOVrhXfhbnMgY8whxyL2z8gpQZS3SEbL3VWSrLAm5eeUlZAqMYXcLRI-uZ1UP_InJgHbEWCyGarrF3KRYBbSATYVkd9Hz4U0TUV-x06KrKdfwNy1A1fs8kAG6OBzh54-sx6ClegQf9AnWdwPY8JCtwC7d4vRJ53Z-dGzh4qJutTmud8RHnHcChdWqsvkSBreBy4ikxI4Wdhnsny1APTUWUUFHnLJ1Rft3AHFb5uPSxpz7Bi6tp0mRryuCGWRhuuF2VFDu8oo1cmznNCgBVuPb_UfMdtFl4PNubrW54-PjmxeLG5sQavc0MHRT_O5IsrZYfWZlU80StBDZgzFMiW30RkRFwd7p2EHkwgntBOXlsra32TdmpatpBgwQC2Iz22b8kcnYvT2bqKjFwiYM2m972SbEnOp9fOcSV0VWWLV8DCzIvElRJ0WW6FzjcdxRWfgr3BgWF-dJ3ZGZjmeY_p29O4HTe0XpnYPOcROtvs_6S4kdV96djLSyReW_KUAkEMLZ_baFjmbp6hiZshX15GH9LOX68ud8YBWttLNjzsqzDFxeSY4ucEqstYtpLKL7qvn2uHRB2OEEOJ1djSCL5qrZF-jDSOnWvQYgU9COe5DvV1wRlod1QIU9Rd_IMIGqw==",
  "id": "rs_0ea70ff02577d62f016aacd356450487d094261cec6d8f19b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.152,\"left_z\":0.09},\"note\":\"The bottle’s lower body is close to the fingertips but still slightly forward and left of center. I’m making a small alignment correction so the jaws close around the body rather than its edge.\"}",
  "call_id": "call_iPtD2B3tbjouYuBLLiFSUd8X",
  "id": "fc_0ea70ff02577d62f016aacd358627887d09d4aba07b37a6362",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iPtD2B3tbjouYuBLLiFSUd8X",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5014, 1.7401, 0.8902, 0.1085, -0.4404, -0.3134, 0.9996, -0.0154, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.1428 left_z=0.0727 left_yaw=0.0286 left_pitch=-0.0997 left_roll=0.0477 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.5949, 8.2667, 1.7656, -0.105, 0.0952, -0.0122, -0.3487, -1.1145, 7.0359, 1.7216, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:520e0c54e9f8901b4c4557061ff7f8f6b713704f2e505f51684c367923996e72",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54a15c061010233dd83d7285a5a4ba2e6e3df5850b325da5efd3140acc7ab86d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e23a0746d63bc75517cfba44905c2e1a97415b37da3b06ee1353d721a5f9b5ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 520e0c54e9f8
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.368 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]: [-0.5812, 1.6123, 0.8879, 0.0208, -0.4892, -0.3538, 0.9996, -0.0151, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4041 left_y=-0.1618 left_z=0.1123 left_yaw=0.0076 left_pitch=-0.0496 left_roll=0.0224 left_gripper=0.9996 right_x=0.295 right_y=0.0013 right_z=0.1797 right_yaw=0.0014 right_pitch=-0.0153 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -7.6239, 5.559, 1.873, -0.1587, 0.0708, -0.0171, -0.3487, -0.9231, 7.0496, 1.7949, -0.0659, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNNi9jdUwHd7qpuP6wUBQey6_p4V9tdJTytWkJehpXbt6gjbHB9D60yQc4xsRjLSMsWTAsJynJceZB8soHbz_3Fp837Y_W-K_f0dzJ8B7tjIAceYYFL5BqdKaETwYJZkqNHcUT_BDZpeZQLDCmjR28w7qjcutx31WVDXyeZ1wyu8Yw6GGYjeutPTbBc1NMBi1RfSODbmzDTiRG6FPrmKRAKG9aqvcN-CA2Tb1oGSB5Qf-XdQtAZDUsVbxBpBBzuJkjp1YxYRfX7CHqemIT5H4TdXFa0RmYX5baSepVuR3kXWUh9CqHoTa3mrGIGyBrTGCQOA0HR9r-YZNJb_X6HZzDhkoKaiudqxeunu2DTvpNSR1YjAMRygaB6N1JVUbUbiI1eoHxd5VQTDtGc4Mc4BwlHtbK_1xtUg8NT6QBxxuMWlHcqjF1PT6AvSNKm0StcqPVBDzL_RDNXKs1APj_yZW5B8seOCsoium1VQPkMjXjnnc6EFQFqJj4XWu8NoMcMQ8_JOmitjAn2AsdK6oxizATPoIBmGU9npL80iO6JxSuzgEZLIjy-HaZN3tgDgcwLji-gGyv-WF7dyq72IgP2v64o7LSI-MJsL86SeFQGjdo1aCStR6q23p4tetJ2nmfvuEjUANqiYpi8GE_aF6yl0C-_v6fmUYgrZIDHE-PF1XIr7nXMzyiXPNN9JFDgqx1E_iDDIgiqE3qIL8fMhqdUXxKqkgY5zk9B7H--g0OHQ11idaMWbLQVTDc6xObPF9RpveexraDGDvARsaKMve_fdzhBhSqOY6lZKXHuuTAQ8D1Us6vMMqJpYbxu6UxeggYF7_O_Tz821MoORWz2vNS0UKhdB2eO64RkDHqaiiErgl0o4VPNVH06FEAFijMOw_tdzKDmIrYoa0zBDRAGhg11ii7u-LT7_gzBi6b0sQ5i09HFmQvylaPdHLQXo1_oQdTIKJ7zEXTVvKzqvGiQfT7_IOsBU3EFvwCdEuS5tFQR3yc6lpVvk0sLKSd668To9bDwJQvZIZ0EiA6UaUc4mykh7NPVGFc-cTuloJiw4K-UIy01JiUDFe3ojHFydpDwHLk0LAUEF_QNMPIAd6ynKyo_M9Btv7_xxmxW-OPGwrUNxH824Symc9BZD8q9Mz-itKD2TJokn0pv7N_9YIwW2cWiY4sshMLEqvJO6azNo1zW57Xs9rZhOBuc5F8LcfWVFR5_9kLgPEj9JivBPP_mW49nL5bKGeoDbi0mzTCBxJ9KUtFGqMq7P7CkptOr5X9IVo1dlxwzl61c-ocpXdINgIrGcVD4j8f5gUNuap0ItTr9WfX_RXWZ-mBcudlnWjlp7Mcxww8GYFtdkcYtG7IAcVxBWS2wUGcKUk4MotBo2QDS7ZIlMCiB0JOMWgAdSId5uNLiVbsKdbsJ8-6T8uuhEkAnYYIPvEl0TyF5UoaBpF2_-P3oLi_yIjRiWyRGeWaLV9WSO6PCOGiJDlk6XTRgVT7-dqg_TiHahLDiYmad3o8J7Yz7roYTC0HHdpiGOyCMvSGAuToNw",
  "id": "rs_0ea70ff02577d62f016aacd35f107087d0aa133a3f0c4b1b18",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.16,\"left_z\":0.085},\"note\":\"The bottle is now centered between the open jaws, but its base remains just ahead of the fingertips. I’m advancing a little while keeping the grasp above the table.\"}",
  "call_id": "call_lSxsIAzDvx3ss6RLe3SlTjrW",
  "id": "fc_0ea70ff02577d62f016aacd361645487d09ac16e3ca86871bf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lSxsIAzDvx3ss6RLe3SlTjrW",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5011, 1.8271, 1.037, 0.0391, -0.4442, -0.3218, 0.9996, -0.0151, 0.7986, 0.6083, -0.3851, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4503 left_y=-0.156 left_z=0.0791 left_yaw=0.037 left_pitch=-0.1064 left_roll=0.0482 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0016 right_pitch=-0.0156 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.6085, 7.9795, 1.4335, -0.188, 0.0269, -0.0171, -0.1299, -1.1145, 7.2137, 1.7265, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56fd46fc437c6f6f93ec342237996b7226253d05f7659c1bab336049035ba4c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e7d83f47a0e2e4cd7cf064728633e0531ab7d5a66ec3e633a84765c3e8a1eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58962ef7be6be7a5a7f91ce6795174f21a4e784520e10b50283d5e0c284b2233",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.772 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]: [-0.5014, 1.7401, 0.8902, 0.1085, -0.4404, -0.3134, 0.9996, -0.0154, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4245 left_y=-0.1428 left_z=0.0727 left_yaw=0.0286 left_pitch=-0.0997 left_roll=0.0477 left_gripper=0.9996 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -8.5949, 8.2667, 1.7656, -0.105, 0.0952, -0.0122, -0.3487, -1.1145, 7.0359, 1.7216, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left bottle’s body now fills the space between the fingertips. I’m closing the jaws to secure it for a short test lift.\"}",
  "call_id": "call_7yD3nIepQq4641XYwIFbhIyg",
  "id": "fc_0ea70ff02577d62f016aacd365b58c87d08dca20e8e79061fa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7yD3nIepQq4641XYwIFbhIyg",
  "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]: [-0.5014, 1.8294, 1.0393, 0.0269, -0.4442, -0.329, 0.0107, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4491 left_y=-0.1555 left_z=0.0769 left_yaw=0.0412 left_pitch=-0.1166 left_roll=0.0488 left_gripper=0.0107 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.2239, 6.147, 1.6825, -0.1636, 0.0513, 0.8571, -0.3624, -1.0872, 7.0906, 1.7509, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8f75c47638c3c2333d83ec2a67400619fc3c748497060987b95727a1a3a085d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f23a94b5dcfb092df009e75e52312335dc7db62c06e877aadd493dc7151cb61a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1830f2460a16127f7230000bc8a39fd1244f703f39a2b2b712b38d151e604578",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.193 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]: [-0.5011, 1.8271, 1.037, 0.0391, -0.4442, -0.3218, 0.9996, -0.0151, 0.7986, 0.6083, -0.3851, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.4503 left_y=-0.156 left_z=0.0791 left_yaw=0.037 left_pitch=-0.1064 left_roll=0.0482 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1796 right_yaw=0.0016 right_pitch=-0.0156 right_roll=-0.0031 