adhoc

completed
2026-09-18T05:15:04.885670+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
494.2 s
total steps
517
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

done

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 the gray handled bottle in front of the red cup; the white container is on its right. I’m bringing the left gripper toward the gray bottle’s upper section to line up a secure grasp.
move_to
left_x0.4300left_y-0.1600left_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, 0.6159, -0.3794, -0.0219, -0.0162, 0.9996, -0.0151, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998] state[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4855, -1.6479, 9.388, 1.7558, -0.0366, 0.0073, -0.0513, -0.7863, -1.306, 9.894, 1.7118, -0.1245, 0.0855, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.16,"left_z":0.23,"left_gripper":1},"note":"The left container is the gray handled bottle in front of the red cup; the white container is on its right. I’m bringing the left gripper toward the gray bottle’s upper section to line up a secure grasp."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left wrist view shows the gray bottle’s open neck left of the jaw center, with the red cup beyond it. I’m shifting toward the neck and lowering to grasp the narrower upper body.
move_to
left_x0.4450left_y-0.1200left_z0.1600
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]: [-0.5327, 1.5547, 1.2385, -0.3702, -0.4423, -0.3153, 0.9996, -0.0189, 0.7986, 0.6086, -0.3843, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4236 left_y=-0.1578 left_z=0.2113 left_yaw=-0.003 left_pitch=-0.0482 left_roll=0.0197 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0342, -7.5145, 9.3744, 1.7705, -0.2564, 0.0171, -0.0562, 0.2256, -1.3333, 7.2821, 1.8095, -0.0464, -0.0513, -0.0171] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.12,"left_z":0.16},"note":"The left wrist view shows the gray bottle’s open neck left of the jaw center, with the red cup beyond it. I’m shifting toward the neck and lowering to grasp the narrower upper body."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe left gripper is alongside the gray bottle’s upper body, with the opening above the fingers. I’m closing the jaws to check whether this gives a secure hold.
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]: [-0.3931, 1.5951, 1.0691, -0.1509, -0.3508, -0.2359, 0.9996, -0.0196, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4426 left_y=-0.1139 left_z=0.1571 left_yaw=0.0199 left_pitch=-0.0674 left_roll=0.0286 left_gripper=0.9996 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0048 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.3778, 6.4752, 1.9121, 0.0122, 0.0708, -0.0122, 0.0615, -1.2239, 7.0359, 1.746, -0.0513, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left gripper is alongside the gray bottle’s upper body, with the opening above the fingers. I’m closing the jaws to check whether this gives a secure hold."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe jaws have settled around a roughly 2.3 cm section, apparently the gray bottle’s handle. I’ll lift it a few centimeters and verify that the bottle follows before moving toward the cup.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3958, 1.5974, 1.0683, -0.1448, -0.3431, -0.2405, 0.2404, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4429 left_y=-0.1168 left_z=0.1567 left_yaw=0.0134 left_pitch=-0.0664 left_roll=0.0193 left_gripper=0.2404 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0205, -7.7333, 6.8171, 1.5263, -0.2418, -0.0171, 1.0281, -0.212, -1.1966, 7.0496, 1.7167, -0.0415, -0.0122, -0.0171] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.22},"note":"The jaws have settled around a roughly 2.3 cm section, apparently the gray bottle’s handle. I’ll lift it a few centimeters and verify that the bottle follows before moving toward the cup."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe gray bottle has lifted with the left gripper. I’m raising it farther and bringing it toward the red cup, keeping the white bottle and blue cup clear.
move_to
left_x0.4900left_y-0.2050left_z0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3958, 1.5925, 1.2503, -0.4259, -0.3397, -0.2512, 0.2428, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4365 left_y=-0.1147 left_z=0.186 left_yaw=0.0205 left_pitch=-0.1534 left_roll=0.0468 left_gripper=0.2428 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0342, -10.3179, 9.5521, 1.8046, -0.232, 0.0659, 0.5201, -0.1436, -1.1009, 7.1453, 1.7363, -0.0171, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.205,"left_z":0.3},"note":"The gray bottle has lifted with the left gripper. I’m raising it farther and bringing it toward the red cup, keeping the white bottle and blue cup clear."})
tool
executing move_to over 9 steps (0.9s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe lifted gray bottle is near the red cup, but its mouth is still well above it. I’m starting a controlled tilt from the cup’s left side so the bottle opening approaches the red cup rather than the blue one.
move_to
left_x0.4800left_y-0.1300left_z0.2700left_pitch-0.4500left_roll0.6500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5457, 2.0781, 2.3096, -1.0878, -0.4278, -0.3779, 0.2449, -0.02, 0.8032, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.488 left_y=-0.2064 left_z=0.2832 left_yaw=0.0171 left_pitch=-0.1971 left_roll=0.051 left_gripper=0.2449 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4444, -11.6171, 8.7863, 1.453, -0.4127, 0.0464, 0.7741, -0.0342, -1.5248, 7.0496, 1.7021, -0.0269, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.13,"left_z":0.27,"left_pitch":-0.45,"left_roll":0.65},"note":"The lifted gray bottle is near the red cup, but its mouth is still well above it. I’m starting a controlled tilt from the cup’s left side so the bottle opening approaches the red cup rather than the blue one."})
tool
executing move_to over 9 steps (0.9s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe red cup is visible just to the right of the gray bottle’s mouth in the wrist view. I’m increasing the tilt gradually while holding the bottle over that cup.
move_to
left_roll1.2500left_pitch-0.5500left_z0.2550
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]: [-0.4782, 2.2848, 2.6823, -1.5341, -0.5476, 0.0101, 0.247, -0.02, 0.8032, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4776 left_y=-0.1399 left_z=0.2614 left_yaw=0.0194 left_pitch=-0.453 left_roll=0.5561 left_gripper=0.247 right_x=0.2952 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0198 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.294, -11.1521, 7.0496, 1.2772, -0.6374, 0.2466, 0.442, -0.1299, -1.2923, 7.0769, 1.7265, -0.0269, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":1.25,"left_pitch":-0.55,"left_z":0.255},"note":"The red cup is visible just to the right of the gray bottle’s mouth in the wrist view. I’m increasing the tilt gradually while holding the bottle over that cup."})
tool
executing move_to over 9 steps (0.9s)
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 gray bottle is now nearly sideways with its mouth directed toward the red cup. I’m completing the pouring tilt and compensating for the arm’s downward sag to keep the bottle clear of the cup rim.
move_to
left_roll1.5700left_pitch-0.4000left_z0.2800
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]: [-0.5629, 2.2635, 2.3508, -1.4017, -0.8146, 0.4561, 0.25, -0.02, 0.8051, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.4729 left_y=-0.1422 left_z=0.2114 left_yaw=0.0415 left_pitch=-0.6577 left_roll=1.2057 left_gripper=0.25 right_x=0.2953 right_y=-0.0005 right_z=0.1778 right_yaw=-0.0055 right_pitch=-0.0218 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.6359, -17.6068, 6.8171, 1.2186, -0.823, 0.149, 0.3053, -0.1983, -1.4564, 7.0769, 1.7607, -0.022, -0.0366, -0.0122] 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_roll":1.57,"left_pitch":-0.4,"left_z":0.28},"note":"The gray bottle is now nearly sideways with its mouth directed toward the red cup. I’m completing the pouring tilt and compensating for the arm’s downward sag to keep the bottle clear of the cup rim."})
tool
executing move_to over 9 steps (0.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe gray bottle has reached a horizontal pouring position above the red cup. I’m slowly bringing it upright again before returning it to the table; the camera does not clearly show the flow.
move_to
left_roll0.6500left_pitch-0.3000left_z0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6216, 2.0125, 1.8721, -0.8894, -1.0595, 0.8707, 0.252, -0.02, 0.8062, 0.6083, -0.3847, -0.0101, -0.0261, 0.9998] state[eef_state]: left_x=0.4694 left_y=-0.1423 left_z=0.2418 left_yaw=0.0406 left_pitch=-0.5117 left_roll=1.5494 left_gripper=0.252 right_x=0.2955 right_y=-0.0005 right_z=0.1776 right_yaw=-0.0055 right_pitch=-0.0225 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.759, -13.9556, 7.4735, 1.5751, -0.8474, 0.1392, 0.1978, -0.1026, -1.2376, 7.0496, 1.7705, -0.022, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":0.65,"left_pitch":-0.3,"left_z":0.3},"note":"The gray bottle has reached a horizontal pouring position above the red cup. I’m slowly bringing it upright again before returning it to the table; the camera does not clearly show the flow."})
tool
executing move_to over 12 steps (1.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe red cup remains upright and clear of the bottle. I’m finishing the gray bottle’s return to upright and moving it back over its original spot.
move_to
left_x0.4430left_y-0.1170left_z0.2600left_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]: [-0.5392, 2.1345, 2.434, -1.3598, -0.7319, 0.1116, 0.2542, -0.02, 0.8082, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4708 left_y=-0.14 left_z=0.2891 left_yaw=0.0385 left_pitch=-0.3365 left_roll=0.7345 left_gripper=0.2542 right_x=0.2955 right_y=-0.0005 right_z=0.177 right_yaw=-0.0052 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.0889, -11.7265, 8.4034, 1.1062, -0.4371, -0.0855, 0.2222, -0.2256, -1.347, 7.0496, 1.7363, -0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.443,"left_y":-0.117,"left_z":0.26,"left_pitch":0,"left_roll":0},"note":"The red cup remains upright and clear of the bottle. I’m finishing the gray bottle’s return to upright and moving it back over its original spot."})
tool
executing move_to over 12 steps (1.2s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gray bottle is upright over its original area. I’m lowering it gently until its base rests on the table before opening the gripper.
move_to
left_z0.1600
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]: [-0.4145, 1.5833, 1.3804, -0.5537, -0.4164, -0.2214, 0.2555, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.4365 left_y=-0.1101 left_z=0.2265 left_yaw=0.0473 left_pitch=-0.122 left_roll=0.1133 left_gripper=0.2555 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [0.1983, -10.4137, 7.9658, 2.1954, -0.1538, -0.149, 0.1245, -0.0479, -1.4838, 7.0085, 1.7851, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.16},"note":"The gray bottle is upright over its original area. I’m lowering it gently until its base rests on the table before opening the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe gray bottle is back at table height. I’m releasing its handle so I can move the left arm out of the way and handle the right container next.
move_to
left_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]: [-0.411, 1.6085, 1.1576, -0.3573, -0.4107, -0.2321, 0.2556, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.4302 left_y=-0.1067 left_z=0.1554 left_yaw=0.0552 left_pitch=-0.1691 left_roll=0.1247 left_gripper=0.2556 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998 state[joint_eff]: [-0.3761, -7.8974, 6.0923, 1.4921, -0.0952, 0.0855, 0.0024, -0.3761, -1.388, 7.1179, 1.7411, -0.022, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The gray bottle is back at table height. I’m releasing its handle so I can move the left arm out of the way and handle the right container next."})
tool
executing move_to over 8 steps (0.8s)
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 gripper is open, and the gray bottle remains in its placement area. I’m lifting the empty fingers straight clear before retracting the arm.
move_to
left_z0.2800
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]: [-0.411, 1.6085, 1.1461, -0.2974, -0.4107, -0.2253, 0.9954, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.4369 left_y=-0.1096 left_z=0.1606 left_yaw=0.0483 left_pitch=-0.1262 left_roll=0.1081 left_gripper=0.9954 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.0052 right_pitch=-0.0267 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4581, -7.9521, 6.2701, 1.6093, -0.2662, -0.022, -0.1636, -0.212, -1.388, 7.0359, 1.7167, -0.0317, -0.0317, -0.0122] 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_z":0.28},"note":"The left gripper is open, and the gray bottle remains in its placement area. I’m lifting the empty fingers straight clear before retracting the arm."})
tool
executing move_to over 8 steps (0.8s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe gray bottle is standing on the table again. I’m parking the left arm and bringing the right gripper toward the white bottle’s upper handle area for the second pour into the same red cup.
move_to
left_x0.2960left_y0.0000left_z0.2000right_x0.4300right_y0.2900right_z0.2450right_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]: [-0.4099, 1.6146, 1.581, -0.7033, -0.4099, -0.2333, 0.9967, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4426 left_y=-0.1116 left_z=0.2717 left_yaw=0.0519 left_pitch=-0.1055 left_roll=0.0911 left_gripper=0.9967 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.005 right_pitch=-0.0267 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -7.2, 9.1009, 1.5165, -0.188, 0.0513, 0.1245, -0.1573, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"right_x":0.43,"right_y":0.29,"right_z":0.245,"right_gripper":1},"note":"The gray bottle is standing on the table again. I’m parking the left arm and bringing the right gripper toward the white bottle’s upper handle area for the second pour into the same red cup."})
tool
executing move_to over 25 steps (2.5s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe white bottle’s open neck is slightly right of the wrist-camera center and ahead of the fingers. I’m moving outward and lowering to place the jaws around its upper section.
move_to
right_x0.4600right_y0.2750right_z0.1800
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]: [-0.1375, 0.915, 0.8009, -0.5667, -0.2192, -0.0643, 0.9968, 0.7803, 1.8801, 1.7134, -0.6048, 0.6056, 0.4683, 0.9997] state[eef_state]: left_x=0.3008 left_y=0.0008 left_z=0.2005 left_yaw=0.0748 left_pitch=-0.1028 left_roll=0.0884 left_gripper=0.9968 right_x=0.4281 right_y=0.2873 right_z=0.232 right_yaw=0.0242 right_pitch=-0.0504 right_roll=-0.0156 right_gripper=0.9997 state[joint_eff]: [0.3897, -2.6325, 6.9675, 1.6532, -0.0024, 0.0855, 0.0073, 0.6632, -10.3316, 9.2103, 1.1941, 0.5055, 0.1294, -0.0366] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.275,"right_z":0.18},"note":"The white bottle’s open neck is slightly right of the wrist-camera center and ahead of the fingers. I’m moving outward and lowering to place the jaws around its upper section."})
tool
executing move_to over 4 steps (0.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe jaws are now at the white bottle’s upper body, below its open rim. I’m closing gently to establish a hold, then I’ll check the grasp with a short lift.
move_to
right_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]: [-0.1352, 0.918, 0.7944, -0.5808, -0.2092, -0.0605, 0.9968, 0.7174, 1.911, 1.6032, -0.424, 0.5705, 0.4236, 0.9997] state[eef_state]: left_x=0.2981 left_y=0.0001 left_z=0.1939 left_yaw=0.0673 left_pitch=-0.1275 left_roll=0.0901 left_gripper=0.9968 right_x=0.4541 right_y=0.2744 right_z=0.1978 right_yaw=0.0126 right_pitch=-0.0372 right_roll=-0.008 right_gripper=0.9997 state[joint_eff]: [-0.4718, -2.2085, 7.3778, 1.7753, -0.2173, -0.0562, -0.0073, -0.5812, -8.294, 5.6821, 1.2186, 0.0317, -0.0317, -0.0073] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws are now at the white bottle’s upper body, below its open rim. I’m closing gently to establish a hold, then I’ll check the grasp with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe right gripper has closed around a roughly 1.5 cm section of the white bottle’s handle. I’m lifting a few centimeters to verify that the bottle is securely attached.
move_to
right_z0.2600
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]: [-0.1352, 0.9184, 0.7944, -0.5827, -0.2089, -0.0628, 0.9968, 0.7063, 1.932, 1.5772, -0.35, 0.5415, 0.4046, 0.1612] state[eef_state]: left_x=0.2978 left_y=0.0001 left_z=0.1935 left_yaw=0.0683 left_pitch=-0.1296 left_roll=0.0885 left_gripper=0.9968 right_x=0.462 right_y=0.2792 right_z=0.1868 right_yaw=0.0346 right_pitch=-0.0284 right_roll=0.0081 right_gripper=0.1612 state[joint_eff]: [-0.1162, -1.9624, 7.0769, 1.6288, -0.1392, -0.0122, -0.0122, -0.335, -10.3453, 6.9402, 1.243, 0.2662, -0.0122, 1.0965] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.26},"note":"The right gripper has closed around a roughly 1.5 cm section of the white bottle’s handle. I’m lifting a few centimeters to verify that the bottle is securely attached."})
tool
executing move_to over 5 steps (0.5s)
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 white bottle lifted securely. I’m moving it to the right of the red cup and beginning a leftward tilt, away from the blue cup.
move_to
right_x0.4900right_y0.3300right_z0.3100right_pitch-0.3000right_roll-0.6500left_x0.2960left_y0.0000left_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]: [-0.1349, 0.9184, 0.7944, -0.5831, -0.2089, -0.0631, 0.9968, 0.7067, 1.943, 1.8164, -0.59, 0.5213, 0.3992, 0.1616] state[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1934 left_yaw=0.0689 left_pitch=-0.13 left_roll=0.0883 left_gripper=0.9968 right_x=0.4617 right_y=0.2833 right_z=0.24 right_yaw=0.0532 right_pitch=-0.0458 right_roll=0.0069 right_gripper=0.1616 state[joint_eff]: [0.0068, -1.9487, 6.8581, 1.5897, -0.1441, -0.0611, -0.0073, -0.1162, -10.4957, 10.0034, 1.5751, 0.3346, 0.0171, 1.0281] approver: 1 step(s) modified (delta_clamped). 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":{"right_x":0.49,"right_y":0.33,"right_z":0.31,"right_pitch":-0.3,"right_roll":-0.65,"left_x":0.296,"left_y":0,"left_z":0.2},"note":"The white bottle lifted securely. I’m moving it to the right of the red cup and beginning a leftward tilt, away from the blue cup."})
tool
executing move_to over 9 steps (0.9s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe right arm did not fully reach the last position, so I’m shortening the reach slightly rather than forcing it. I’m continuing the tilt toward the red cup while monitoring the bottle’s mouth.
move_to
right_x0.4700right_y0.3100right_z0.2800right_pitch-0.4000right_roll-1.2000
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]: [-0.1352, 0.9226, 0.7948, -0.6086, -0.2089, -0.0635, 0.9968, 0.7666, 2.4928, 2.8857, -1.457, 0.7174, 0.1265, 0.1671] state[eef_state]: left_x=0.2941 left_y=0.0006 left_z=0.1877 left_yaw=0.0695 left_pitch=-0.1587 left_roll=0.094 left_gripper=0.9968 right_x=0.4615 right_y=0.2882 right_z=0.2432 right_yaw=0.0783 right_pitch=-0.2629 right_roll=-0.5422 right_gripper=0.1671 state[joint_eff]: [-0.2803, -2.5915, 9.2786, 1.5409, -0.1197, -0.0806, -0.0122, 0.6359, -14.8308, 7.0222, 0.8425, 0.5543, -0.0757, 1.033] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.31,"right_z":0.28,"right_pitch":-0.4,"right_roll":-1.2},"note":"The right arm did not fully reach the last position, so I’m shortening the reach slightly rather than forcing it. I’m continuing the tilt toward the red cup while monitoring the bottle’s mouth."})
tool
executing move_to over 9 steps (0.9s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe arm is at an awkward joint limit before completing the tilt. I’m bringing the bottle slightly back and changing the wrist pitch to create room for a controlled pour.
move_to
right_x0.4200right_y0.2900right_z0.2700right_pitch0.4000right_roll-1.2000
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]: [-0.1349, 0.923, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7666, 2.4928, 2.8857, -1.5101, 0.733, 0.0769, 0.1709] state[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1867 left_yaw=0.0699 left_pitch=-0.1636 left_roll=0.0953 left_gripper=0.9968 right_x=0.4554 right_y=0.2795 right_z=0.2399 right_yaw=0.0809 right_pitch=-0.3097 right_roll=-0.624 right_gripper=0.1709 state[joint_eff]: [-0.1299, -1.9487, 7.0085, 1.5995, -0.1343, -0.0806, -0.0073, 0.6359, -14.8718, 6.653, 0.7009, 0.6471, -0.0659, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.29,"right_z":0.27,"right_pitch":0.4,"right_roll":-1.2},"note":"The arm is at an awkward joint limit before completing the tilt. I’m bringing the bottle slightly back and changing the wrist pitch to create room for a controlled pour."})
tool
executing move_to over 24 steps (2.4s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe right arm cannot safely extend the tilted bottle far enough over the red cup. I’m bringing it upright so I can set it down and use the left arm, which has a better approach to that cup.
move_to
right_x0.4000right_y0.2750right_z0.2900right_roll-0.5000right_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]: [-0.1349, 0.9237, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 1.0954, 2.3184, 2.3264, -1.5402, 1.541, 0.4763, 0.1712] state[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1865 left_yaw=0.0699 left_pitch=-0.1644 left_roll=0.0955 left_gripper=0.9968 right_x=0.3583 right_y=0.318 right_z=0.2924 right_yaw=0.0181 right_pitch=0.2456 right_roll=-1.0927 right_gripper=0.1712 state[joint_eff]: [-0.1299, -1.812, 6.8171, 1.5897, -0.1441, -0.0415, -0.0122, 0.3214, -10.3863, 5.7504, 0.2271, 0.8816, 0.0757, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.275,"right_z":0.29,"right_roll":-0.5,"right_pitch":0},"note":"The right arm cannot safely extend the tilted bottle far enough over the red cup. I’m bringing it upright so I can set it down and use the left arm, which has a better approach to that cup."})
tool
executing move_to over 9 steps (0.9s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe wrist has only partly straightened, so I’m retracting a little farther and reducing the tilt in a smaller, safer workspace.