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -8.6085, 7.9795, 1.4335, -0.188, 0.0269, -0.0171, -0.1299, -1.1145, 7.2137, 1.7265, -0.0757, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNNtn6PCMIdd7CdjCeRXmgvUprot3zroWfKVOACP-RLW2ZyYfFi7HyUTq4aGQ-7cEtTN2PLexcHizCIOReXdnjCePCcFlp1qC0IS9J4lYY_1m8Kk3rb8NEQlEj_2-keVccYba5YgJtmD1Cw4aMPiIx6NjV8lt6lL1OGjllEd2f9cUka6E17z3p9URYVgAjdMmMzubh1_zpv4-cwPDdGyH_mPPlQduWknR6iA6oyosQQcKjJ0u1MfPRrxubjdUVPbRGir30GLYnOIHXVsplyZf-fxF-L4FtIkRMTcy5ja_cQXKmoqf2eLQ-zXdIIbKeb2KXE19E46rU6_2j5ABMhtIU-J_REqUa1ywWNAvGcgmQ2wFwsra53KWqALR8hhRsDWseKPuzCryNAawwvhTg7r5gKeAf9VGibzgv79-qmyXAF8osjPWfwLFDdqIcoSpM_wZEZ54TD91xOUA3cbNZ5BrDUe_JXudco9n9GK2WcuKFIC8qERGyd2jibRRVZLDUZx2kYznsXZWRYuD2tEGX3aACQ9L79isI8LTFUJhMaBnPIWjuy7kn6trRqt1eQESpxpctuuVwoR7mTwjoXT53sHzX2Iz7onyA-8udrX6aopDbXojx0wYa11ZPJ094PPyX9Ee8n4RpVd1IsIlRfLRoX240RY-tqqP1njOqqCTdSbo_eaKE3vB5g2VIEhkcgV8Q9wjS6wqA7ux4Gp9K-AKkmQljFc8BbB9ucgGERaTbxHXD4h_slKgY3flJi57ZiQQlCPxXBXgnDOyVh65kc7jaQnXKbjMP1q_hrw_gx6TaG61Q_vfrK-SNpobO0_bbKGlAEGloqlC9aNErLB-E4CvnV2LTMe1PROLaEp5_4mEwS7GRg7SJqZC6CN3wkIzsRsgQMb8o-EFv7wtgbvBOVlYh8i4ZIzjiozM7_5lmAt_VCc-3beLeFqs2U1HJSC0pXYxlpSRX_P8-Bk7o4CDw3QxrbnNI2_jsMXTnppv_BsCEpAOlZ77C4YSSfRZoV5nzOF8mdB8mEqN04g78R_wAehN53kFnJ1SlpwbE_m0QhXViKj7SQwwAL74phIIP43OvXBEq1lyz36eKp9zGNNE6I_KQXW5KSwuoja7kbWmqr_d5RtLVl7LzSCCyz74OrV7ErlFnKvUtILvTl8c0tiK0mTt8MIwC9Bi18aQ-oHYrW8E435_WA80rjRijPRo6-wUiL5ggoacobVi9oLyQu8ZWBNzTL39CklUK5rxNjymNCyiZX_htIwBzgYKKtSvWB6m1tqxgi75Kxn6oJIpita4TG23B8yUKKejgU1MkVMnSIgkZX93_kKcdo=",
  "id": "rs_0ea70ff02577d62f016aacd36af5b087d0afab649dbf6e5ba1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.48,\"left_z\":0.085},\"note\":\"The gripper closed almost completely, so it did not capture the bottle. I’m reopening and advancing about three centimeters to put the fingertips farther around its body.\"}",
  "call_id": "call_h6wCBFzj6QJIyY4aKBg94256",
  "id": "fc_0ea70ff02577d62f016aacd36bdc5487d098583911f7830ce3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_h6wCBFzj6QJIyY4aKBg94256",
  "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]: [-0.469, 1.8927, 1.1477, -0.0307, -0.4217, -0.318, 0.9988, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4709 left_y=-0.1535 left_z=0.0787 left_yaw=0.0507 left_pitch=-0.1357 left_roll=0.0502 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -8.841, 8.8274, 1.6142, -0.1343, 0.1148, -0.1148, -0.335, -1.2513, 7.0632, 1.6972, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e47fa7151dec4c86ee0133b692a59c719430fb28fe20a615851f64f8a37a14",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06579af93f963797c3914fe3463e3c836f845d8c98604fb4f60a3f3096327cf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f224d9fd925d95018f0b0ad154d119d12b24adcddf2245fe99edd67fa834cfe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 7.824 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5014, 1.8294, 1.0393, 0.0269, -0.4442, -0.329, 0.0107, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4491 left_y=-0.1555 left_z=0.0769 left_yaw=0.0412 left_pitch=-0.1166 left_roll=0.0488 left_gripper=0.0107 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -9.2239, 6.147, 1.6825, -0.1636, 0.0513, 0.8571, -0.3624, -1.0872, 7.0906, 1.7509, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle extends between the open fingertips now. I’m closing again and will check the jaw spacing before lifting.\"}",
  "call_id": "call_Z77oU2wYF4iez6svKvF8BBI0",
  "id": "fc_0ea70ff02577d62f016aacd373162c87d0ba66a375bf41a13a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z77oU2wYF4iez6svKvF8BBI0",
  "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]: [-0.4679, 1.8927, 1.1496, -0.038, -0.4217, -0.3256, 0.0106, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1527 left_z=0.0782 left_yaw=0.0562 left_pitch=-0.1401 left_roll=0.047 left_gripper=0.0106 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.9077, 6.0513, 1.5604, -0.1734, 0.0659, 0.8571, -0.1709, -1.2513, 7.0769, 1.7265, -0.022, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad035fe896d7563ab0a9bd5439d95be498c016b63f9985f1a438eb8e3b55f40d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59d97ca27552bb2927a333d0c47b1cdab3ac4cb0f970237c0a8c22543612c6e5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f705e7ba58e92632de03659bd26b71f247189cfa89e2762916f239c19e35519d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.717 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.469, 1.8927, 1.1477, -0.0307, -0.4217, -0.318, 0.9988, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4709 left_y=-0.1535 left_z=0.0787 left_yaw=0.0507 left_pitch=-0.1357 left_roll=0.0502 left_gripper=0.9988 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4034, -8.841, 8.8274, 1.6142, -0.1343, 0.1148, -0.1148, -0.335, -1.2513, 7.0632, 1.6972, -0.0415, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNN8NequNfpKqW1rAGdZWmG785bnxkRrdBzPMhr_rqFCyZ6XqFrgfM3xmmhe1p6Kdqn_vFWjNYaSr1CxZ4D2BGN_oqaLzblJMkb79q3sQIrG7V7Tb7zs4S0KoWRcr2PAynY7eNfJUgozrqhfZUAjMGHqDuybDSnC8W6ZP7KehsxgB0JI1pUTWndkgIzoUJ6xh22uvK-9O82AlVpwvmQqrNIJuYUVrwyEMWnHNdJacBOTLBFQYXcBj2ZVxiUNXxj2CcJ69pEFamTvQQX6jlP8ffWDqpC9NuZ5uuNLQhMtWg-Di92HJkYuNZRBA_rDG6DJeBLRSUPRzrx2SpB0LC15GruO-hLzKWHmaMFra15E6KNvVS4philSeEggl5kU5YIJlf0wOafbILOJUMdVCAwk1HuFRBM3oYiZ_IJ1MfZO4rfGpV_1yiozqwZXYf-HkrooSYfpVOLr1cEynHJ1wlnvdHqjRRNXFcSsyod81lSiE99ZV4gD2vvT4OQhL_dWMySp977KQ9SF6bNK9TNTCdU5axQHUp2mmVAxzWRIA3uoSgcULmMtpCcRfaJJHMDbOK7B9yVPSOHpZAB3Bd1DhuwjiCo8Fis6w_O4cEMuIhLeDAZg0QAQVkKnfQ9FgOc0bxVy7fqpNEZ5T8rw6PbBnq1a0QmPUcbIeQpblewKb0QWRGCgZPqJnvT240LXSpO5NpDlJ4mTyj372dCevlgtckulftdMSxkA4SIlxZrNPMUhGxo70shI3JpZeqIgPzW_HXYXqfGADbFBDIfcjL-JiKJs--NVUy1s11k2a1suGd0zNZwvxjow5h9MoIkaeVQmI7b92NFrewAQcclYQZE6oOczcvE6ZXtml_wYcwqpTlDLtGkKC_vAHDEBW9VwLOdjkcXZM-LJsEAoriajT2KFntBVJu0mUuKkFyQpVr6I_tJoK6aS9SboaHgt3kyZVsHPhvGqLTBOg-ealABVOCKwhjnKueA3UN3Ygm6NGfrrTNpOA2AoMBaRv0uCuWX4lXyqWlBEKKhf1ONI43qbO1FGV3J3BD3hPUdpg9J1fycyU0YWJJmgpjQxq41kHoC3hvqzNpFrnGLxPk-kLkssbWXecHIrk6Yp2bUiI5VE1mHhTHjrxEobyP_dKQux1JMip4QQKN_oRWa-8d5X2rSc9Dj4QxgoVLwBHcZb43Mi1wnN20zHxSBzgVFxCAS6u2gNxwm8HXnNB-_E-iBUSMPnHjmKFOPOrPAX_8gwdUHXy-_qCrP_TSn8DAb_NKV3vf_uGEVYdP2rbVQVyxM9XSI60ryQyVvjyTX1IoEdDsAGk2dsBdKBPAYKnMibZLUww4I2yS_Tp2fkviSBagfSGjwhct_c-gDM9xPKuU6zkd7_JB4sDOzJBZ8AzoRPD0pepAbrZzELigy0LL6FQTqpb3iHxIWiVJYbjbj5TzR7RYUQlKbpLnHH58Fk9_JthUc4u-UuvZIProWeaFCS221-_UmvWAqzNSTXBwT-bNk0VRbXCCVNr6x0L7x4vdlovEsmRoGhmqMwDx0ukcVNaVFKupVec8v7ZaaVoja-39xLlXp_DI_6lnDFV_JfPU30MKE5oiS5Q0_vZyzVNtPeOSMKdKa-BQW3QVi98WFSmfjQSNdN4dAqY4vNPxIIfR-ScKua7rCKiCSyiPLJBMyeApvP_D8naoOnIfv1X7jHdkCnU5YPkIfYvhMEGapGyE3J0EKY4hzKwjre_bsHtzsZAXT9CJayWx_YfLJTbKfqLcKVn8inHo-vSB6TOZ4iZNZNEb0Aq0ZQbOwhpCGmaDxIZN2MPFVm4wEho21ecNDQ7OyrU3q7asAka6TaA_9fXSPHj67-axAqKKtmgQuJwLbe",
  "id": "rs_0ea70ff02577d62f016aacd376d5a887d0a324ca57a47ed0c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.15,\"left_z\":0.3,\"left_gripper\":1},\"note\":\"The second close was also empty, and the overhead view shows the bottle has shifted forward. I’m lifting clear to reassess and approach its narrower neck instead of pushing against the broad body.\"}",
  "call_id": "call_n2miaCEIuLpJuHTaPkXDVlph",