move_to
right_x0.3600right_y0.2400right_z0.2900right_roll-0.2000right_pitch-0.1000
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]: [-0.1349, 0.9276, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 1.0412, 2.0262, 2.0045, -1.1336, 1.3586, 0.1265, 0.1743] state[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1854 left_yaw=0.0701 left_pitch=-0.1685 left_roll=0.0964 left_gripper=0.9968 right_x=0.3609 right_y=0.2819 right_z=0.3057 right_yaw=0.0258 right_pitch=0.1163 right_roll=-0.9839 right_gripper=0.1743 state[joint_eff]: [-0.2256, -2.0855, 6.8171, 1.5409, -0.149, -0.0611, -0.0073, 0.4034, -10.8786, 6.3385, 0.8816, 0.8376, -0.0513, 0.8327] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.24,"right_z":0.29,"right_roll":-0.2,"right_pitch":-0.1},"note":"The wrist has only partly straightened, so I’m retracting a little farther and reducing the tilt in a smaller, safer workspace."})
tool
executing move_to over 10 steps (1.0s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe white bottle is almost upright and remains securely grasped. I’m returning it above its original position for a stable set-down.
move_to
right_x0.4600right_y0.2750right_z0.2700right_roll0.0000right_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]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.8654, 1.7287, 1.7889, -1.0271, 0.7925, 0.3813, 0.1756] state[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.3606 right_y=0.235 right_z=0.2877 right_yaw=0.0168 right_pitch=-0.0911 right_roll=-0.3259 right_gripper=0.1756 state[joint_eff]: [-0.0889, -2.0855, 6.8034, 1.5311, -0.1343, -0.0757, -0.0073, -1.1145, -10.0171, 6.1197, 1.4969, 0.5788, 0.1392, 0.9011] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.275,"right_z":0.27,"right_roll":0,"right_pitch":0},"note":"The white bottle is almost upright and remains securely grasped. I’m returning it above its original position for a stable set-down."})
tool
executing move_to over 8 steps (0.8s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteThe white bottle is upright over its original area. I’m lowering its base to the tabletop before releasing the handle.
move_to
right_z0.1850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7242, 1.9141, 1.8362, -0.7174, 0.585, 0.3794, 0.1759] state[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.4443 right_y=0.2675 right_z=0.2463 right_yaw=0.0297 right_pitch=-0.0804 right_roll=-0.0926 right_gripper=0.1759 state[joint_eff]: [-0.0889, -2.0034, 6.8855, 1.536, -0.1197, -0.0562, -0.0122, -0.841, -10.2496, 9.9487, 1.5556, 0.4078, 0.1832, 0.823] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.185},"note":"The white bottle is upright over its original area. I’m lowering its base to the tabletop before releasing the handle."})
tool
executing move_to over 4 steps (0.4s)
step 232
top_cam
camera top_cam step 232
assistant
agent noteThe white bottle has reached the table. I’m releasing it so the left arm can take over the second pour.
move_to
right_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]: [-0.1349, 0.9295, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.6081, -0.5247, 0.5861, 0.3782, 0.1778] state[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.185 left_yaw=0.0701 left_pitch=-0.17 left_roll=0.0967 left_gripper=0.9968 right_x=0.4429 right_y=0.2635 right_z=0.1864 right_yaw=0.0238 right_pitch=-0.1031 right_roll=-0.1136 right_gripper=0.1778 state[joint_eff]: [-0.1709, -2.0718, 6.8855, 1.5458, -0.1294, -0.0757, -0.0073, 0.2667, -10.8513, 5.4496, 1.2234, 0.022, -0.0024, 0.5201] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The white bottle has reached the table. I’m releasing it so the left arm can take over the second pour."})
tool
executing move_to over 9 steps (0.9s)
step 241
assistant
agent noteThe white bottle shifted as the jaws opened, and the wrist view is too close to judge its resting position. I’m lifting the empty gripper straight clear to inspect it without dragging it.
move_to
right_z0.3100
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]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.5787, -0.4732, 0.5739, 0.3717, 0.9951] state[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4446 right_y=0.2674 right_z=0.1814 right_yaw=0.0377 right_pitch=-0.0921 right_roll=-0.0977 right_gripper=0.9951 state[joint_eff]: [-0.253, -1.8667, 6.9402, 1.5409, -0.1538, -0.0073, -0.0073, 0.0889, -10.9333, 6.8171, 1.4383, 0.2906, 0.0904, -0.0317] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.31},"note":"The white bottle shifted as the jaws opened, and the wrist view is too close to judge its resting position. I’m lifting the empty gripper straight clear to inspect it without dragging it."})
tool
executing move_to over 9 steps (0.9s)
step 250
assistant
agent noteThe white bottle is standing upright. I’m parking the right arm so the left arm can approach it without the grippers sharing the same space.
move_to
right_x0.2960right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7197, 2.0117, 2.2044, -0.9627, 0.5632, 0.363, 0.9963] state[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4503 right_y=0.274 right_z=0.3039 right_yaw=0.0513 right_pitch=-0.0713 right_roll=-0.078 right_gripper=0.9963 state[joint_eff]: [-0.1573, -2.0171, 6.9949, 1.5751, -0.1245, -0.0073, -0.0122, -0.1846, -10.5915, 8.1709, 1.0232, 0.3248, 0.0562, 0.1099] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.296,"right_y":0,"right_z":0.2},"note":"The white bottle is standing upright. I’m parking the right arm so the left arm can approach it without the grippers sharing the same space."})
tool
executing move_to over 23 steps (2.3s)
step 273
assistant
agent noteBoth containers and the cups are upright, and the right arm is clear. I’m approaching the white bottle with the left arm, keeping the fingers above its handle.
move_to
left_x0.4200left_y-0.3600left_z0.2900left_pitch0.3000left_roll0.0000left_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]: [-0.1349, 0.9348, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.004, 0.8719, 0.7586, -0.5251, 0.0471, -0.0803, 0.9964] state[eef_state]: left_x=0.2941 left_y=0.0007 left_z=0.1835 left_yaw=0.0703 left_pitch=-0.1756 left_roll=0.0979 left_gripper=0.9968 right_x=0.2985 right_y=-0.0035 right_z=0.1993 right_yaw=-0.0013 right_pitch=-0.0796 right_roll=-0.0779 right_gripper=0.9964 state[joint_eff]: [-0.0205, -2.3726, 6.9402, 1.5653, -0.1148, -0.0366, -0.0073, -0.1709, -1.7299, 7.241, 1.8291, -0.0806, -0.0806, 0.0024] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.36,"left_z":0.29,"left_pitch":0.3,"left_roll":0,"left_gripper":1},"note":"Both containers and the cups are upright, and the right arm is clear. I’m approaching the white bottle with the left arm, keeping the fingers above its handle."})
tool
executing move_to over 33 steps (3.3s)
step 306
assistant
agent noteThe white bottle’s handle is visible on the left side of its upper body in the wrist view. I’m lowering the left jaws onto that handle for a secure pickup.
move_to
left_x0.4450left_y-0.3800left_z0.1650left_pitch0.1500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9817, 2.0106, 1.8172, -0.3714, -0.9913, -0.4866, 0.9988, 0.0006, 0.8757, 0.7467, -0.5259, 0.0376, -0.0971, 0.9964] state[eef_state]: left_x=0.4178 left_y=-0.3528 left_z=0.2736 left_yaw=0.0753 left_pitch=0.2644 left_roll=0.0051 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1927 right_yaw=0.0124 right_pitch=-0.0967 right_roll=-0.0856 right_gripper=0.9964 state[joint_eff]: [-0.5538, -11.2342, 8.9094, 1.6532, -0.3541, 0.3297, -0.1392, 0.1162, -2.0171, 7.9795, 1.6532, 0.0904, 0.1197, -0.0122] camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.445,"left_y":-0.38,"left_z":0.165,"left_pitch":0.15},"note":"The white bottle’s handle is visible on the left side of its upper body in the wrist view. I’m lowering the left jaws onto that handle for a secure pickup."})
tool
executing move_to over 8 steps (0.8s)
step 314
assistant
agent noteThe left fingers are aligned at the white bottle’s handle height. I’m closing them and will verify the hold before lifting toward the red cup.
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]: [-0.9588, 2.212, 1.8194, -0.3264, -0.9173, -0.5789, 0.9984, -0.0002, 0.8753, 0.7456, -0.5259, 0.0368, -0.0978, 0.9964] state[eef_state]: left_x=0.4399 left_y=-0.3765 left_z=0.1685 left_yaw=0.0659 left_pitch=0.1496 left_roll=0.0295 left_gripper=0.9984 right_x=0.2971 right_y=-0.003 right_z=0.1923 right_yaw=0.0127 right_pitch=-0.0975 right_roll=-0.0857 right_gripper=0.9964 state[joint_eff]: [0.2667, -11.959, 8.9778, 1.3895, -0.3346, -0.1587, -0.0562, -0.0205, -1.6615, 7.0906, 1.6874, 0.0024, -0.0122, -0.0122] camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left fingers are aligned at the white bottle’s handle height. I’m closing them and will verify the hold before lifting toward the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe close was empty; the jaws are just behind the handle. I’m reopening and shifting outward and slightly left to put the handle between the fingers for one corrected attempt.
move_to
left_gripper1.0000left_x0.4650left_y-0.3550left_z0.1900
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]: [-0.9596, 2.2425, 1.8191, -0.3267, -0.9127, -0.5842, 0.0134, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4403 left_y=-0.3786 left_z=0.1514 left_yaw=0.061 left_pitch=0.1308 left_roll=0.0499 left_gripper=0.0134 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [-0.1709, -15.5282, 6.7624, 1.4042, -0.3639, 0.0317, 0.8864, -0.0205, -1.6889, 7.0769, 1.6337, -0.0513, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.465,"left_y":-0.355,"left_z":0.19},"note":"The close was empty; the jaws are just behind the handle. I’m reopening and shifting outward and slightly left to put the handle between the fingers for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteThe left arm sagged below the intended handle height at this long reach. I’m raising the wrist and pitching it forward so the fingers can reach the handle without closing on empty space below it.