  "id": "fc_0ea70ff02577d62f016aacd37b179087d0a58c96ac33c5c14d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n2miaCEIuLpJuHTaPkXDVlph",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5114, 1.7035, 1.7649, -0.8562, -0.4419, -0.3748, 0.9972, -0.0151, 0.7986, 0.6079, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.1545 left_z=0.2848 left_yaw=0.0561 left_pitch=-0.1432 left_roll=0.0286 left_gripper=0.9972 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.0157 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.9368, 8.5538, 1.3114, -0.3346, 0.0855, -0.0171, -0.1573, -1.2786, 7.0906, 1.746, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb1a5d195d77167f0780d0205aa49119f8affbb982f7884d284b2a0baaf5dac4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:784c52e5c91b1c50f5241ee8c167cd61f467ae0641f6e797303c6bd0b761220c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02eb187e3a4cdcd5d56e0e29a5a281d9a1bbafad7db206e67ff8106a2663c320",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 7.708 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4679, 1.8927, 1.1496, -0.038, -0.4217, -0.3256, 0.0106, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4705 left_y=-0.1527 left_z=0.0782 left_yaw=0.0562 left_pitch=-0.1401 left_roll=0.047 left_gripper=0.0106 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -9.9077, 6.0513, 1.5604, -0.1734, 0.0659, 0.8571, -0.1709, -1.2513, 7.0769, 1.7265, -0.022, -0.0415, -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": "gAAAAABqrNOMTGpUGimF-TOPNcbxgazP-X_cKp14jHVPyhYuMByeEzDcb6fs2Wg4DVCDBwQaLlFJOwZZJx7Vyw5I8-VoN2PNpojCv37v0-Q0pIgDPpmKDN7Vs8-iOLHPPGjSa-TuevUxdpjWveNKFs9wkQhNd6rE85AumF25UkU_fuD9J3FoUev6Y7OWQ16nDKLpjftlWKVOkyIiYgAhatM-fU9k5pUkH65nnShlypg8L9wkuvJoeQnJGgiLWOIIVE751slZoX3X2lQ9kGZptX6A1zeGC8evIPMcdp5Wddg_YcKPjRTPdE6V0QPopjIyibqZfmIVHDyEQh6unVBfE-v3LhdZ0LcLiX9urB15Gsr7iOJtgB2jyY3DIpzroD1uH9FBNJ8hRtgniO5d0oGzul0OlrbuoNeWnz1hW5lI7JRTJyr3r6KyD9eVBgmYXCWCGjv_39XgO6i-JGRj7SBJDE0N0TZAzD7WG3Q6Ew9voEhRZjeSi9vA5WJgfBqLIWgpT5qADST6IkckFWNz_5Wcka9othSqHU1Zh_NQx-iARl8cGZP3BIwQnHcZQVyJrQ3_XlcaiRxRTo_d9NZeq3BtJK3IIFcr33NthcFzoef6v2p3iDr6SnzWkEydNxU6bftCxb39viyfLYGzGHFXKvldtM2_9tc_G0dBjTcKh6VH-bG9YZAb_gP2G2g8LN7WsKLn2I113sRzipjjto-i8SjHKm2Kuf4hbBtJXk9ClqBNtqwiIHQquf1oMpP3x_fexXXahVgEkCNNmoZrh5WXJPXOoCtDA2dQqE-DY9umUzINjDTDCoZdgivy3EhsUiGv1d5W9S9I_ghnu3THLFZ1OpkCMXMtfD_QTx4EXuWgztW_c1GyIzkc_Q75p_vd08ci7_5x5MMaaprN3t8RsrGeC-S-Y15tCYekpcTV6ZmHa4BnvBsUC9VRc8U1l8aDTapqANRlK899l8dAQJiDCwl7UbjHX9eM7rqPRvbRd9htY8ixQZTyEjxWUgf6otjg47UouVYbLSZsxLyG3pck_kLD8jFCwYXpgqdhpEgo7eSWNeTu3mcntlAxGJFVg9W0rdF8M713wJi9FEZccPiEN-yf8QIW4Ee50OMxAXTEVGi-ZvOaSm2bCMNUJaVDAx3qGkAfpvG0gHJsh4ncGUYwAGwynb6MMsXOOPEM76iEJmVcaufsY1hLyc0OLrFZWfmO2GJDb5FJ6Y8hdcLg94g_XRuW46iXoVCyo6UczhS50jlPZtfWCf-2iEc5iCivvsN__7Zm8_dDhUUgQfIG7HqGu_f83N0VvqVl_VIWc1b-sR2Alj-YvmmkFhYoy5jewCC4g5Aacm6kIdWPP22fH9l_dsarxYJj8-6XmlTnf_ZTI5fHRrodvxtq4lqo-ma-PVPC0_Lb8Z7MrKnAPvIgCwiu0SddyUIO-diXYKwM855mWbf5i3WPLhCUctyTWw7f1dl7qooGhnv1Fm82eF9PiQY4NYLSrJldJbdg_dBvgXRkawU7NmIB4X9XoJSwJJQnhvsF9f1oBAmuvL9mTxI7ljSmAud10mFFc7q5XsM7xxW-a9cwYPNy8zazkBYprzqcsMQ=",
  "id": "rs_0ea70ff02577d62f016aacd388539087d0b42cc2aee5532d59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.515,\"left_y\":-0.15,\"left_z\":0.225,\"left_pitch\":0.2},\"note\":\"The raised view clearly shows the open neck and the red cup behind it. I’m reaching toward the neck with a slight forward tilt to avoid the bottle’s wider shoulders.\"}",
  "call_id": "call_tBpyRwsjbegmuQ6TJENMklMH",
  "id": "fc_0ea70ff02577d62f016aacd38acc4887d0bb9ebd2dea26e225",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tBpyRwsjbegmuQ6TJENMklMH",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.448, 1.7729, 1.3296, -0.0578, -0.4751, -0.2081, 0.9981, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5047 left_y=-0.149 left_z=0.2108 left_yaw=0.0552 left_pitch=0.1166 left_roll=0.0366 left_gripper=0.9981 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.2923, 7.0769, 2.0, -0.2857, 0.2564, 0.0855, -0.1026, -1.2513, 7.0632, 1.7021, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a42714eb3615859085b85eb6a0422a8df8cc08c0fe4a2902b1e3e97fb01ebf98",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b688c82450ceb5f126768af1c51c20281999f95fe6f7e46e05d8c780f572e9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e344c393b783995e247751748ca91543ce35bfe589f7fcc751416467605f1a46",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.075 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5114, 1.7035, 1.7649, -0.8562, -0.4419, -0.3748, 0.9972, -0.0151, 0.7986, 0.6079, -0.3847, -0.0116, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4371 left_y=-0.1545 left_z=0.2848 left_yaw=0.0561 left_pitch=-0.1432 left_roll=0.0286 left_gripper=0.9972 right_x=0.2949 right_y=0.0012 right_z=0.1795 right_yaw=0.0011 right_pitch=-0.0157 right_roll=-0.0038 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -8.9368, 8.5538, 1.3114, -0.3346, 0.0855, -0.0171, -0.1573, -1.2786, 7.0906, 1.746, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNOVNLnu4psI-gMw2Dm5EGs8rNTZNlq8RtO_Ksie6kSu15GjyBDQTm0LAuEalAwk3J99iEQYSHeoNhlkXz8Cq60tVaw-j7zJFqrLdaCkZAQ_8ZhR4k42CpjuatggU17OPST_1NML0rTDhmbDrY1NQ2a-Vnp_TBbq10HLMBUbDBbVVJBRF31ZXKUE8gusMczmngbjn8rvCTHYLpuaiA2UA2SPWpT7fmfQ94Ss6IZWIj6-tAS_o_kV_0VfIuMC04SdA3C4fFejIlWxtOQaONuiZOMeYMoWAhxP9D4e6TZO4JFSLnYDVU0b3W9D8RZTt0ky76S5QXwRNUSfn23PruSVtVsZohkfPurBUu9Rn-5N7PDBISPgeKD8R3mR-UP8spou0GKPfeAKFEVAboXKfvxndBvXPoLffH7bgDS9z5nrXyKmuJUpVDlcJMYaAvclPTE46hgqtX0k2FbuSi-r4vY0srzMri9qSbZG25aV69hE3nuUmJHsPT-G3bwm6fVcPtCf_CyVkSy1TGUbEsEthortRWmAb7aUyTNjmlMVQIGfp_M2AHpiXUMtjnq40wxdCuhNaVSiSUKXqe-f9UCxabvk6oZs711Knga9Enlyr3bO_hdY012s5KnQ73QDoivFjD4L16XlDwoLEoRw95SY7H0Ghu8WJIwDUd1tAIgKCeeIOvXn9gXUAUhPZzK4yzyNNu4uEJ1SinKPXYh8kuCHrrk_50zQUQStIualqnvd7GwXO2Ox6gf9__HbDTiWB97HxaCKcoklZUSzAmqdlM7iN8vhIGYB_9IWCw1XX-xb4qLZ2EDSD8ezRsS7TOe-_nTKuaVK9GAi2XQWnv83Nv1dWPxq-HTxkGZcVJDaKDNHJ29-U1mLYU70JoJTQ2DfPe9oOlb8zqvQgT_Um28PdcUjZLKrk5Or8cs7mjhaeRMz6PreYMwdLVNhxRbsAbBBlSR1-QDjkYZ1-1z1s3V-LPOXpyXIV4E6tdDwN_rW-HnB0oMYN7o0A1-4-uufmBKeKBTW_lF12Vjp9mDoD5WiGvJ9oJ9PLhyw0tPyQ-uPvsIchFVe65scdz7BXk1XdBcWWDOAmYj_BMxxVHDuApJ3nvqPur50C49_p5PdkCkzeTfdp90FA8Lu-Iv0Mpo1L0rmnw-Qr6qYORTWAPfSDocMIB0_473_IvMVGUTHa1wobUOrLu-mZbv0ZoO2fLCVOwmtKrrH47HK6sxUzFmHyv8TSiA1ZLSqOUL2ocnUsMyZxBaMoHLaU5_hy7Z3qQ4tYvW2cjM0Kj30W4lsNptZDiE1b4uZs3Wzd2t5mcMQ_UF1YzfeSskt8PDTuH9a-Qpm45nGFlhug57pad_ijRV2om7-4iDiYyNx2iysFVvX-0y0qcOiqul996_vWtVsp0GbHGVB0J3-1aybvzPZhSaDfBtPXdGY_9BKojdHCtBbMa5mWNADFlt-wrD77xk6qhOLlgIdrtxS-Sc-GnhpeUZuN9jLwlJWwv_sO_BVudtdupT_cZILd6u7lwYDXqMP847HlwgXspCYlONrTMO0CPOfUcn8mEdkdczQQouXTkO4RNTx2GOFco3jFbNCf2j13UggWl13rJmqq05khXi4l3PZ0OsVwb19s0Nj0EF2Kzr3deGIPDa50E2vl2X0oXm_fJl3-NdUmVKDdBFRGPF_Toktilq0y6zOTP-c2bdwBER-WCyl8SfQHXQ45ixnPwI=",
  "id": "rs_0ea70ff02577d62f016aacd3907fd487d0b3607776bab811e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.56,\"left_y\":-0.135,\"left_z\":0.215,\"left_pitch\":0.25},\"note\":\"The bottle neck is slightly left of the jaw center and still ahead of the fingertips. I’m advancing carefully and centering the jaws on the neck.\"}",
  "call_id": "call_QEbr9BSCmk8yXnB4Y3vooOgY",