move_to
left_x0.4600left_y-0.3700left_z0.2550left_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.894, 2.2421, 1.8465, -0.3771, -0.8692, -0.5354, 0.9953, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.462 left_y=-0.354 left_z=0.1513 left_yaw=0.0688 left_pitch=0.0912 left_roll=0.0965 left_gripper=0.9953 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [0.2393, -16.8137, 10.0991, 1.3309, -0.315, 0.1685, -0.1783, -0.1846, -1.6889, 7.241, 1.6337, -0.0415, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.37,"left_z":0.255,"left_pitch":0.4},"note":"The left arm sagged below the intended handle height at this long reach. I’m raising the wrist and pitching it forward so the fingers can reach the handle without closing on empty space below it."})
tool
executing move_to over 11 steps (1.1s)
step 345
assistant
agent noteThe handle is now clearly visible left of the jaw center. I’m making a small sideways and outward correction to center the handle between the fingers.
move_to
left_x0.4800left_y-0.3400left_z0.2350left_pitch0.4000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9409, 2.2196, 1.8294, -0.0551, -1.0454, -0.2783, 0.9967, -0.0002, 0.8753, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4635 left_y=-0.3703 left_z=0.2165 left_yaw=0.0755 left_pitch=0.3397 left_roll=0.1223 left_gripper=0.9967 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0983 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [-0.4581, -17.1692, 6.5299, 1.707, -0.149, 0.3687, 0.1441, -0.0752, -1.6205, 7.1726, 1.6337, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.34,"left_z":0.235,"left_pitch":0.4},"note":"The handle is now clearly visible left of the jaw center. I’m making a small sideways and outward correction to center the handle between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 348
assistant
agent noteThe handle is still a little left of center, and the arm is tracking the height low. I’m shifting a final small amount toward the handle while keeping the jaws open.
move_to
left_y-0.3150left_z0.2400
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8986, 2.2009, 1.7195, 0.0776, -1.0256, -0.189, 0.9968, -0.0002, 0.8753, 0.7448, -0.5259, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4756 left_y=-0.3492 left_z=0.2017 left_yaw=0.064 left_pitch=0.3482 left_roll=0.173 left_gripper=0.9968 right_x=0.2971 right_y=-0.0028 right_z=0.192 right_yaw=0.0133 right_pitch=-0.0983 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [0.3214, -17.4427, 7.3094, 1.8877, -0.1929, 0.0904, 0.0024, -0.0615, -1.5932, 6.9265, 1.6386, -0.0562, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 348): [image omitted: streamed camera frame] camera 'left_cam' (step 348): [image omitted: streamed camera frame] camera 'right_cam' (step 348): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.315,"left_z":0.24},"note":"The handle is still a little left of center, and the arm is tracking the height low. I’m shifting a final small amount toward the handle while keeping the jaws open."})
tool
executing move_to over 4 steps (0.4s)
step 352
assistant
agent noteThe handle is now near the closing line of the left jaws. I’m testing this corrected grip before attempting any transport.
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]: [-0.8795, 2.199, 1.7031, 0.1257, -1.013, -0.1642, 0.9968, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4828 left_y=-0.3428 left_z=0.2028 left_yaw=0.0687 left_pitch=0.3613 left_roll=0.1666 left_gripper=0.9968 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [-0.3077, -17.2923, 6.6667, 1.7656, -0.1685, 0.1587, -0.0122, -0.1436, -1.6752, 7.241, 1.6386, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 352): [image omitted: streamed camera frame] camera 'left_cam' (step 352): [image omitted: streamed camera frame] camera 'right_cam' (step 352): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The handle is now near the closing line of the left jaws. I’m testing this corrected grip before attempting any transport."})
tool
executing move_to over 10 steps (1.0s)
step 362
assistant
agent noteThe second close was also empty and nudged the bottle, so I’m stopping that approach. The handle is now visibly on the bottle’s left side; I’m lifting clear and repositioning to approach that side directly.
move_to
left_x0.4400left_y-0.2600left_z0.3300left_gripper1.0000left_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]: [-0.8795, 2.1994, 1.7031, 0.1207, -1.013, -0.1673, 0.0133, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4827 left_y=-0.3426 left_z=0.2018 left_yaw=0.0688 left_pitch=0.3585 left_roll=0.168 left_gripper=0.0133 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [-0.2256, -12.9846, 7.0359, 1.5995, -0.188, 0.0366, 1.1404, -0.1299, -1.6752, 6.9538, 1.6825, -0.0171, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.26,"left_z":0.33,"left_gripper":1,"left_pitch":0.2},"note":"The second close was also empty and nudged the bottle, so I’m stopping that approach. The handle is now visibly on the bottle’s left side; I’m lifting clear and repositioning to approach that side directly."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteFrom above, the white bottle’s handle is now unobstructed and just ahead of the left fingers. I’m descending onto the handle from its left side rather than across the bottle body.
move_to
left_x0.4900left_y-0.2800left_z0.2150left_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]: [-0.8185, 1.9182, 1.84, -0.5224, -0.9134, -0.3115, 0.9951, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4504 left_y=-0.2713 left_z=0.3005 left_yaw=0.0769 left_pitch=0.1992 left_roll=0.1811 left_gripper=0.9951 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [0.3214, -13.7368, 9.5385, 1.453, -0.1783, 0.1245, -0.022, -0.1573, -1.4564, 7.1043, 1.6337, -0.0122, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.28,"left_z":0.215,"left_pitch":0.2},"note":"From above, the white bottle’s handle is now unobstructed and just ahead of the left fingers. I’m descending onto the handle from its left side rather than across the bottle body."})
tool
executing move_to over 6 steps (0.6s)
step 378
assistant
agent noteThe handle is slightly right of the jaw center in the close view. I’m making a small rightward and outward alignment correction before closing.
move_to
left_x0.5100left_y-0.3000left_z0.2100
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7689, 2.0426, 1.6863, -0.279, -0.8742, -0.2802, 0.9967, -0.0002, 0.8768, 0.7448, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4836 left_y=-0.2743 left_z=0.2092 left_yaw=0.0758 left_pitch=0.1559 left_roll=0.2226 left_gripper=0.9967 right_x=0.2972 right_y=-0.0028 right_z=0.1916 right_yaw=0.0133 right_pitch=-0.0994 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [0.1983, -11.2615, 6.3521, 1.7216, -0.3053, 0.0952, 0.1587, -0.2256, -1.7846, 6.9675, 1.6386, -0.0415, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.30,"left_z":0.21},"note":"The handle is slightly right of the jaw center in the close view. I’m making a small rightward and outward alignment correction before closing."})
tool
executing move_to over 3 steps (0.3s)
step 381
assistant
agent noteThe lower part of the handle now lies between the jaw tips. I’m closing on it and checking the resulting jaw spacing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7689, 2.175, 1.8782, -0.3145, -0.8814, -0.2932, 0.9968, -0.0002, 0.8795, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.5079 left_y=-0.2967 left_z=0.2104 left_yaw=0.0911 left_pitch=0.1764 left_roll=0.1949 left_gripper=0.9968 right_x=0.2974 right_y=-0.0029 right_z=0.1908 right_yaw=0.013 right_pitch=-0.1025 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [-0.2256, -12.6291, 8.5128, 1.1502, -0.3101, 0.0952, 0.0024, -0.1846, -1.388, 6.9812, 1.6581, -0.0024, -0.0317, -0.0171] camera 'top_cam' (step 381): [image omitted: streamed camera frame] camera 'left_cam' (step 381): [image omitted: streamed camera frame] camera 'right_cam' (step 381): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The lower part of the handle now lies between the jaw tips. I’m closing on it and checking the resulting jaw spacing."})
tool
executing move_to over 10 steps (1.0s)
step 391
assistant
agent noteThe jaws have stopped around a roughly 1.1 cm section of the handle rather than closing empty. I’m lifting and drawing the bottle slightly inward to verify the grasp and improve clearance.
move_to
left_x0.4900left_y-0.2800left_z0.2800
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7689, 2.2009, 1.882, -0.313, -0.8818, -0.3073, 0.1211, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.5101 left_y=-0.2988 left_z=0.1979 left_yaw=0.0962 left_pitch=0.1647 left_roll=0.1977 left_gripper=0.1211 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964 state[joint_eff]: [-0.0889, -14.8855, 6.5299, 1.4628, -0.2955, 0.105, 1.0134, -0.212, -1.8667, 6.9265, 1.6239, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 391): [image omitted: streamed camera frame] camera 'left_cam' (step 391): [image omitted: streamed camera frame] camera 'right_cam' (step 391): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.28,"left_z":0.28},"note":"The jaws have stopped around a roughly 1.1 cm section of the handle rather than closing empty. I’m lifting and drawing the bottle slightly inward to verify the grasp and improve clearance."})
tool
executing move_to over 6 steps (0.6s)
step 397
assistant
agent noteThe white bottle follows the gripper, but its weight is causing substantial sag at the long reach. I’m drawing it closer and raising it before positioning its mouth over the red cup.
move_to
left_x0.4300left_y-0.2200left_z0.3400left_pitch0.1000left_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]: [-0.7689, 2.1811, 1.9831, -0.5449, -0.8814, -0.3271, 0.1216, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4981 left_y=-0.2873 left_z=0.2157 left_yaw=0.0952 left_pitch=0.095 left_roll=0.2646 left_gripper=0.1216 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964 state[joint_eff]: [0.1162, -19.0154, 10.6325, 1.5995, -0.3004, 0.1343, 1.033, -0.1436, -1.6479, 7.0632, 1.6239, -0.0464, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 397): [image omitted: streamed camera frame] camera 'left_cam' (step 397): [image omitted: streamed camera frame] camera 'right_cam' (step 397): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.22,"left_z":0.34,"left_pitch":0.1,"left_roll":0},"note":"The white bottle follows the gripper, but its weight is causing substantial sag at the long reach. I’m drawing it closer and raising it before positioning its mouth over the red cup."})
tool
executing move_to over 9 steps (0.9s)
step 406
assistant
agent noteThe white bottle is now securely lifted in the left arm. I’m bringing it to the left of the red cup and starting a controlled rightward tilt, keeping it above the gray bottle.
move_to
left_x0.4700left_y-0.1000left_z0.3400left_pitch-0.3000left_roll0.7000
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]: [-0.7277, 1.7889, 1.8561, -0.717, -0.7341, -0.4343, 0.1229, -0.0002, 0.8822, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.438 left_y=-0.2268 left_z=0.3244 left_yaw=0.0926 left_pitch=0.0955 left_roll=0.0357 left_gripper=0.1229 right_x=0.2977 right_y=-0.0029 right_z=0.1901 right_yaw=0.013 right_pitch=-0.1047 right_roll=-0.0854 right_gripper=0.9964 state[joint_eff]: [0.4991, -11.0701, 7.9658, 1.6288, -0.2613, -0.1245, 0.8669, -0.1299, -1.6205, 6.9402, 1.6239, -0.022, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 406): [image omitted: streamed camera frame] camera 'left_cam' (step 406): [image omitted: streamed camera frame] camera 'right_cam' (step 406): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.10,"left_z":0.34,"left_pitch":-0.3,"left_roll":0.7},"note":"The white bottle is now securely lifted in the left arm. I’m bringing it to the left of the red cup and starting a controlled rightward tilt, keeping it above the gray bottle."})
tool
executing move_to over 14 steps (1.4s)
step 420
assistant
agent noteThe white bottle’s mouth is approaching the red cup, which is visible beyond its rim. I’m increasing the tilt in a measured step and lowering slightly to reduce the pouring distance.