  "id": "fc_0ea70ff02577d62f016aacd3938aa487d0bbf6d80fb62d65ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QEbr9BSCmk8yXnB4Y3vooOgY",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3729, 1.9133, 1.3567, 0.0986, -0.4507, -0.1486, 0.9982, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5453 left_y=-0.1268 left_z=0.1811 left_yaw=0.0809 left_pitch=0.1478 left_roll=0.0611 left_gripper=0.9982 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0014 right_pitch=-0.0164 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0291, 10.3453, 2.0488, 0.0073, 0.1685, -0.0073, -0.2667, -1.2786, 7.2274, 1.7167, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2462e23ee557bafc6ea16af06962a5c0a784b4f4366758f1aecc0be248c3a9bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58721c69c24214623df52b8f6811ff012782f5aa669e56af5fa932429e45bb68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1ca88948bd561fa8091b04d7b28d3fe0cefaac1366c6a5c7d19d0bf1f0a1269",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.564 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.448, 1.7729, 1.3296, -0.0578, -0.4751, -0.2081, 0.9981, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5047 left_y=-0.149 left_z=0.2108 left_yaw=0.0552 left_pitch=0.1166 left_roll=0.0366 left_gripper=0.9981 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -9.2923, 7.0769, 2.0, -0.2857, 0.2564, 0.0855, -0.1026, -1.2513, 7.0632, 1.7021, -0.022, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNOZQHc5l4_CL6uK9xTETWFbUqu0ZuSmG1B3JIUTEJdeviFwUUDBosohVnEwwsgJYIGNfvlFCoJct8oEDWx4qE1ldBShCSBZCKBc3yab-dq_9Yy7vqOMV3yTnKu4Uc01tVeMR15gWr6XmzYOb_9df4rg-vmONywpGdeBZZIqWrm3BEN8v22ouGIxokYyBNl0gwHIAES0M3JWz6a5FbvrXToD-y6gHx25xof-YdJKui-prFtBjatH7nlSW54a8pLh49M3ZZFFI_uZqbYD1zAj3nHOCvEJe340hLc3I5hW7kPvnP5fr_1OrvEmaniYuBu5JsmfWBBhE4u5GkXPPxfy4sybTDC_Pb1j5ZCwdejV46l0POIyuDnEpfAPYfbMAyyq-Acfyc82uGaN-zbC1THL-O5AMfRrl8bdlDuh9ZICAK9FBBGTWWzkOwUkFg8T0j8guZVzM9FjL4k0BAbKpjs9h_XHcjnQOfndIDmFDSIC6XBt-qqfVM4FFqPBNvg7Y8fJ6BxJyorrfnm-lGBFVPDt5YXqlfihfF6gKJhaZwsppSAe7eK1XSJztMaBcpYr8ULUR7fchZOGIjLaaYW2xPfEFjUGwBKlAJm7N2Awr-wzZxNM6Kb_r3fyQ2tMWIlKQ5LVId2ql2mAqMMHB4QyiR1SyFylriZrJqYdq0Q1q8hRQBI-QR-zDa-8tMgzjVK3EjADfBoVjelcEUFufZxTplrUIduf8zXrySrO1njZxTzi6zWlFvhu5ZFwwnZHL_o5TC_jt9rgjMGo055x5RgzWn49rurEEflSoaTNc6lVV4crgqc-OEADgbg0sdZLlRVVMTT_0D93jdRfKOyX_7adnWSEgvpCBr_WtLCcbmhE1rNCeoBwnzeKi_7N4wexlSdg3w_dnK72Qxb_jcMwcJ6cgf7jKHuG8U-0GhjtfUNXaJQa9AhStLn3oes3-ESbIXG9MsDu4o5QH-e1avmYHOCF7C8GS5NDyYrlM2PdpBna6U9XZtrFt1xviEBxXdNXGe5Kr8korndGCcTEGgDNm_c5mr-9yGpqVziNQj6m3u2q1iwxrEOI7usahiHrtThic1nWLD2FgbPIW3ZoWrkwfLYru1gG4ykD8pBM4UNxM6k2zPCdEgMUA55cYgHe8sJlvNnomTEH8_LARN1FRLQ1rT810IVpfyudyhlwt9U3gWhxP6ayyh_wHPZUhT2Gp3rPxkSPd3a1756Uk-3gXxMpBMW3ROQUw7Gbf1N7MQ1brAQQhxGHyAItJXIrNqPSuOy0TDO9cfmZE4wRfKzfs6ao70qAeuSkUVo9tn1J4Sxcv5EEQJgTNw4_1oNdZiZwC3Xf10ubOtRHVASs",
  "id": "rs_0ea70ff02577d62f016aacd39729a087d0838823945c00d53e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.25},\"note\":\"The neck is now between the jaw tips, and the arm is near its comfortable reach. I’m closing gently around this narrower section rather than squeezing the full bottle body.\"}",
  "call_id": "call_bdWPxRjTSi5s0XXtvcYQKsdh",
  "id": "fc_0ea70ff02577d62f016aacd3982fc487d0a7ce60aef54d3392",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bdWPxRjTSi5s0XXtvcYQKsdh",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3698, 1.927, 1.3766, 0.1596, -0.4438, -0.1303, 0.6241, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5553 left_y=-0.1301 left_z=0.1951 left_yaw=0.0735 left_pitch=0.2065 left_roll=0.0462 left_gripper=0.6241 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -11.4256, 9.2923, 1.956, -0.0122, 0.1392, 0.9939, -0.1026, -1.0735, 7.0359, 1.7656, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38c93aad7985c2cceea96118a3e6c73ee47ad1ba5b7b6420aa2e6cf0bd3f53de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d745bdf69e4fe38c3b6168c58ce8250df64ea29bbcd79fd19b6071444f73067a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a472f46b107f782e55bd3988e779e16ea0f751c6b227a5b5a9d74338a00b7a16",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 13.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3729, 1.9133, 1.3567, 0.0986, -0.4507, -0.1486, 0.9982, -0.0151, 0.7986, 0.6079, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5453 left_y=-0.1268 left_z=0.1811 left_yaw=0.0809 left_pitch=0.1478 left_roll=0.0611 left_gripper=0.9982 right_x=0.2948 right_y=0.0013 right_z=0.1793 right_yaw=0.0014 right_pitch=-0.0164 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -11.0291, 10.3453, 2.0488, 0.0073, 0.1685, -0.0073, -0.2667, -1.2786, 7.2274, 1.7167, -0.0073, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.54,\"left_z\":0.285},\"note\":\"The jaws stopped at about six centimeters, indicating a grasp on the bottle. I’m lifting it a few centimeters and slightly back to confirm it moves securely.\"}",
  "call_id": "call_AlWy3ejyZwb0OVSzeu0LER6B",
  "id": "fc_0ea70ff02577d62f016aacd39ca04487d0973a65d8803b99c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AlWy3ejyZwb0OVSzeu0LER6B",
  "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]: [-0.3809, 1.8751, 1.5547, -0.0998, -0.4488, -0.1463, 0.625, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5497 left_y=-0.1337 left_z=0.2503 left_yaw=0.0728 left_pitch=0.1813 left_roll=0.0457 left_gripper=0.625 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.6547, 9.5932, 1.6337, -0.2173, 0.0611, 0.0806, -0.1983, -1.0735, 7.0769, 1.7265, -0.0317, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ca5458db1c15584b2b51d9857a123cca753fbd0d7ef39dc72da4ce3cfba4c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:253ae29254a3b7d8c45cafe2a522e46198e47088261458305480b8f994674532",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e90756f677a67af789a399b874ff37913de76293d1d3a101aa1e130182f1e6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 5.476 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3698, 1.927, 1.3766, 0.1596, -0.4438, -0.1303, 0.6241, -0.0154, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5553 left_y=-0.1301 left_z=0.1951 left_yaw=0.0735 left_pitch=0.2065 left_roll=0.0462 left_gripper=0.6241 right_x=0.2949 right_y=0.0012 right_z=0.1794 right_yaw=0.0011 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -11.4256, 9.2923, 1.956, -0.0122, 0.1392, 0.9939, -0.1026, -1.0735, 7.0359, 1.7656, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNOrHUCikm9CApxMku7MUDke-NO2v4yj4eqnbWY1IcrFgkivlso-3cgEUx6JWAUBuP-pYXwpNlaUAfuJfh5hCMusHQrKFyr8fjv02hS_WkbPfcFSDa21H5DyLmAuHJboVItdPuchJLsVP3PIiwph82rndWCYH4cQu5JlZH8-B9B9r3jDId1oRY6ID8abB9LKmBZ9K0OolIGN5DEa6aYYa4-IA0FstVCSGnPmv2IecCYKugavNFOmaPRfWIChret6HWkayo9HxFIJ_8Z7uYkw4Sh3FRNRts4Wf_VZNefkIw-5vbPrSu9vEEAvSlpAhuyGg0O-y6wLiCY5fYbNOrQS1bZSqzF5NT77v61WAsjw0x8c7FtWlVsGAZHyZw8ufSE9o1jSAUNsIkP7tOv6mu3ZoZd7imOADBORdmFPbFD7cTE7bRtrRGXujHF_ZE35kWiCrT7q4Ol4a3uKSpjZoBgV_QcaBuJrg_26PW8rOOpy-EiEcpgTbdNI9RbcYsPG8HvrLoyovj0Vppjm3uz3s3yxgEHbyldide_oE4NL7KvuDqLfV7STSBtLcWuBdA4dePNrgRrhikv1uftzFyAdrra_bPixwB2gkfO-2na9a4HfIYX4f4FCqYs85X504zjbuv0w0rPFHzGsXAyX62wcH__OontSM7SGrra81brsOacLjAS60xQfmvU__d0FMRsYp37iy1_IZCi9s1v2xapP38W7wf8FyBAOba1SbSLEF9okAw5cjTkaSi1HTYIzEXJ9yAVNFGoDZfGEip4IhEGogv4TrtZI7ubGyuQrqfddcdtVFnnmZFECWTzmXdcfYKIkMzjj4mDWPzjwppzNVdNUWRviSo4oCcUmXJCMWyPHVlfadkpI9ZV01429ELKXhmOaN5FIT9eclRdohMU5Yg_APpmGmhpiMJntXEfD3eS9xTAZHZDF6BVNye-yw0-YxGOrB4GCiZGMpM4WztcGCJD9gkD5G0gqTNB2hXsJA54IvFZ76Doh6zWhXTO7nCJoTpsXmWAL9hi30Nt3xRS15Me6yEa_-saGqAl8fTATWCVV3q6C3c7O_2l6Isa3gUTIJ5OepncWUjq-NSjID2FdBVhM9f-hKAyJrhbi3954YuSKRW6Pqauq4dKk5FU4O8TuEgWZtSHSnqJaN-657-JpT24jng8ZLvBvxeV-tsWXVmVdkLDldzb1vQ67srwt7PFe_4kgMevcFagL1PNtdHYRBViU5jqZmsMmWfrDlBlawRopHLoq7n2TY1iNKUnicLRNqcpe_ecQiTyJaUVF52eWudwAJl_td3aOFHIRZpWZwAKqYGOSRH-pwQ0XqBe9-U6VNNd23j2WrshBobMhN6TCtYsOSbFlfkPWmpxFRCat5Ys9abxmtXU7rPBBNiw1JI4Jy5_P7AM7S0tp4eGIEudrHL95cSANfpMrNBIttR-tgkULkx4PtmAiV244DLSt49FZBSJz3vI1qu05VIRrZkx3_N7G7JyDJyCNt7IV28MKM5j-NShVPxq8_ddGZThimHsyXXdBPynWPDA6o8-AvvAvvVeVYaGNoUq9FNN0GQ20LeCfJc0LFHjz6bcmyHbHnV7_Dqtj5YRlUKxBVPgTirxiW2wbBm1HdW7yAyN-8OPvbrh9aWuHKn8QshRPFaZP431E8pcGfyPJWmLMEOXM4hw61HTSWQ6NFDxPcM1V_YpW1NzLTHutu4H8lif1vOeWuVOST9poTzwq6FosX6A4uxqXjGW7GF06ZSJz2LR_JZXd_hLyd8nC3C7rZBQ-OLPsJuzgj3PdhH3rg86YmrECz7h_p6psCXyebpKpuhlx861SaGkoFX5KrIfB1fvI9PZIY7zigASVZmdq_zcuyY2On5h0S6RExa9OLxmg6qa5UWBCp4an5afr7IDC9ejBIBQ23WCAuuaXZ3L9tOEDhc2w_A7vpmuMjT1pxZeyvqE81lp7Q1iD6QIdir5orYUJ9V3l3zGgLI3ZPZScGZdVxikZePLe-goduwCe1xcRRwaaU9EDWtWxcUX5QBEM7iculzRsvsaVCK4kmoFr9lwfHkbdxu5J5n-BDwZlIOTDjwr2P1CXRruPIa_BLO9nVwzpl49xpeqy6_PJyjy-pbY-RakwaLXjVe_axpZTfgnrHd_gV4X4aKu5R1lRNRcDrRHNsVqUamLnGL0i_-tcNkMq0nEYeZs8SiTBHTw9bUdInImQKkJSIf145NKZhW5Ns-va4tETGIupAay06J1RgErruky8VqfNoqdk24-GN0NUSZAftv9XIDp99Fnau8OAQIqX6WDVs_LMl03kmI8yhCareIzQNsvcWOSj2VR_8gMhAbORYFCTxN4ZMUbCq6CM4wsR0YKANzLtH5P84DyVdeQruZJulQLXsNiQhgd3p0oYNydXlo7pazK4XNVuD6tpHI8G6hXo-uJAcRedYB_gG75bFEW7HRV5KWq_rgAIglKnMYG9zpGLSVn66R0QNM9RJjYWAMQZ42CddfAZKqdSbPlLjPQhBp0xUXspYgVV_P6ueMjtgqqD6YNDGsAgUO507WGt0i6ZtJomiNP9Bk3tN527FkeCF9Q6V2M1KKEbKfZwJbg6yKbO5dKAIPJJ-rM6Z_Wg4lCgr1oWTwSb98DooHXe2rI2a2EyiyQLucRk6CeOYiz6oTWRHNVH8p9Y3eeKU3NQVKT5xjA92tMqVKkcxTYXKnSUUHPQG7pILZKN4H76XRhAnJIRRmxBPGJX595COlcK6QLQA4v_22m3O1VJyK0B-eH_KmPjIb0KBap8ZJNjMA==",
  "id": "rs_0ea70ff02577d62f016aacd3a0e5ec87d0a6b3e025f7134756",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.555,\"left_y\":-0.145,\"left_z\":0.33,\"left_yaw\":0.75,\"left_pitch\":0},\"note\":\"The left container lifted with the gripper. I’m raising it above the red cup and beginning to turn the wrist so the available sideways tilt can direct the opening toward the cup.\"}",
  "call_id": "call_A0NBUUxjpFTJOLixLH7JQXBW",
  "id": "fc_0ea70ff02577d62f016aacd3a9bee887d09a012bd4c61f5c59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A0NBUUxjpFTJOLixLH7JQXBW",
  "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]: [-0.5018, 2.5278, 2.7445, -1.1957, -0.8577, -0.8009, 0.6252, -0.0151, 0.8032, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.562 left_y=-0.1519 left_z=0.2214 left_yaw=0.5893 left_pitch=-0.0161 left_roll=0.038 left_gripper=0.6252 right_x=0.2942 right_y=0.0013 right_z=0.1766 right_yaw=0.0014 right_pitch=-0.0275 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -20.7932, 10.5641, 1.0427, -1.0085, -0.105, 0.0122, -0.2393, -1.2513, 7.3368, 1.8291, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:072ca804698d196eea4464335a7dd4ddad8a3aa2b08692dbafe2f626bac2ad91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e82800705348a42cc99225574651dd98f7840f015fd441edca9c58ad399fd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c85048bd62415c96070137559b7b7d025c460b851f6cc5c2b1de1b2fb64be87",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 4.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 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]: [-0.3809, 1.8751, 1.5547, -0.0998, -0.4488, -0.1463, 0.625, -0.0151, 0.7986, 0.6079, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5497 left_y=-0.1337 left_z=0.2503 left_yaw=0.0728 left_pitch=0.1813 left_roll=0.0457 left_gripper=0.625 right_x=0.2949 right_y=0.0013 right_z=0.1794 right_yaw=0.0014 right_pitch=-0.016 right_roll=-0.0036 right_gripper=0.9998\nstate[joint_eff]: [-0.2667, -13.6547, 9.5932, 1.6337, -0.2173, 0.0611, 0.0806, -0.1983, -1.0735, 7.0769, 1.7265, -0.0317, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNOxRmugKWBqJWQXfhXFf364qqr7eTBtK8sLeQt_ymVi0oOiJr6uCkUJqINuEXRenK3SP7VfiifUh72d0_USJnqZwuyNAV1LZLzF0OLTyWJvaqOBaybYM7FrhvbMEs2M0SZuUOcBomzEUHbiET6X6sQ0HCOvVRJr8X9HTBh4ETScvtdld55kGa_GLFb82Xn7ziLgY2TlfJA6v3-dFtrsW9f0Y5GbzHxVnwE8vn9awwkySq5zsCEfqj1_OAbwKTrd0Of9euISSqSO8hCLe-TeDJXSvNQNNoFrIMop1GTTKqQtwSo_lvObtL6ybdEK5ZH1oEvQi9KubQikOjeUEZTJYXmvi1Fw9u3_RTHTnmqRmx-25DRybSofbOQKMTUSQGXS-K-mgbCeWqzr7sbYjliDHFixgqxCqfgdXqNes5u7lUfKq64hHDdK0ts3Ev9CbBto3dEEYXG9w1OPPQGbRS62SLcXxD9a6PPGefu2NZIndMgGucmFTu8ad5c5ve4ZCTa6HgLfEr873RHeNrLK5zrqKg5aljLmsEzPdqrh7rsnOtspu4EpjAwpsQcEMVD75_S9iZBgpBSWw87NpsQf2MIFH3fwmXoq8lWgUZhe3rHAvjOKPGoAvONHqEMQjtj9WUzHv0vlGNATdTKef0NqJ9wRxJM-YmcBv_c-Y55M7E39pwdza5FHE0qdMt32L0JVKjtYxxXTCsB0mbITZUWGJLaxeEFwTQZbKxwvr_NTwTY1ATDaF-I6fJAnh8bMOs34v45e7RTUniegt6G0p6hItTdUZUXTfT9y-k7R58ppBhj1yNmUt-0TUYo0PFpUFXValQ2KXsm9uMvOotXCe7Qainty1AnXzXqtFBouFq0iOsO_tmRK7Al-cSeO2TgBO99bjrH11-ws3j9EaY1-z6xjEBQ6VaKSfiCnYo0j9irPAs6WEJoLiK8WPhH8aCnyBmz2_mE_OPUhBfuQAn5cVXc903252PGqmSCq4whDyt2Y3gwBrTbv8uN30iN5RFgJgyB0OjW7-UoQOY5_GOPxN_89rn8sneawChuMk084V0j9Ng32oTslH5gCgm756J9qnoRVar_y2_p7TU_RYZOx-XYtROawWYEM0BheQCSDnSdhFXzV2xh1XLd-pObBM-Sn5wkFaiexPePDzaEqzx8Q8e1oFM1xGWd7D_bw_UJdmP8ICn-eo--xvMc19cFcH61js9TL7z3JMHmBe7FaWccX7jpcZpk8yHAUDJSRzs8JrkfxxcG4luc9I9s=",
  "id": "rs_0ea70ff02577d62f016aacd3af5f3887d09709995efa68cbcf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.15,\"left_z\":0.31,\"left_yaw\":1.5,\"left_pitch\":0.1},\"note\":\"The arm did not reach the requested height at that extension. I’m bringing the container slightly inward while completing the wrist turn, giving the arm more clearance before positioning the pour.\"}",
  "call_id": "call_Wqzz2X9XThwtX0bhBfLwOP3B",
  "id": "fc_0ea70ff02577d62f016aacd3b007a087d0b5c431bc7d7eec1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wqzz2X9XThwtX0bhBfLwOP3B",
  "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]: [-0.3119, 2.344, 2.0556, -1.5402, -1.0489, -1.6646, 0.6251, -0.0151, 0.8074, 0.6071, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4438 left_y=0.0216 left_z=0.1361 left_yaw=1.2911 left_pitch=0.0448 left_roll=0.1785 left_gripper=0.6251 right_x=0.2944 right_y=0.0013 right_z=0.1752 right_yaw=0.0014 right_pitch=-0.0324 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -18.6051, 7.6786, 0.3346, -0.7546, -0.1392, -0.0317, -0.253, -1.1966, 7.0359, 1.7558, -0.0366, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a696e95adab0ead118ce13c277a7252fae6447a9695607dd0722401b5655ee62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c188d0479e2d5c8e752fb83b2a11afa5a200fb45ca196dd0adbcf79d0acb32ac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0b77baa0e78253445865ba2600bf8e9a7af9aebec4be09fab76e780ef89e62",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 8.291 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 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]: [-0.5018, 2.5278, 2.7445, -1.1957, -0.8577, -0.8009, 0.6252, -0.0151, 0.8032, 0.6075, -0.3916, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.562 left_y=-0.1519 left_z=0.2214 left_yaw=0.5893 left_pitch=-0.0161 left_roll=0.038 left_gripper=0.6252 right_x=0.2942 right_y=0.0013 right_z=0.1766 right_yaw=0.0014 right_pitch=-0.0275 right_roll=-0.0034 right_gripper=0.9998\nstate[joint_eff]: [0.6085, -20.7932, 10.5641, 1.0427, -1.0085, -0.105, 0.0122, -0.2393, -1.2513, 7.3368, 1.8291, -0.0366, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNO3YhYXMp01lkKQrHKeYHmmcT46t2KCfpahmajq9RLgFh3c4nTqq-gavVhyeNk4K41yCNCZWQ0g75hoQfLNMstrCt4bVxVJhpaB-qiXIGIFpyPkU8yjODfw2lSga5Rmdk6wM4n8WK2K--MyiiWLWdQyKgXThSdv4XIHwq59eF5VNRQw8c3MIsmkSzrGHTlh7T293gABZFVVjekZWcRzD46N9RlLvTcrktQVpGV3oqB2zHuRWoyECL2NisVWqpF1XJTdA1fmBRVJhq2yBX8ppLIuk8A6gR4WRtoNnWKRls0QJWI_oGlTQGPyijwJSS3KGAFhWK48_Q4_kdJTnY1DzrjZ7L7zHIMpIIPUdzkSF0H1eyb_eGDQpd6tlk2my4ZEuP8Iksir_Aeve7SuqGIKorc2RrmfiLT4KGyR8dVF0OmvrJ5InxpV6Ix9s28XELxn5HOt0bTTRGYlybsKydsjN_7jCKPAbjYANAsFabTz_aTl9nWoa5ViZr9QwRr8dUWCecQVnjziqkW9WMHtrouK1OoRZR6OA-YCakTkm9dQ2My7N-ZrvuhUEMiHN6wMup8-PJLUAiaPQ9SxL3eCTtsrLgbZP5SANTKJDKjjJbJFrgjSo4RIYLNhQd5ZMaUz6KRieSLkr9wM1oDBG1uVneaD44UF0mIiaRCHA1DXp64TGuHP4lrnKwwvW4arTBT925SCi61sJ4cjOJf0I5Mtt84f0meOvZWrKd2ySsUVJEla_r40VF_aXWj_Icxv70L33e1fNY9wmTA8sAMj1pAbB_5CzKc_V-h5pYuOo7dZrTpQR9Ic5ZcKT3ShlETuFR-6CWsvyfaVi31b6RbQQ0Ha3_s4XHmmKEgqDUwVCNCt4WNruxyAUp3JP7i1r_st6CG2ARTb327UlEueni5wIcIIb5H_BulftNpDhlhvd6pWyiKmgm1z_OZikXzTqUmLCJDl44wu-SDmcWezly4ySEhetN4CeKGk9oEXu5_Jy_HHBGwAgRvKHLwn6sAox4A8SqOXXo4TT_rcbd1w-wQiYxLsdAU044z2LAPBrziR9Mi5Yl77ynyqEc7XdDy4NqlprAA3lsAZ_CcCRIs9WFn3H0mIgmWi7Z7QzWUMJoiYlggjXmfJTIBStxB0MSgzibriFt2rhnO68_pZZUYKsOvtsVtUd7VZpvYU1fqUwGpGkvx9ImvVfuAKMjBKbhpHrc4xm9U1RO3FeUR_pTMGTMSywO2NAbTixkxOiIR708RKPBRJmWgUUx8RSmwZ9D0V5ca9T7iuE9ORuOIpwyhbSgWeoIAT0_-jKfRzsg==",