move_to
left_x0.4800left_y-0.1000left_z0.3000left_pitch-0.3500left_roll1.2500
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]: [-0.4683, 2.2189, 2.7636, -1.5505, -0.6952, 0.038, 0.1252, -0.0002, 0.8848, 0.7444, -0.5255, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4703 left_y=-0.107 left_z=0.3271 left_yaw=0.1045 left_pitch=-0.2829 left_roll=0.623 left_gripper=0.1252 right_x=0.2978 right_y=-0.0029 right_z=0.1892 right_yaw=0.013 right_pitch=-0.1078 right_roll=-0.0853 right_gripper=0.9964 state[joint_eff]: [0.1846, -11.1795, 6.2291, 1.3455, -0.5739, 0.2173, 0.9451, -0.1162, -1.4701, 7.1179, 1.6825, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 420): [image omitted: streamed camera frame] camera 'left_cam' (step 420): [image omitted: streamed camera frame] camera 'right_cam' (step 420): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.48,"left_y":-0.1,"left_z":0.3,"left_pitch":-0.35,"left_roll":1.25},"note":"The white bottle’s mouth is approaching the red cup, which is visible beyond its rim. I’m increasing the tilt in a measured step and lowering slightly to reduce the pouring distance."})
tool
executing move_to over 8 steps (0.8s)
step 428
assistant
agent noteThe white bottle is nearly sideways with its opening directed toward the red cup. I’m completing the pouring tilt while keeping the mouth above the cup rim.
move_to
left_roll1.5700left_pitch-0.3000left_z0.3000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5152, 2.0895, 2.1616, -1.1831, -0.9363, 0.4873, 0.1273, -0.0002, 0.8864, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4795 left_y=-0.1039 left_z=0.2623 left_yaw=0.1105 left_pitch=-0.4416 left_roll=1.2006 left_gripper=0.1273 right_x=0.298 right_y=-0.0029 right_z=0.1889 right_yaw=0.013 right_pitch=-0.1089 right_roll=-0.0853 right_gripper=0.9964 state[joint_eff]: [-0.7726, -15.2821, 6.8991, 1.3602, -0.652, 0.2125, 0.525, -0.0889, -1.9214, 7.1726, 1.6874, -0.0073, -0.0366, -0.0171] camera 'top_cam' (step 428): [image omitted: streamed camera frame] camera 'left_cam' (step 428): [image omitted: streamed camera frame] camera 'right_cam' (step 428): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_roll":1.57,"left_pitch":-0.3,"left_z":0.3},"note":"The white bottle is nearly sideways with its opening directed toward the red cup. I’m completing the pouring tilt while keeping the mouth above the cup rim."})
tool
executing move_to over 5 steps (0.5s)
step 433
assistant
agent noteThe white bottle is in its full pouring position over the red cup. I’m maintaining the tilt briefly and raising it slightly to compensate for the load sag; the flow itself is obscured by the bottle and gripper.
move_to
left_z0.3200left_roll1.5700
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5591, 1.9675, 1.7622, -0.7322, -1.0912, 0.9184, 0.1282, -0.0002, 0.8883, 0.7444, -0.5247, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4782 left_y=-0.1101 left_z=0.2423 left_yaw=0.1017 left_pitch=-0.4481 left_roll=1.5492 left_gripper=0.1282 right_x=0.2982 right_y=-0.0028 right_z=0.1884 right_yaw=0.0133 right_pitch=-0.1105 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.1983, -15.5419, 8.1436, 1.7167, -0.906, 0.2271, 0.6716, -0.0615, -1.9624, 7.1179, 1.7265, -0.0269, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 433): [image omitted: streamed camera frame] camera 'left_cam' (step 433): [image omitted: streamed camera frame] camera 'right_cam' (step 433): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.32,"left_roll":1.57},"note":"The white bottle is in its full pouring position over the red cup. I’m maintaining the tilt briefly and raising it slightly to compensate for the load sag; the flow itself is obscured by the bottle and gripper."})
tool
executing move_to over 6 steps (0.6s)
step 439
assistant
agent noteThe second container has completed its pouring tilt over the red cup. I’m slowly turning the white bottle upright and drawing it away from the cup before setting it down.
move_to
left_x0.4400left_y-0.2000left_z0.3500left_roll0.7000left_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]: [-0.5587, 1.9224, 1.7359, -0.5594, -1.1496, 1.066, 0.1298, -0.0002, 0.8886, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4837 left_y=-0.108 left_z=0.2769 left_yaw=0.1065 left_pitch=-0.3489 left_roll=1.5838 left_gripper=0.1298 right_x=0.2981 right_y=-0.0028 right_z=0.1882 right_yaw=0.0133 right_pitch=-0.1116 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.253, -13.3812, 7.3915, 1.4969, -0.6276, 0.2271, 0.3541, -0.1846, -1.812, 6.9128, 1.6288, -0.0562, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 439): [image omitted: streamed camera frame] camera 'left_cam' (step 439): [image omitted: streamed camera frame] camera 'right_cam' (step 439): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.2,"left_z":0.35,"left_roll":0.7,"left_pitch":0},"note":"The second container has completed its pouring tilt over the red cup. I’m slowly turning the white bottle upright and drawing it away from the cup before setting it down."})
tool
executing move_to over 12 steps (1.2s)
step 451
assistant
agent noteThe white bottle is clear of the cup and still held securely. I’m finishing the return to upright over an open area on the right side of the table.
move_to
left_x0.4100left_y-0.3000left_z0.3300left_roll0.0000left_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]: [-0.7418, 2.1311, 2.4275, -1.2762, -1.0561, 0.0303, 0.129, -0.0002, 0.8928, 0.7444, -0.5251, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4488 left_y=-0.1979 left_z=0.3343 left_yaw=0.0712 left_pitch=-0.0668 left_roll=0.8359 left_gripper=0.129 right_x=0.2985 right_y=-0.0028 right_z=0.1871 right_yaw=0.0133 right_pitch=-0.1154 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.8684, -12.3829, 8.7179, 0.9939, -0.5641, -0.1001, 0.2955, -0.1436, -2.0718, 6.9265, 1.6679, -0.0464, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 451): [image omitted: streamed camera frame] camera 'left_cam' (step 451): [image omitted: streamed camera frame] camera 'right_cam' (step 451): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.3,"left_z":0.33,"left_roll":0,"left_pitch":0.1},"note":"The white bottle is clear of the cup and still held securely. I’m finishing the return to upright over an open area on the right side of the table."})
tool
executing move_to over 11 steps (1.1s)
step 462
assistant
agent noteThe red cup is upright, and the white bottle is positioned over clear tabletop. I’m lowering the bottle gently until its base is supported.
move_to
left_z0.2000left_pitch0.2000left_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]: [-0.8936, 2.0022, 2.1159, -0.9798, -0.844, -0.5289, 0.131, -0.0002, 0.894, 0.7444, -0.5251, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4118 left_y=-0.2957 left_z=0.2965 left_yaw=0.0449 left_pitch=0.0214 left_roll=0.1677 left_gripper=0.131 right_x=0.2986 right_y=-0.0028 right_z=0.1868 right_yaw=0.0133 right_pitch=-0.1166 right_roll=-0.085 right_gripper=0.9964 state[joint_eff]: [-0.2803, -13.9829, 6.8308, 1.6532, -0.359, -0.2808, 0.5885, -0.0479, -1.935, 6.9128, 1.6484, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 462): [image omitted: streamed camera frame] camera 'left_cam' (step 462): [image omitted: streamed camera frame] camera 'right_cam' (step 462): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.2,"left_pitch":0.2,"left_roll":0},"note":"The red cup is upright, and the white bottle is positioned over clear tabletop. I’m lowering the bottle gently until its base is supported."})
tool
executing move_to over 7 steps (0.7s)
step 469
assistant
agent noteThe bottle is close to the table, but I want its base fully supported before releasing. I’m making one final small descent.
move_to
left_z0.1750
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]: [-0.902, 1.8519, 1.3708, -0.2081, -0.8692, -0.482, 0.1325, -0.0002, 0.8967, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964] state[eef_state]: left_x=0.4065 left_y=-0.291 left_z=0.1886 left_yaw=0.0401 left_pitch=0.1369 left_roll=0.0765 left_gripper=0.1325 right_x=0.2988 right_y=-0.0029 right_z=0.186 right_yaw=0.013 right_pitch=-0.1192 right_roll=-0.0852 right_gripper=0.9964 state[joint_eff]: [0.1573, -10.3726, 6.3385, 1.2967, -0.1245, 0.105, 0.149, -0.0889, -1.9761, 6.9128, 1.7216, -0.0024, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 469): [image omitted: streamed camera frame] camera 'left_cam' (step 469): [image omitted: streamed camera frame] camera 'right_cam' (step 469): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.175},"note":"The bottle is close to the table, but I want its base fully supported before releasing. I’m making one final small descent."})
tool
executing move_to over 1 steps (0.1s)
step 470
assistant
agent noteThe descent has stopped at contact, indicating the bottle is resting on the table. I’m opening the jaws to release the handle.
move_to
left_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]: [-0.902, 1.8473, 1.3384, -0.1017, -0.8593, -0.4679, 0.1325, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4099 left_y=-0.2972 left_z=0.1929 left_yaw=0.0352 left_pitch=0.178 left_roll=0.0218 left_gripper=0.1325 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964 state[joint_eff]: [0.1162, -10.8376, 6.147, 1.79, -0.3394, -0.0073, 0.1441, -0.1709, -2.0444, 6.9812, 1.6142, -0.0122, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 470): [image omitted: streamed camera frame] camera 'left_cam' (step 470): [image omitted: streamed camera frame] camera 'right_cam' (step 470): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has stopped at contact, indicating the bottle is resting on the table. I’m opening the jaws to release the handle."})
tool
executing move_to over 9 steps (0.9s)
step 479
assistant
agent noteThe white bottle is released on the tabletop. I’m lifting the empty left gripper straight clear before parking it and checking the final arrangement.