  "id": "rs_0ea70ff02577d62f016aacd3b4976087d093452db8c0a55257",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.32,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The large wrist turn caused substantial position error, so I’m returning to a neutral orientation at a shorter reach. This should restore stable control while keeping the container upright.\"}",
  "call_id": "call_UhC4wd0rD6P7OJl5crDroT6Y",
  "id": "fc_0ea70ff02577d62f016aacd3b53b7c87d0bab453f9a4ace3e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UhC4wd0rD6P7OJl5crDroT6Y",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5957, 1.5406, 1.5707, -1.0084, -0.585, -1.0153, 0.6249, -0.0151, 0.8101, 0.6067, -0.4004, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1275 left_z=0.2631 left_yaw=0.4437 left_pitch=-0.2244 left_roll=-0.2412 left_gripper=0.6249 right_x=0.2934 right_y=0.0014 right_z=0.1726 right_yaw=0.0018 right_pitch=-0.0439 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.7812, 6.8444, 1.1209, -0.3639, 0.2076, -0.0317, -0.1709, -1.3607, 7.0769, 1.8095, -0.0806, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:606806dad1e86dbbb7f6cde3ed9f9f28ea6f17c573335b84c1c7554d026ac508",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57f7772315b5f0a16f032c9941258ad4d36fbecbbc96473558b285a0805918ad",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b79754d54e802095e1fd601e79a0a738fed60680190f03fa414f1242960c9bc3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 18.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 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]: [-0.3119, 2.344, 2.0556, -1.5402, -1.0489, -1.6646, 0.6251, -0.0151, 0.8074, 0.6071, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4438 left_y=0.0216 left_z=0.1361 left_yaw=1.2911 left_pitch=0.0448 left_roll=0.1785 left_gripper=0.6251 right_x=0.2944 right_y=0.0013 right_z=0.1752 right_yaw=0.0014 right_pitch=-0.0324 right_roll=-0.0033 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -18.6051, 7.6786, 0.3346, -0.7546, -0.1392, -0.0317, -0.253, -1.1966, 7.0359, 1.7558, -0.0366, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNPBk8WiCSuvvUGCDKJlEOk1Ulz36BcTPGqnDx_KlgJ_fifkeJi4t-uHQIHIPgUITmaX4MJ7SZXm7ZZph23esQpiTJzlLroI7s6edderfXqBczFHlyHeUV1R_72r23XAljR7CxM5fniF0W-dt5hRFBUZtEApAgDeRKq-7qmlDNR1JzfXrv5AMyIGx0zlcPEQ3l0r1emE0jw2LvEy_GolGtctzr7qKHbf3m5AREzG0_i2XtOfu8aZ1eemk1P_fNSW1haH66_Y3S7qsBjOQqfQ-JmE4znKh-1fIcta4VRzE1rer6R2MD8J0J-Dx1O-ehPEFemuWjADDo-fjdZZSQ3pMz0Hvmq1oe9uVUcYNbIxpobh3L7CKf0HtfdCEKMnucKcrVZOAp_HAnpTGNuBALPQ1uyEynYGdP5XPnS5_FJ6Oh2XdYzp40Ds4hx3rAFAOImPIgTtCkKffG-f7FFJSQiB9F-413YrHcmTHyg4nYQzK46LNuYXmIFu5tIKgM2_nFRvabHGKYV1F_lF6p3MIslNWf85iiqihmheQI-sfZQokJTbBKaCmRlHRoWR9Wr8x5a1R4_uDYNbfGMwWClKp_kshgtw_9jOomcGz3wWQjS5fHod4nyDmiSVFrDcMdre24uGoAtLFqtwGQFOtNTBsMz0sMAqoJIBRaLqfIaSwjIl_nrD-sQ-gIfN8iyBWuPjMyRv5xarhQQYvAUgYxpUEuCAv_SaqZvBLslBfpJeMnrYJA8cXFAgfRS4krDCSADtuTp4M-PqR4_dxZ0DBeNceLr5JiZtGlvnbEboLOg-BC-nDPcY7lJv8655CVrEU82eHncQJ52MvIiz1AWT4V0sErUlXG_COz746qtUqVb0uckjKclLPVSusVIxU0R4Ml8eZjZmUrWclEe9IDbiTfM7NJl55j6_Haab_wMNaF5Q1d0i-Ik9_NgJfgQ0gR-zWaibG4rLQhM28xV6oIkmAMEVbdopGqWwNlUqJXAOJbQSyVDar7c0Is4IM-yfAQv650zZpAlOIWYYKOiPf7LlBS-Iz6UOrUz9vQV0IWGrFYK9vFpfHePQWYETZPy2QR6hD0TwqFyBMagUKtlpJTJ9SBUW6VhJWVfuHNQ9kofOCq87tbOQvn2NOH6Xm8O153UUeE-adzvawzebv1JdVY3wxHSuKfWz9mcvOOKBgw91A6_NOPN_wHm04XoYZORPYEkYeFwZ1Lid5VB-lQ6Yj24jEb8wc69h0hY3EelRQy-j2JVrVBS_rJOJalxnKM2Uh0gHaKFCPqFuW0RqkwjGSMldV5zNlWPH2TdwH6_H7T3DwKqjPAe4UeJrmZdqIZ4hwUshUF9loJxGQSbRB_0NLvcU20XeP841tlERzInf3ORUbV4BTw3GoTWvoQUCgHuB0Ke3CXdV5jKRHJg1Bf0Fr1FnaYLruJMjhJ_b6tvCSVhZSfmAhwiwtCCA9DwEmKUxKWB84MT1kDhSPahddkKq7ecNK47xgSMhLXn8S7wlsa0GIsT4ycdeyi7hkdpmdkrZbIwMwvSuGAvzRtlEZ617NqG7OrNtyi6ic4YN4LSGJ8JP3OJam0RKeuOSAcdjvPW_Owa4ky-yPJqyH4rv78H7pSxwAoJtmXRxD2nEhoWEM4biEsrpNCPrvUIYc0rk9K_2mVP5TTRReHpz4QWWczGKsWqlLsUSksb-8u7iUg==",
  "id": "rs_0ea70ff02577d62f016aacd3bc521c87d085bf8fa8bf6a4764",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.12,\"left_z\":0.34,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.2},\"note\":\"The left container appears tilted, and I cannot yet confirm it is still secure. I’m moving the gripper up and inward to regain a clear view, while refreshing the idle arm’s parked height.\"}",
  "call_id": "call_g1p0LCXFTDRZdP10uXorlM1x",
  "id": "fc_0ea70ff02577d62f016aacd3bf1c3887d08b955b62ac8265f0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g1p0LCXFTDRZdP10uXorlM1x",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6174, 1.4704, 1.4902, -0.8982, -0.6048, -0.8303, 0.6248, -0.0154, 0.8364, 0.6815, -0.4816, -0.0128, -0.0242, 0.9998]\nstate[eef_state]: left_x=0.3659 left_y=-0.1322 left_z=0.2739 left_yaw=0.3225 left_pitch=-0.1366 left_roll=-0.1779 left_gripper=0.6248 right_x=0.293 right_y=0.0013 right_z=0.183 right_yaw=0.0022 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.2393, 6.5026, 1.199, -0.4322, -0.0611, -0.0171, -0.759, -0.9504, 10.0855, 1.6581, -0.1001, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd8d5a31a66655f74fff97fbd4c73852c674d2022a3cbf672fde8d902e6c0e8d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1c7116528425379f1f8cf8f789e60fada72d558d2789a5a219a067bb15263d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3cd5077e6f757c777da9b894afa6cb5d0252998eee34e20e2d1fc04d4cbbe7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.093 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 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]: [-0.5957, 1.5406, 1.5707, -1.0084, -0.585, -1.0153, 0.6249, -0.0151, 0.8101, 0.6067, -0.4004, -0.0124, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3684 left_y=-0.1275 left_z=0.2631 left_yaw=0.4437 left_pitch=-0.2244 left_roll=-0.2412 left_gripper=0.6249 right_x=0.2934 right_y=0.0014 right_z=0.1726 right_yaw=0.0018 right_pitch=-0.0439 right_roll=-0.0029 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -3.7812, 6.8444, 1.1209, -0.3639, 0.2076, -0.0317, -0.1709, -1.3607, 7.0769, 1.8095, -0.0806, -0.0317, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNPUfzm624ndkdJBfbs2v3XWDz7_anI66hNkO9UrFQZLdaNTkjZFuogB_xMhsY-oU0rlDv-qinkNpHfEoSBLas9CdWkKMwR4Tjl9_lHJNT05qCvafUqvlqC__3cvMVW7a1N8WeJe8yghqDynItxJTFrxyI1n-ha4WU7295r7sEdb6iGy92sq4Bem9wiG6OawKdaO8FqEdPBfa9K1tIDJv1M-DluxZhYHcMGI6aQ0BRH98h1jx0OCc9ug5F2-wbdA-G5gutRJp8fE4o2GgzI9v3umipt_brudMJdwvKMDUeUIH1DI2BdfCEVRckk5aEafKVgpVy8u77kvGeeyLdGjw9LRkhlLMG0NGlzyELUyDJOzhu4rhgfwa7__yC_56aMro2n4v9NDnoanrpM-7qwHHttVsp6AdV6P3D__6cuaMCu0B_LwK1G2aimQo5KbLtWaqqEwgVfurDWUoIu5dNZfrzJ8mtvDRJ7ya-lAXskRDo14m35byorjv26uCzRWAGuHFyTp317r6UiMzz0EW7djPV0oXXfhTFms068MA1PL5XC0NAAwyYE56q6a6aygG9SN46osqZIOUDo7Mi6d96EQ1tQuYCnuYqSBJXB-8XY8W8WyWMBwHosH7BxgN-aP7xggR-H1MX_gXwxZj-SjUUcT5Tw-Dq9JjQzeTcQ_VEcy6Al7N3ScTZkID2gd9x6w1fSfvoTG_UAg1T9hpFZ6m8GtYXykIfS0TJX_0P_70xbEbetH7IUWlDI4Uob3QVjSfSs52qL6aUCoIKAagXkkBJSGRy0F95kkJgZM_1pbOi-WRYqUthN9-_mqFbVNhQpMU-3tAknnGxaAglG3MAd2on08n-atRy-MKSLqU-eHAESMEDJKpnfQ58BQwvcV1gAeajMSdyRuHoQvTJEyt5xD-BkBbFAjnvVKjoeLRQAhLPJDErqrS1KgsFiNrSLc_bPZxz7iowMq7if0wqcJwGxtQxPjsYw1FyCQguXjrnyzhRTTdspg5wWKLc0R7Q8k6DiaxNc6e35okrCn4SnZdQphFSLhGzp06Mnk9htixIA4app7LJv_9cBYD1qaMRlMXkdyHC6xDIfcfPjbek6rxkzXRPrRO3CQnnQaovRmBe7DpNM0T9Tc42_EU5j74gVvrcHVyL6xSz0jVqdFOt6wgoYt_Er_fE_ynNhYOKPB4YlKMHc5HkfZ-jU3zIg1FVQ_EvvdhQ3St7PMqg2jkSToMtttB3cmqkVPbWZMVWWjses07WE4a1P0knTzvuN2tj__VB9Pwxy9T2Pvt8XORBHiFqukwV2wWE5UCOIdTw6ehJPazuBm6Saz24P886jIx7RmwzmP6FqZlTIBr-Q3_N9O1SRuI1dQUqoOfyXHOrkqoniPyQ6xisskgjZBtZhsABELKNvmCNirLw3B7AiqBACRC_YHVWm8gpGeX-dNN8hyU0XRIJYaRlU8WVndDL9QiDi7rKjtHGcOSHJup01DpnLeduUuVg4iYzGj1ZUBsOhiMstHdYN1OiKdQz0ZK9sQM7tj0hXF4DfHdEvebcT1qXN0-dUv1qMpUlKT7D5inu21jtuOxOajdqmuEivSm-7wMUc7TokUmNIPNwt7EI0hOAV_PLNPTNzQv8Xp2AXJHHceEvIRv_Kr0rtVcxvhQRDGQHR8ZqnlOaNLYfzR4wFJ8wkMibvCtlVh23kqyFLWV51Z9n2Y3caA0jTz9rExVbURRq0YF1HyETKVUDe0ef_lEAWmyKX2BgibednM9dSIJ5Ct_-slE6zkuHM2AsfNQ-YfApC4mkqh0pRI6q0w4ohfP6A1sQnO69ysba0PxG04w3Ps-nx8TqRJ_ie-5Ee3T9CiTP6ohKnRZKR1x6HK8emfwgHegvRo5S3fzR_rwqaOPJaiQDdgiT4_mbJfmoEmAHFr8wv4SD4pz697shoXolP63surNOUirjvHGzBGX2il84R5loKNumBsC02loHoSrtxEkgjLpweH91YU-IZ9J-l3TO1mt_cskJeik2GjHJGw0Ltmzqa5iSNOV2D2rKM4ozk-lMuFysVBeDb5B4p2HE0z12qZKzn5oU5--7q0C-63dnbZuEqpUcC88_saPmne0eaXGiC8PkIbeSpBMRxyfcjk9y-sm0cn7PsIfHPANcASoKyG4gSkJwigB8uS1DWK6r1_P9-clXiTnHAvvZ3hGwp_mS7huv3XH-W6fV5k7JU4nj4QNtnTgc_bU0Sl5gwF2jBm3KG1-3nTpAuu2Mu3BmM3bak0ZmwsEhIkmNYPH2r-l3PrSIOAfld4IYv5jVqJN2HNYCpKj_JJp9wv0gvznccO-edTmGa_p2k5ovCZ1U_POyFDpKAV_XOnWbSAVWARGqDXpttu8v5yXuGrKONe8_W5gvd95JNnlyqi6C64ghdL4vf25SE766FVBKf37nvS84AQJtK0PaXqsYLAkfSUBsOHcldsaj17__vDW6kJ2RjxLC14k8Hwkpg5KbVbbDxOoVPxKg0355EyjCmeOMkpbkwssT1IvYtFqWw1-6aJCzH5lI4OqArJU31d5K6_wnuzdAbpJpIUajZ1mduL9AIRPw4ENEy9VwbobVpn5W66nOdW_XPNtBNHNLmPPElz2HBWEzY8pufBp9zxjAwJZSHmPuZ43SzZ2ZtOEGBiJKnj5lqmbZJZiT7-Luh5JJvF621aRSpkuMvB2sj3q7qXxgxo0phzG-EGdHMj0bPcLVB-IiX5MrrL3EyRjyRL52eziWAOlU3oHG7gWhimKlsk1xiJHGW7pcw-ihuHpJxvoL2resv88hYU3CaZwRBgolh9kFhxdlWpRrB-TiNvVNStnnkoSCLg9Nynm7WRCIlySN1hUcnxyWtdJ2cY_uGt33vI77gWsv1sqUFJE5uVSU4hJSuW5cIHHRxpWdSzc0b3VSqEcoAsXkU_HTyVZVsKmmNodpdCHBkRgOFUR11OD1gxfNY8tAgLdgbe6TyDhgJrdBdcSoJTZE1hSnkcH1EoTWYmKmYFtr6EtSGZAzHBzwFwSXc3cwhkJE5mMJMyHrCNZIjGapYvHkKEEznyXBuMCTH6u0TRhMw-mZxSZjc3gw1LhHmADmWvEoyTWv3IpHOy9PjNYkKru2kxzygiIbeoPn02JEnWXHAIvYHLcP1fCENx8a2Uq9NDDgaN2f9smfnI1nrhBWSHRIQMdwDb71yoCblu_TGY6dbRbaJPG4fjZmPBgHbT2AKVvetSwzP_7DIlKqrk7NvumNafyJlAaClcL2SuyJu8i3H26zSExScwfrVryN7fY-Sxce8bEF0tVD0Yjd2Nf5T875-uzEH6pejf-nUSX2qoPRbct-skdxjLpOas1QyvTyoQMc7E5tgLRiiFCL22Z6y3TWovaP23pdiUCqhgA6-F3CGYFVJHVIHdYiMu5Vm0Chz2_BVRyBTkQ-DZcPI-jCJ5MAPH3m51gX9z-8HjwaYBrc2MLu_X0h2I8TDOPrkAaNMwESy8_uv1QX20dve4LMllI8M-i_wxYQTjMA7jNd93aVRMj5LZum-foK1UZlcY5093VYBVky19gNMZlPlvMLr5sMAXYebUoFeQHaOR0RwZpEHId7aQwgwmeF-A01NIanOwZ8TiZ10EDrbRH0kNTYWoRiSOGHvdtEaK30xmAG3irdZb7L3SiGa16ez4T-X4ILjvZ-IPEcyJqroFprR3rYrpsx9oBbJ0GsX85NsZ0LBjxxE1lxymblD9kmq0txbV6AvB2_K2pBybFxEa8tUTZfXTg2xI4XppLQjio-G0Gd3GAbRnDj-hLf-h_7nff_rcpVPp5icQ2MEnOAauggY8gmW6QV0XaQvcCdmcCqjL-34=",
  "id": "rs_0ea70ff02577d62f016aacd3c39c0887d0acdd0bd58e62fbef",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":0.015,\"left_z\":0.2,\"left_gripper\":1,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The left bottle is lying on its side on the table; it slipped during the wrist turn. I’m approaching its exposed neck from above to recover it before attempting any pour.\"}",
  "call_id": "call_lPozIEOdcnC3acBXpyJxsCPm",
  "id": "fc_0ea70ff02577d62f016aacd3d2d22087d0b2516956f23e1456",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lPozIEOdcnC3acBXpyJxsCPm",
  "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]: [0.0189, 1.4586, 1.0554, -0.2253, -0.0433, -0.0654, 0.9985, -0.0154, 0.8406, 0.6796, -0.482, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4386 left_y=0.0195 left_z=0.1886 left_yaw=0.0832 left_pitch=-0.0693 left_roll=-0.0264 left_gripper=0.9985 right_x=0.293 right_y=0.0012 right_z=0.1809 right_yaw=0.0013 right_pitch=-0.0832 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.6803, 7.1863, 1.9853, 0.1685, 0.1978, -0.0073, -0.3761, -1.7846, 7.1453, 1.6532, -0.0464, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f1edb0bee9f01a45dd4068bec7a10b3ecf6a4c9c25a8b073212efa5f4d34c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2fba2abb347bf772bf0b7e4b48d301de34936032b8051517bfdf7471de1e7dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141f702235407d0a6a03260c51f139b30de49ec2ab8ea1ec944aaa87afd0373b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 4.988 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 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]: [-0.6174, 1.4704, 1.4902, -0.8982, -0.6048, -0.8303, 0.6248, -0.0154, 0.8364, 0.6815, -0.4816, -0.0128, -0.0242, 0.9998]\nstate[eef_state]: left_x=0.3659 left_y=-0.1322 left_z=0.2739 left_yaw=0.3225 left_pitch=-0.1366 left_roll=-0.1779 left_gripper=0.6248 right_x=0.293 right_y=0.0013 right_z=0.183 right_yaw=0.0022 right_pitch=-0.0767 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -8.2393, 6.5026, 1.199, -0.4322, -0.0611, -0.0171, -0.759, -0.9504, 10.0855, 1.6581, -0.1001, -0.0855, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNPcvV6KNhTInVuKqfcgISOEyFE1rZNwXECvFpn_qORzlcT08Gz0O8qIPomb1_OwTS4PvTrcUbfhG4I0c6GhFeXwxLFJq_vNp45oqybU7ixFX347zCYy2PWUbpPWxyF4nlkHk0ABvS72Zor2-ROroISJaoV_8EUqOfjt_fV3iilj8XS0WVlMK5YmxK1w-LZYnUSXT_IwOwy3PjR1mYBgP4umAVxM24K0_aZ11yor6VaMmHmee5vue2lLbfQ3IBmgEzEV3NxnwdavQLIFjeeNuKIOOvSOWKpNFAB5QMOoNyLdp258-rqItu1YkW9uMu_1O_tVXpnmvYHeqqOLi-pb88UaZSkS8u_nKlmWTbjVU-Xiv4kWC8MlMLL6MHNxB9CZ5Rt0zO8L053EOGCRQfOx0ms8PPVnH54bItgKC7E0jAJPdFD96lHVlarex_i18y0LNH7xPUvKVvxMUoWOVubEAB2NhrHs5aRixRAOt0UTpdOIhD1L_Teu8zN2y8DQxzT2ukKmV-bbxGK0wL0NvaD9yGscHW8bSjTA1kKRD-fj4RL2UFSIPFZeL2HwjG6OtiZUi8j90GkOW8NkDdFmbo2_DQKk7A3b6tB_-uiMKnr8SJxlqumgQlC6iQjEDX5UcEjq9rllLmvP_JFcYVY5Qm5idg4HmUAymLsfBH45QGRn8cKPnj_s376CghTkDWMyI5uFwVjLY8U-UUOFdS0YiUJyUHcPM6d0r3RF8kBYjN3CeUg0fBzY6NqKqAIKHvKgv1TmUIT-B6KaRwKyU9VG84diYMTIVntp0EQkBiPsQlwmGQXFe2ywnzEfQtwj07lFYuCvGbiCJiGT0WJPNku9aRjxNabR6-nwLEhsbf21Nd-gnazdtxVtiIBdfaX2GYNpsqA0aBiSQnS0fPF3ILkP2r2PYzUUrYw7jlClYgDAjXNoM3zUUXBy_68ZcU-HKHKgFx3Ns4IYS5Z_kxRZYTe_pMqNtG-n0rjiZtb-Vbfjxm7X5Dd_OlzLZoIc7owaT-F5T9jCbdwMvKf-frw4RH5hHRaryiLBXKkJbyRv1iVBcSSQSQl2KI2YSGm_u_In5RMqsIN3zzrjl1ZBLV0VA9JTRy-XFBzcYpFmhNecBrwtoDcUFaXnMGWZ50S-VfYPNMSTrztKqVH-ivhbPQEuSuwSmKuR_lHARhSSTb8iEnGNlWJ37kjFCjNC4tWCYilKDGwkIncc9wWcH9WkwEhe5-Jbz1VE1CRfn9T8a-c5Q_6EideX4yWSa0H4ttJlXGEhnxAGjU0iAjLa_clR1XFEoEXPbsybnVm5E1Gv0BQgSBbQPLaK6sV7p-GAqezjE-1cTgJL9aU0Ng2nbvDdQBGTa09V15JAdwsVjQ5iy1_94BOeD08NoPf8EYI-gmd8cabDEwq-cuk0MkNcMJ-R7QMfYVwevJ7XJXIDbb32QwDg07cfrbU8Mq6RxLujLJJ-0dpOJWqOJSXgSt96JAu0k9xo2GxslGL2OoBffFp1OwXGRVp25MyFgZJSZ2TBVV9fVkSIy2qytijFhtbmGZBQa8yq8KiuIBp8RjbsjxS67eUmocMYr3L-l8B6z0M=",
  "id": "rs_0ea70ff02577d62f016aacd3d7a4a487d098dbc45888281085",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.035,\"left_z\":0.18,\"left_yaw\":1.5},\"note\":\"The exposed neck is very near the outer edge, so the bottle’s body is the safer recovery point. I’m rotating the open jaws above it so they can close across its width.\"}",
  "call_id": "call_vD5t4xKSHW3NhZORxzAY50Ll",
  "id": "fc_0ea70ff02577d62f016aacd3dac30887d0a59038fbc8b60369",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vD5t4xKSHW3NhZORxzAY50Ll",