move_to
left_z0.3300
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]: [-0.9024, 1.8496, 1.3384, -0.1108, -0.8593, -0.4717, 0.9956, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4093 left_y=-0.2967 left_z=0.1904 left_yaw=0.0352 left_pitch=0.1713 left_roll=0.0276 left_gripper=0.9956 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964 state[joint_eff]: [-0.3487, -10.0718, 6.7077, 1.5849, -0.315, -0.0122, -0.149, -0.0205, -1.6479, 7.0359, 1.6532, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 479): [image omitted: streamed camera frame] camera 'left_cam' (step 479): [image omitted: streamed camera frame] camera 'right_cam' (step 479): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.33},"note":"The white bottle is released on the tabletop. I’m lifting the empty left gripper straight clear before parking it and checking the final arrangement."})
tool
executing move_to over 10 steps (1.0s)
step 489
assistant
agent noteThe white bottle is upright and clear of the gripper, and the red cup remains standing. I’m parking both arms away from the containers to leave the workspace clear.
move_to
left_x0.2960left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.902, 1.85, 1.8568, -0.6075, -0.8562, -0.4831, 0.9968, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964] state[eef_state]: left_x=0.4118 left_y=-0.3001 left_z=0.3226 left_yaw=0.0426 left_pitch=0.1826 left_roll=-0.0018 left_gripper=0.9968 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964 state[joint_eff]: [-0.3487, -8.9504, 8.4171, 1.3797, -0.315, 0.1099, 0.1148, -0.0342, -1.853, 6.9402, 1.6728, -0.0366, -0.0415, -0.0122] camera 'top_cam' (step 489): [image omitted: streamed camera frame] camera 'left_cam' (step 489): [image omitted: streamed camera frame] camera 'right_cam' (step 489): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.296,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0,"right_z":0.2},"note":"The white bottle is upright and clear of the gripper, and the red cup remains standing. I’m parking both arms away from the containers to leave the workspace clear."})
tool
executing move_to over 27 steps (2.7s)
step 516
assistant
agent notePerformed the pouring motion into the red cup with the left container first, then the right container. Both containers are upright on the table and both arms are parked. Liquid flow was obscured, so the transferred amount could not be verified.
done
hindsightThe right arm could lift the white container by its handle but hit an awkward reach/joint limit when tilting it toward the red cup; using the left arm for both pours worked better. Both handles gave narrow valid grasps (roughly 0.12–0.25 normalized jaw opening), while misplaced closes read about 0.013. Loaded long-reach poses sagged by up to 4–6 cm, so retract before lifting and verify actual height. The containers can rotate or shift on release, so re-localize their handles rather than reusing the initial coordinates.
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]: [-0.1001, 0.8204, 0.6933, -0.4313, -0.1726, -0.1108, 0.9969, 0.0078, 0.8993, 0.767, -0.5869, 0.0414, -0.0975, 0.9964] state[eef_state]: left_x=0.2997 left_y=0.004 left_z=0.2044 left_yaw=0.0968 left_pitch=0.0129 left_roll=-0.0012 left_gripper=0.9969 right_x=0.2921 right_y=-0.0014 right_z=0.1835 right_yaw=0.0166 right_pitch=-0.1612 right_roll=-0.0876 right_gripper=0.9964 state[joint_eff]: [-0.0205, -1.7162, 6.8855, 1.6142, 0.1099, 0.0269, -0.0024, 0.6222, -2.3179, 9.9077, 1.5751, 0.0317, 0.0611, -0.0122] camera 'top_cam' (step 516): [image omitted: streamed camera frame] camera 'left_cam' (step 516): [image omitted: streamed camera frame] camera 'right_cam' (step 516): [image omitted: streamed camera frame]
assistant
done({"summary":"Performed the pouring motion into the red cup with the left container first, then the right container. Both containers are upright on the table and both arms are parked. Liquid flow was obscured, so the transferred amount could not be verified.","hindsight":"The right arm could lift the white container by its handle but hit an awkward reach/joint limit when tilting it toward the red cup; using the left arm for both pours worked better. Both handles gave narrow valid grasps (roughly 0.12–0.25 normalized jaw opening), while misplaced closes read about 0.013. Loaded long-reach poses sagged by up to 4–6 cm, so retract before lifting and verify actual height. The containers can rotate or shift on release, so re-localize their handles rather than reusing the initial coordinates."})
tool
done: Performed the pouring motion into the red cup with the left container first, then the right container. Both containers are upright on the table and both arms are parked. Liquid flow was obscured, so the transferred amount could not be verified.
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 · 10.23 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, 0.6159, -0.3794, -0.0219, -0.0162, 0.9996, -0.0151, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.388, 1.7558, -0.0366, 0.0073, -0.0513, -0.7863, -1.306, 9.894, 1.7118, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4da60571e836048221a4a10f89505fd007a45c4ca67255e1f102f3448f4f7bc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c047e1adf7a60bbc45110991ed3430385eeb947385d4a513980bfca52e00d144",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:359dc31b664b03557668271f5903f59880afeeb8a9d0f5c4d5926a2d1d9a76f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 6.77 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMjxffm0WXzZFCh8m7b-GAXwsVV0VekowOK11VjSYmMy0x7xfRiBUZSa7IzxDo0kg_wG7TnAfc2B64SYEQjzbOsciRvMvT74eNF1o4Qxg_4pT9QfVnNDbuQxDGvvY2DAzcfdmw5Q0Wi3wkuxqyV3HUGohpTYBr6mU8-hnd_zC3wkSu1w-SkaRDM3Q1buM4EZpEm5MHpVWtHn9mYyyg3dpnJqZCTg1i6eLewPtRyJW9yHnPYSx6OuNo9SfbQX7d7OPorg8XJcCSMib5wWNZpoffyPRpY2-vM6VGQoq6hYdVAMtI73RLU9Ct6Pt_gX8kBjTOS8ZkeQn3wjwipmDp_CxwFunuz2rklE3OjstjuhMtsLjhux21cZtMtlWEgy_YVhyfcXDUDiM8jsYK25__BJs0UjpviAUHnoatqYUwlQuPH5swl3FJq1yFH2zXK5nsgqxJt6KcmWfPGX-UoyaUFdvY50DsEEy2S74qfpAjpiEpE48QT95PapHTLXbLXKt7XsgiX6VCCUL71V-f53vgs-Jb7Di6ne8wjYSxngRdsdq9RyNI7ay8MRGTZYMcm8yRlRnYfXDdWTUnBWcoqfT5p8vgUQvlxD-Sg2Dbwog3Q8XtLcEmw6DuMZCbGRPt649GDqTABQpDQXrAlZe2oOqG-enDkXuFtdoPrCCMsafIl2DKpeDrJcM6sUzu2H9_uTr0ukuZ5FpP_B-F4vvXIRS7vsBWpqk0aRnaGNE3A4QKrvS-QPtN9cMkZyLvaj2DyP5yenQ1hiV4fHY2LYB2mE6uPZuedXzTB1dl99Z7MQ02vPCMbqhZNYiSQZDZ_esckar7PFVBBGwPCFiDDmZSzqK8Ziil5QyAmn39isIiy3WUyFLGOrhv0OwnLvvFKEePQ60unnYUtmD6kNVzrDtt6ckFKtPHKCyQvsq8wAgbPUCIiQpap0IXIzAtPBFGwOvdfuBEBjR9kqwTvBWd008VTsmSq0PApecxk8eTWJvuZqLLA5u8bTNiSuXqJ3ufwOPIKgPDEcmeLM9ZFATvFaSit3ik_qLLzJXYiMxnFL1q2eDedVvBkdKZHOrqk3tZhO3EaT0Y1tot7InbfriLoyKkjHM_yHE-gtLt7ljX56HpvUhmfbnELw9oS-3rI0Uo5UMnUPeaLTQ7oO6bYQZ4fm0PsutLIhHrXP6GQctGbZH1Ahq9AHv5Rz_hQS-ePjauFGLfYt2mbxUW_-c2ieUFj_SILoFnN0dI4gZL2UQ4wuy3CpnpfyGVBQS3Vrr5iN9TtC83rZo8Sq7Awh9YQIaYklAORK37Knj7moLuJ9kMnYvUg7YI8jtNnu1Dwztj6QORoEbOq9BOuiXe920fgDI2tBhmJ8IrSu_yU0dTXZu9e2FE4CArFAZmQ6jrustZcyx5jcZqeeCpMAEK00HQBXjyvNY89Y67_casDQ6-BnW3INkfbukXlV_1g5jAV6gE-qlavzrUthx7WCd7UcmH6WL6Av4wzbgXZGD9h5VJC1sAlad42B1iV0vLHuMnBKTqlEPw1FC0_gn7fEvvuh3tgsiQ6DkUYFEfmNPl_XehNRdVS1SvKi3ZXD2g4_rlP4z5BLKisIMyCQVwDJVnN4n4HpUkD40BOrTkGyJIjzTWbnPsvhCiVA207gX4COWs4KlGS8VSTnV_vfDmSDL58zhPfAcDFF-xZft56ovrNh2cy5kQrPvS5XG42mvNGzI5xN7vyXFkp6-TrdyHCn7lJ7yXQg6CdnnhAUEvN6BVK8U69BwhFNIw2YsTbdTZM9XWoQtfoUKxB5hKbsJikwGeN2IH9DTmu21Msc_IBaEEem_x0C88SOzfMsWm4Wwg2VhgTqhfn1RYb6RCFiASYXDZRWaifYmyMj-RsZvA2-sQ96SCjmY6gGIKop75hwAiYFifOrODJvQlE9iChWTPMlahT6WJFUm9rRv76oDQdUiNVMa1i7Q6bPk_KdZZ-zOsFBKfq7yGmtBo6mt7byJTB5GbmR6RUDBfRL645uGkiHnv6WfChfW25b9wbs3k1S1Gais-tkzIM62AkK3G7sdmOA6k0uMwj-qMKZyWpEsMjjIem9AwziIZtE7zGfnvXzpmlNa_qA3nqhB46qTrtK4gm1STr7Rs8s-48DOzEeJOETIDCQINCsZJq4Xn5BS7lYwlAnu60mVM0wP2ZENd22VcFsK4GXkUBJmV2AIoX14HpUezJZPcFE1M0sonXRGVeH0T_4fvwIkRJQOyj1Q-kRL0yW4Was1MEiXZ_TfVUmW7nFWt1qozfZ5g09ekS5dXU6sZdNCbh7MvEmNKhJCFJoKf7uOCs5suHyoJQIPezemasDWtdwyRC49uV8DVsG0neTluZrnGs=",