  "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]: [-0.3405, 2.3363, 2.0918, -1.3506, -0.8906, -1.6321, 0.9983, -0.0151, 0.8436, 0.6796, -0.4812, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4717 left_y=-0.0176 left_z=0.1203 left_yaw=1.2588 left_pitch=-0.1215 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2933 right_y=0.0013 right_z=0.1802 right_yaw=0.0017 right_pitch=-0.0855 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [1.7299, -13.5316, 6.7214, 0.4029, -0.7643, -0.1148, -0.0415, -0.2393, -1.5385, 7.0085, 1.746, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69efa8553b7392f1e00dc9d0a4a3b16bc7674dfec5c4f21aa7050e2b7d63d8fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:095bcb00d6c694d1ba4e1d85725425f3fda4f63fd7f56c179df7387d93dc55e9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18370078735ea57e8ffc339dcb1108c76c4adfae8c042f8344945d417d2f73d0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 6.011 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 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]: [0.0189, 1.4586, 1.0554, -0.2253, -0.0433, -0.0654, 0.9985, -0.0154, 0.8406, 0.6796, -0.482, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4386 left_y=0.0195 left_z=0.1886 left_yaw=0.0832 left_pitch=-0.0693 left_roll=-0.0264 left_gripper=0.9985 right_x=0.293 right_y=0.0012 right_z=0.1809 right_yaw=0.0013 right_pitch=-0.0832 right_roll=-0.0028 right_gripper=0.9998\nstate[joint_eff]: [0.1162, -6.6803, 7.1863, 1.9853, 0.1685, 0.1978, -0.0073, -0.3761, -1.7846, 7.1453, 1.6532, -0.0464, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNPi7M0AqV62hRr0u-v8GbTUvume-dvA_Pls398qeoo3BwNIf07MXC35xyV2rXcYEO454tDoiaQSRYTPj1peELwD9VoX99xJIQVWoaiFmzFGR2JfHSF-bc_M4qRxi86mcD1lV2Q0hljG3-k-cuBOoK84cgvnmTPBrHp_tIfRaLdoIFYlqwd4jRBQ6smEROQ1xBmFrvNmorZw-j1RF8kpfMrbaEr76YCy4cY4gdKqaX6ihtZrPLruLneNUbo_ikflwcFayVCi_rElHz6IJeA6XZ18XPxlgUeaEdS1ac_qhLrqAhm1-8OkQxpmF4sySbWYmxW7Rke5giuiGxJMeAy7bmfycd4IBPUbkm8NwbZwqKeAZ6QqzJttPx_pcYLT8M85B3y1z6TrTtwVso8YysK0KAX6QICsWe0zGqYiTJA7VjucFHlovrT5uXjrLZIp4b-AbOYicN4yWdSExAhNYW4hN0X-MDHJx3pq2MPWL_yNvF6BIEvrT2sg_qEaQekptbVN7fkXl3CinA2ttOXNvdcpAw17SMDJPuOrLurTzPTXWNsKj3iUO6OjOwoZkcJFBkTz8AOBZbjQQCubyowaK_8Pk25Uco_uCiLkCAHrETB2vL893Weld0FOOTvRiBY1lZPUrFQaTBgdOaYI9x_N13jDHiZBYGR9MTV2rrnApRfSrIt3QaEyg1VftOXOEvF_0lNg55Nd3ndomym5eK_f6MtsDRlNYLfumLuBbKu62oo4MWHFiQVsaCz6JxWAmFbHw0TKXNrbNDxbaCck1y2eYi7v2MspX3Wwsz9HTDmP9jOI5E8RJmnD1CtI-PtWWUUau0_kw6LR69Ipc3MT4HjKD6BhBO9A1WKH4sKRmBVKfBxNkAXG-gb-PLHZfaAzgM3TKjcCY6pOsxdWvbV9ey4Iwkr-noQ-kch9_MUYp_H-t_Mr9TyuxdywN-c4gV1lkUKwRtuaFaea3cef0s5yMp115TXabloRCe4NZPGzOspjKiJnWpZurUURcyuy8IzQDBuRghIk18g-C1VGhXJ-BntnZPvTy5y1J0pEb1bpeFNEUBJr0R6deMHyUVlvqprbYgYWRmj_i-HfX9sLzvcTMIXMMqZAWHaUMzFRnnUBh0aAbkukdHuPYlngO187hNQIdbD3-rnFpCs__PaPpqF7sV8Z81grwoOwaHngsNb8uw1L3_f8SNxdFYOG1WivbcnRWjld_ORgdzKC1ycoA53C3bu8DESm8uZ-Oi2wniEAmEh9r4Z23md6er6VzHhJ1HhgN5nSKCCO5BGQXGtiLb5Kor1_bJrCHkUDXzASy7iSbBDpDxnt8sTImAJ-NYF92qsH5TE3ui8bOiiowtNir95POUkh7FR9Bx2BMw==",
  "id": "rs_0ea70ff02577d62f016aacd3dfbadc87d09f4d9e8404213a2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_y\":-0.035,\"left_z\":0.065,\"left_yaw\":1.4},\"note\":\"The jaws are now aligned across the fallen bottle’s body. I’m lowering them around its sides for a controlled recovery grasp.\"}",
  "call_id": "call_mlVxP4moPLmYxqwE73mFRcQB",
  "id": "fc_0ea70ff02577d62f016aacd3e0e04487d0928453d436a1b314",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mlVxP4moPLmYxqwE73mFRcQB",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3637, 2.3959, 2.27, -1.5513, -0.886, -1.739, 0.9983, -0.0151, 0.8474, 0.6792, -0.482, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4658 left_y=-0.0271 left_z=0.1393 left_yaw=1.3029 left_pitch=-0.1217 left_roll=-0.0236 left_gripper=0.9983 right_x=0.2934 right_y=0.0013 right_z=0.1788 right_yaw=0.0017 right_pitch=-0.0904 right_roll=-0.0026 right_gripper=0.9998\nstate[joint_eff]: [1.0051, -12.7521, 7.0222, -0.0464, -0.6129, 0.1392, -0.0171, -0.212, -1.7846, 6.9812, 1.6581, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9265bfbf603c293bd0b81cde74160b6da9037a4570725cf71582911dc9049ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71db5254c31e74ae0e8396e9e21a0da74af8206fb67c5d01beba732b0f7374d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ccee7a332dd24f7a86b2e3f736ca30e10d07c8f60aba7ca823a4e4364db3d0b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 7.103 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 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]: [-0.3405, 2.3363, 2.0918, -1.3506, -0.8906, -1.6321, 0.9983, -0.0151, 0.8436, 0.6796, -0.4812, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.4717 left_y=-0.0176 left_z=0.1203 left_yaw=1.2588 left_pitch=-0.1215 left_roll=-0.0227 left_gripper=0.9983 right_x=0.2933 right_y=0.0013 right_z=0.1802 right_yaw=0.0017 right_pitch=-0.0855 right_roll=-0.0027 right_gripper=0.9998\nstate[joint_eff]: [1.7299, -13.5316, 6.7214, 0.4029, -0.7643, -0.1148, -0.0415, -0.2393, -1.5385, 7.0085, 1.746, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrNPpeOa7BhVZi3P8h9DnrxuAxJKPZnExXc5jgE2ALc5eoR6NVKa_hkHOO4OAIEOFbTSX7QLJfoo-sqOJBf-UsMaRdX4O29r1ZpuSzo2nw7gBaQJcRLusaKSsK-RK8nytluHM6qnAbRGOH50pkcNpr3N95Xv-QowBxfNck_YBSzmDRZZLYfUJBmAblH83vd2Cp0ZXKeYIHdF7JS3RRxp8lpbNZGdBpqFYctWDTI8Gto2qomGEy610oYwMipF-x4Vz9OjMsf9o-MJpevgLYBt4vP0FmNiOgSML_AnOdrpzyHL9tJJ7TMt9TdrYNDBU_2iXtQLD7RXAMHkrRoIPJ9nHXcSjS4ildTI0wKQAGyb5WE40c7YD0SLrFLvr60ey5YI8_EWf1HyvcTVkXGD6z_HZLVOe3yZF4-jHN6Kh_2CEZm6k3Uk7_nxoZvbCuSH7uBaJGSy1hUzeDTGSGw-ot1yhVJCsQF8yDHM1pHZ9qeBtKFuLO06GsIjAtIM7RhgEo8sEUKnXK0SrxsiHRSNlu98TAWduI56gQ2V3MO0Qf5-EB6gTM3IopcXZOn9ipT-nfe1Q0B7kow6UGAdi4gWPokoTAPXEHWpvM45zE1o8raSeMJ9oKeUwy4H26de9cC0usLiwXJk7BClBfsWbEMgxHXA5omUttN8piZaLJ19cV5yOJaqKHzoNEGhoJLkjGXNrp6t9tDn-CIRsrtJzMCrsgmC_zopGeiP_6MkKN-M5EhEGqukQrE4Wo1_ebU-FMvK5ueASKgj3gON3QLP5GHdDPa_P3yc6l0qASlpqC-KHjuT1U0hz2ICQfxfqUAezkN0QksreUWi_FGFGiu3mks6V5NLJONJeOY4vNq-UH5bAa_G2LcgBki_G4SP9VAWeWoNiHgofKTZH0iSdaviheuVfYSMjZPBW4ull1c7xcyh7n-MrLhyeGAP8hyUPG82KDlkNuqxVWGPFgoPJDjnmi8EdeQaXLzh3OSvTbxTWIQcLeGuEPHq-QA8jJSaZEdA_iShOkny9BA9sVVpEo0Vf84Un-bPyYRrSR7s4zS2kKZIV2V0PUhUe9dV6H-vYF3-2O0Fpr1CNHbtn1mMHK1s7Z0-5Q_b6g6X3fDA-L1k6tAKt-iXYrnuTvu2fdxx7MYsqXpeVf2pHCG7wWnk6cLEbCqTSr7B1C7GWrSROBsGgsh4ARqjcrqs0KpmO7V7Cc6f3K3EkmR1iREjHtXFSi7AqjJR0dEj_Hcxhm-vZXOXV8d6-kcx4O2GFnHo1v1fDdGn4liwFJoBaepoyzKe46HZss4PVhcn8vYVzKEzKNleWLtwZDi626dNf38HZ6w0JqIsO4B9ilYunbBUFONmrQSbBoYWPn5vRgZ7XDUnIYGyzqDmfxml6BjfKgqEkIr5dbjI_MDp6eogM547zKy4muzL849MTo1UkUAQJt83AZq0W2b8dwKJE_TlqQILiR_a8Mbw67f1TTCbnene0tCSvx_O7oum8HTuG4ZzZY570a_aen2FoNK-TJZg0xyxa-EnqXHkbGVV8_WfVO9COsEbMxZ3ms4yTYhTjzLKKikTQOdm4wCl9RL_lQw_Y1gBMZEct5_LBQGrTmRx_6nqbDhmBjC5Kp3oGFUFOlPrHqjNCuSlobttT3j6JemQwk_lPGDnXjSIXBNMj0vg5OefJjGN2C_7--QTW_cUeMmqbzyZzeg5zu8Zuk3HO1D9rH17ARlselZj6aRFAq3u6jFoHv1CCjC2CZLaSQF0OPxD6fg==",
  "id": "rs_0ea70ff02577d62f016aacd3e4dfcc87d0ad3b26a84ea8481f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.05,\"left_z\":0.3,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":1,\"right_x\":0.297,\"right_y\":0,\"right_z\":0.205},\"note\":\"The recovery descent is not tracking safely at this wrist orientation. I’m withdrawing the open gripper and parking both arms rather than risking further movement of the open bottle or cups.\"}",
  "call_id": "call_S3yB3zSaT1Rltp58feBCmmiQ",
  "id": "fc_0ea70ff02577d62f016aacd3e758ec87d09086aec4a7e146af",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_S3yB3zSaT1Rltp58feBCmmiQ",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3157, 1.9293, 1.7325, -1.1603, -0.477, -1.3163, 0.9988, -0.0154, 0.8814, 0.7521, -0.5598, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4186 left_y=-0.0476 left_z=0.1485 left_yaw=0.97 left_pitch=-0.4974 left_roll=-0.1074 left_gripper=0.9988 right_x=0.2933 right_y=0.0012 right_z=0.1869 right_yaw=0.0032 right_pitch=-0.1293 right_roll=-0.0047 right_gripper=0.9998\nstate[joint_eff]: [0.7453, -10.8923, 8.0752, 1.5653, -0.3297, 0.188, -0.1343, -0.841, -1.6889, 10.0308, 1.6484, -0.0757, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82b2691b40c7f180612d659be0e1e9020f90ff96642143120bd6e8e79ed23479",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c1fb4ed5700d4bf8c78d4fc60ac712aaefa273ed7ecc86c4ed705b4ba9acefb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b50986213a67d77dad9fc6c3e60f71b94b360f477754fc1d69410ea1fc0fd0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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