  "id": "rs_02417f333c826114016aacc8e9376c87d0b47ebe32f3edc722",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.16,\"left_z\":0.23,\"left_gripper\":1},\"note\":\"The left container is the gray handled bottle in front of the red cup; the white container is on its right. I’m bringing the left gripper toward the gray bottle’s upper section to line up a secure grasp.\"}",
  "call_id": "call_E2sMccdpPzycxlyvSjmOP1bs",
  "id": "fc_02417f333c826114016aacc8ef7aec87d0ad930cbc8df6c0b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_E2sMccdpPzycxlyvSjmOP1bs",
  "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]: [-0.5327, 1.5547, 1.2385, -0.3702, -0.4423, -0.3153, 0.9996, -0.0189, 0.7986, 0.6086, -0.3843, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1578 left_z=0.2113 left_yaw=-0.003 left_pitch=-0.0482 left_roll=0.0197 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.5145, 9.3744, 1.7705, -0.2564, 0.0171, -0.0562, 0.2256, -1.3333, 7.2821, 1.8095, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b540984bfb414d917927f2b800e63c11426bee4f733ea05f609a8866173b6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a93c0f2d5d88a142e0f71cebb675749ebfe0322aa84adae70ccf074b2a81f357",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfce3cedc99ff232d453ce5f0f648f79643f939385b2ea093d703b22f3637db0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /responses · status 200 · 5.75 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, 0.6159, -0.3794, -0.0219, -0.0162, 0.9996, -0.0151, 0.7967, 0.6109, -0.3744, -0.0113, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2966 left_y=0.0017 left_z=0.1843 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4855, -1.6479, 9.388, 1.7558, -0.0366, 0.0073, -0.0513, -0.7863, -1.306, 9.894, 1.7118, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMkBQINxd6nHMUEyUN9avAAXKcZInU3XHoCGhDsibhmqXiNa33ILtZnIeugouaodhH71HBgMOYLem_E2gsT_-yzqvqFq4RM6jwPihmQ3f-HjYsCuPEzwmmkQw4vMXKI9tZ0YcJVEq0UxCCO3h7CK5ZWgYydPpj8uCqfu2grKaooaAfUhYMJ60UYCfuAVnMZyylFZKRqhweMlv2k6XtAhhSTxcoqPQRABcq-aDXGFw6aICjldmpsfdyA8VVnp6B3FMnXexkBdxCsStoHDSyNAYalMMZPznvX_nd6v85nVVREZfXfh94VX2TBJ0MH2xK02juxX26wpempDrtZbfmbiwTz2Z3VWSEJ4cfWJKREvcz1eZMNCufWRCYZa3gI-RsxRpL94P1O83h8hwZ2jMSY8s7kcaFmNxntqQqY_LtptduA7EqC-HAvC8lFlhv0AfY9SPT2F1IpXa13cSEglwr8pdaQy_X9U0pI_qg47Zpinl5GJzlRkGx0XVMmmwqTOYayVLWihvDlvS2eLdYAiN0mfPS60cXzAWBgaIonWfPaHoIHPb2c1GayG8QZNfBx6kL5FHzfGoboUQpKh8yclc7vgia9TeMWGoHK2VvTy3ZrdJTXMPhRiAk3qyJR-IlJETTgel5VTRAZidP3K_a-DO-dCdjoTAFggcvuCbuwy181CESeDRIHYYbQswa3bOSkTzhQmt0nXtSkmGmME98c_TRPo7nEdzgMv66mbZu8r0jwpERA29692uyS1w3c_SgFaBH3hysttDl0DrblDrKCXhByLH5iQHGpjSvdkNCJtk5AMPOTVP6U301H560g3jrZCOJmGHPkbdQCCjZl1MO3AqVSA7ARxqifcRtRyO6_RVqkt2I34yMCiv14lV1pVDA5q52GjwbaqX6SPq81ZoXADKfuBrjWjlC4TBkpasqjRKmzcODXo_irjg4auKIumbFBVIeKdwj-CAVbHKuDnTKbSVR3S4_PoyGfx3dHWxtJUw8sNBeWyJ-isn3JZDUwAkD0BVj2Vr1TxegkpjCYt2gACTnYRk95Vq24J14aFQDVwDgBKRYox-yCVwl24TuxHLebUvTfP3-zPposjXLjhLTDs0sOxbXJ1GkFlzMGBklI1YetziKkB3HPKtWT6u1tb4Yo_PndleqOdXM6nppMpCXbFhzvamQsJ9KZm_DAWCGRd6E36iT1Nf0tmvqEYIT-MadHvjDGBe41XsX-LczEyZO1Ksn5iqX4YoM1U7uyaJ3TTE5n6vJjGA6_G9AwrbVPRYpqxbonr49MIHprFTmBNBXEOwfpnfI_Yc9MSlVihC7cx8Q3QOvKoAxiYpGJEJkPxaYnG2NzP_Dn6vP12YVJSTlEYx8ORD-0SL7W8eXO38TJMLJwJ4Qlgq-klPl5GNVJNP1lVocjh1yoqqO2uBu1_w21Djw5ZXGljBB_MklZPejhMuzKg4RgzY0rB2-Fl9kJBg3vX9q6uxRIIsN2dyvaPLCCqWIz2qGh1SVCoKQA8UJWXcC_3huI1qKc8BJglu_7XLP-4e6QQnlCSroDHUKvfsLMICP5UkstMQ8d49sd_E-k90_wcbZLYvafNHi9mCqyMih0NNwwfBCDwIqbfxykfDXepFjU8fwdfwA==",
  "id": "rs_02417f333c826114016aacc8fd448c87d08c472c9aa3d82541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.12,\"left_z\":0.16},\"note\":\"The left wrist view shows the gray bottle’s open neck left of the jaw center, with the red cup beyond it. I’m shifting toward the neck and lowering to grasp the narrower upper body.\"}",
  "call_id": "call_FvP7Qpy1ts0Q5kaN2R5g541i",
  "id": "fc_02417f333c826114016aacc8fff68487d09ed745fa05ff3159",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FvP7Qpy1ts0Q5kaN2R5g541i",
  "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]: [-0.3931, 1.5951, 1.0691, -0.1509, -0.3508, -0.2359, 0.9996, -0.0196, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.1139 left_z=0.1571 left_yaw=0.0199 left_pitch=-0.0674 left_roll=0.0286 left_gripper=0.9996 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0048 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3778, 6.4752, 1.9121, 0.0122, 0.0708, -0.0122, 0.0615, -1.2239, 7.0359, 1.746, -0.0513, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f49c903fd5d518ad04d05d5fe1f9edaf27f6b767b1c2b934d4fa1078a59112b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32be1787c859549f7f33c32a7c7d11ffc1bf6c4eb50aa4b61d830f34ec6fbbac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015e8cea53f7ecd7439060a83a52de9f8f2402a655fb14b7dc009c8a58b87edf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.24 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]: [-0.5327, 1.5547, 1.2385, -0.3702, -0.4423, -0.3153, 0.9996, -0.0189, 0.7986, 0.6086, -0.3843, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4236 left_y=-0.1578 left_z=0.2113 left_yaw=-0.003 left_pitch=-0.0482 left_roll=0.0197 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1799 right_yaw=-0.0041 right_pitch=-0.0141 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -7.5145, 9.3744, 1.7705, -0.2564, 0.0171, -0.0562, 0.2256, -1.3333, 7.2821, 1.8095, -0.0464, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMkIa9Th9jtuvXyz-vGh-ao7d-H9seFXN70kM0bjnHR0xrkoKUU8My6VM5qvdqEemzwHzqMTwx-ovOds08LkRu_3sIsHsPYlsoprZzM_alxGv0tbHDuitYUI07-9VXoyT-vXOlXJg64HecdqwHyDGx8IWCwhWaf7-T7rSVgxFFw5EH_yDmHP5eGfM7CY_OoxCb_W7R07PyrKodyYzF5PsUB2xwCfiiL3__mL27gS0zOL48oDcp6xnNCbT3KJYmrF6-qvEN8HDR3pN2rnjjY9i5-NDHlN1ZSX3OSTVn9COMBHP2217Aj0IpGyUaGEpZybJTqvBSf5K15XlhZAnQaORrgqFjz4ooZuay00I_-UxBI07RxbnsJVdtDIt9ihTAwwYMmB6Fcd2mqbi48CLHX8cqyPXOGyImupX0fJuGkI7NFh5joJEIzl2EWNw27cy6kmiY3-XlkB2rGMVCsAE3rkJAbvCtMQ7d4cuzywmJynTTw9XsYfSakt8Dhp4deicrMOVwxd5AEwIZjMrfKX9hJNY4PIgqvRtZIt32-Cp8TmXFrI2c9FdCRqEM-W8yG9qq0MLLReG6m3788N3ZuNEoOLqhcK51WakyVatiAvBeup0RRhCtr0_gJLa0f2GpAPOrLeSgOLxThbAQcdlJDG5HmU7WxbaUs0HLgGE3obruJfH939nQf4dtG3JTfw3ew9SBghZ1UmzNbnnxKoz3dVOtX7y9e05R4LnlKCdXnsOzcmuB2jTv4OKIellMqLeUVQYqNMi2JBIc-yi2gBle7A-ZAXl3QKyPA984fhrf19dgTs68osHK854o2gl8dhX8i1qLkYZ1NMn3GS3yqf12gA9CQ5iVAfshrtHY4i4t0qVLbkhZ3EFMTILKG6U7fSjBPoYzSRaClExh8njIUh78LgYqJqOCtTRrKP9sMPZBzaGNVQGkGgQoJCBtL3Z45hZ7ZsOi-8YyHZJbPUByXPYsI6eflVa8iZhjep7Nz7358cPrwasg8TAZgTrQML5yzz7b7iV_FGWF5oUjiKnVaT0ls9UExBVBLhpTg3OEYZ2mKw92eF4b5N2W39sTdx9TDTBpPIPFCQGFUDUUxwQ03fWbcDsYBma4OVtDi_2pgzZ6iUaaZS1J4Gf_lgAIrsggg32x59g45XlfTfU3lcWaRD3RI9zMXrBxFPknKp1t76zkDf7e62E5b9PsnSpiozU4VyjMXcQVYuaLXMbr8I7f7MAIscKRm-cFZ45ux_0lvgSdnB_KqsGeW-_ApZUyxHSA2CmNWubk-didyv6fp4pU8GxBTJmCDEZ_lQ9hfGTmUtXg3Zw6_tNGbi-lptGE2Sc_6IZs-gJZ91Bp9JQXCIHZvtpLi-w-NNXzNxvAdXLRSH7BL88-NebXzyuEO3Q4RBVwovE2oLbQizw6yWt8GfiIlLdNSzBi-RAlOJw5jEDFUxEWi3hFdrhOxwQyxmGkBBbYWMlGgUNIj_617jRwi_mDR5jMwpr3Iw7bAl2bKY0WM5nL8Ad71I6hUANE3coHT811YPbFVHLxqFZoRNKihsxSYGzGu-DYA5YVCQigJNH4QOW7Sk4-je74kLFM57z6iYeJOH1F9MZT61hdEJK9DhBXKXPlvf8b2l_SH91g==",
  "id": "rs_02417f333c826114016aacc905639887d0bccf1ebcdcebc389",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left gripper is alongside the gray bottle’s upper body, with the opening above the fingers. I’m closing the jaws to check whether this gives a secure hold.\"}",
  "call_id": "call_0jq41w1M5bN732pXI8mrIecX",
  "id": "fc_02417f333c826114016aacc9079f9487d09200f846aaa048c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0jq41w1M5bN732pXI8mrIecX",
  "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]: [-0.3958, 1.5974, 1.0683, -0.1448, -0.3431, -0.2405, 0.2404, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.1168 left_z=0.1567 left_yaw=0.0134 left_pitch=-0.0664 left_roll=0.0193 left_gripper=0.2404 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.7333, 6.8171, 1.5263, -0.2418, -0.0171, 1.0281, -0.212, -1.1966, 7.0496, 1.7167, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:150ce0a24ef4289e15950630f39b9acb4829b97775cc5fddb9841022c66db556",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dec8d276e8d1e4e2a67a36c01704dbbcf6684aba5e3aa09e3e5411a70fc083cd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15b6183fa4f7e74910d4b25fff7316cc29f0b484ad27d34344dd239e2e25dd98",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.472 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]: [-0.3931, 1.5951, 1.0691, -0.1509, -0.3508, -0.2359, 0.9996, -0.0196, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.1139 left_z=0.1571 left_yaw=0.0199 left_pitch=-0.0674 left_roll=0.0286 left_gripper=0.9996 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0048 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3778, 6.4752, 1.9121, 0.0122, 0.0708, -0.0122, 0.0615, -1.2239, 7.0359, 1.746, -0.0513, -0.0611, -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": "gAAAAABqrMkNPZoPmy6aEZZH8ABpK7oRyIXqliJ_WkljOhwnRVSke_ACNRHm2b1aveRif8jobzY1BUKcPeisjhYs0p5EXLnfNcmrNH5krDZvm-pqUAiFUZWPI5HCbMN_JhQ2u90NPP7pX0Y8dYXT8TvYLiA_ajaZ7l1e6MGTjGy92Ou4eug5rD3AT7cDd8mY2sVjJtY9bp8Ts5iOO7-u3zyH4qUyTXTrMfJKzYmMDu_-hTBJ2vZR0DkRL5AKI2chktFz0whqm5lUQzKEF8ffB4fQR-dpU1lL_p3PQIdAhYkqed7ELujeNtbcXuicWXtgFNmFTTKIqsScVBXrEs_D2PzGEfnfSbpVpGle05cxiWLSrH2uPP_30KEXY62vanC8BlsLpi0Skmx2BkiBcgpsTIdPeEolU0h9hSoGdacTmQkIYvWMPEkLOoLLpizcDrifCkX1ByJ7quhBMUuhJeNFctZf3ZRZ9SGb82OJ3FXg1KO5RSIiR5hjB_qbmqJJQe0uq18H5wrkGmPjrTv7zbEPwt1oRJ_fBAKFCxLdLK1P85mqIhQPqg4bZ4nPzN4KzYT0IIr_iH0mCD_GJYfjhaCLTuDJNWc-B8s4BZdbl7hYGM4-tPHp_uvghv0tvEZllFd4H48zilVc6E7Q3oDSBxc7Z1D-0HQlGJn6Xn01IqSWK6hAw1i3D8bYbjBYhi8YnErW6Lc1OtRfOLcleWmtAPL6GY4FbjiUs9W8cKDsOChUJx3ZJOdRik4evBYzSldtVLZOnLiKKtQ55WSnqm0Tn3cSFsJR1-tQJM5uFCy5DGfqgOveCZokLB_Ikec7RO1yvCycVB6OWp0tQkrtA1zbidp3gW7fVbHU7bBy1xvkDZDBPmEKrd7mdtvubWKITvSTSiZxkGE3wzAK752WVe2LHkfhedbXA9OVuJIwIZ7WJla9lmjlHTTJ1YaQreeECvErRNwEw7rgLQeqxzyifTuOwoH3piuT7wyr-v4PG4sOOjGQvzH1VCWhUN5q0F4eLQX6FLstn_tksee2xa-wzhRFfZdzimQYcydtgxt-uUYlVlvczkJ_qXXQIyqYuU7YUDuAPpYcveksCqorG-rCSk5KIawrso5Kne0nQHM0hQm9cOoxbzXNoARhVJVhfCZXFH5dt4UUvHxL2FPJyfZ0fSvtKezi4xjUN_WdLiCyw6GQuSZggxSaciQ9kq0ExpT4WxBBaEdPpNwFFT0b_WPiy6R_LoiUVIjBpUVjNPAXBaypoJnXWT5kk9wdxuCXUfo=",
  "id": "rs_02417f333c826114016aacc90b3d3087d0975a6beb32dca051",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.22},\"note\":\"The jaws have settled around a roughly 2.3 cm section, apparently the gray bottle’s handle. I’ll lift it a few centimeters and verify that the bottle follows before moving toward the cup.\"}",
  "call_id": "call_BBL06zRg8ieD5U7547I2PWlO",
  "id": "fc_02417f333c826114016aacc90bec6c87d09654db14dd34084f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BBL06zRg8ieD5U7547I2PWlO",
  "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]: [-0.3958, 1.5925, 1.2503, -0.4259, -0.3397, -0.2512, 0.2428, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1147 left_z=0.186 left_yaw=0.0205 left_pitch=-0.1534 left_roll=0.0468 left_gripper=0.2428 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -10.3179, 9.5521, 1.8046, -0.232, 0.0659, 0.5201, -0.1436, -1.1009, 7.1453, 1.7363, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80fd7cdc5bf6423c674cb5411dcece46ca89be9ce1d82e37135861f87610972d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1018703258ed4ebd26a9b1cf558a4cb2a3a7ee566c9ca571ad3106fbdb35cbe7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b61270d94d744bf6266f90ceaac2478eadebe0bae98ab72c4a03b3254da1265c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 16 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]: [-0.3958, 1.5974, 1.0683, -0.1448, -0.3431, -0.2405, 0.2404, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.1168 left_z=0.1567 left_yaw=0.0134 left_pitch=-0.0664 left_roll=0.0193 left_gripper=0.2404 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0205, -7.7333, 6.8171, 1.5263, -0.2418, -0.0171, 1.0281, -0.212, -1.1966, 7.0496, 1.7167, -0.0415, -0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMkas2I2Z6RdGrUtgOhldPzeyAkCnk3708rVMOu84BkZ7USib53T488k8F71V0LazGSyRwvqpQoZ5kI1MOala7pUX6CGTqi23OsPZFHMeh1xQLJ7mLNxNYMpIUV5uCRPos9jlQnAQaNdBZEXAQqsmzPu87V6VICdADTfj-A3TZ93VWunWbCWSnyDN6hZxTYaBGRYxZMS5uVvoLdGcgja_e7zoankHTFNzyi4xUM_QlveuTBsC5FehCBNIXO2njQ3zJV4Fs7WW3gEMdhz5sEdDRar7yRZyN_QIqPQVnY55PrlSWtpNuq86njqE_XZ4vR3Ak_ceCK6x5xU3nCof_lCn1EQnn2vymccwut-dlWf2iR8mHDr36bXQRs9wCkYPyBJgtE5t4zfYrXzgY3lzFadpYk-2yrF1dBcGhcQ3NxyAb6b8_AKU8qqJigrzq8ZgVGFPCgPSf8qWIGeFZS90qim_fVtLmGGTDCHJL7lXP9Zdh4sQADR7dk4vhS1t9GWnHDk-eNbcf6Prri24Q1ZbJ0QcqQ-6TTuqwFKZJ4_RZwoTOCosjWvlFFoXNOCj03CZwcSFM5_hf_2tucyKdaoLUbAO2-2vyRdVLZkKsLNBwRoI6fDxW3gQiZHQMXI4MxQnUA7cZPDCjRrWGn1qFA6vIkgdgKKZvimJG7YpbMGq4l0vcjUJQ-IBHcQ5EBX6PIHN-3fsnVZgEj8v8LakwyEldTj7vG-poNjIlpzuZZwI9SvcuDAbwQN1FkhotL6wvdtHodmcqvFj5XX9ZjOY4xHpIAxwVuYjIoTj22ZBO9T4j_gEYF7HPuHspODXad0owpU8NiNyV6HqIbjNkltD213t4aj1Qi6zSORQPeDXH-1rcQfolfqfqdOTooN4DGR06OuS1ac6DL52OIbsi1gWskQ421Lj-1bqOBfaSDfAAz_hpCicmYPZy9ulkvhcgovYwYACypqUjyxPXmTjqI39Te8XLSI_A3J3pUkZGDLvInkLQCc0Ym_g5Tf7lPd8XlW6g1NJ6EguZV4dM1eO_H093LIYSpoGD5zAFPs-CIM0KagJXR9BtuEYEqtR1YxTs3vkH1H33aNlIYHprag126wXslgiy-MYFQp0VSuvOxrOtZSNIBKloUQD4k4f8f9G0AwfsdALt009en0rPW_jf15IIarfgMe2VtJ_57KURsJ5BdKyOR_HEMZE3lwi15Ql6FiUa_WaJTxw7cbXg7LwTptE5c4uQNDqdo-0hM8VTJpUuEUAcIqaiuv8SX7tMP0WpltjzwaE0R7aZc1izWNuX90Rz44X93-aLBTVNAPtp3KXVh0SACFwpWgb7h4oBDcJkbkh2ePZZl2aRMnv9Kg0ylkqIEswlweHmGP76rzFd00Yc3bK1PG2PmSM4DC0TSC1w71h2Pl_gL-D5LzE9yAbS5HadvNDlj1mUhkrekdCef2QSKZBgBNFPoafrEzn6uf3n8oshH2JbyOgtjebyOSckUjgPYDdiqi6L57vMK3uynm4LnXqrPKIMdnQ9evKOa-a4D4IyNAdoifcDDDNI0GzHnAxs4pWenOl-DL0mhMt_4ZJYpE-w3dxh17t49wZA7UQ7pUAlwgCZDQ1xPU-cgyD3VIcrb-5VBfaQ76JFMJTyBzgI3FnecjRWhosi5BnJs5by0AQeasb-79UAWIPeyGl_yhAT2qoqk9kxnOFaTBEGoSb1yJeUXrD_6zgQn7NluAgKIzy4rpRl1u8-UB7sRSnuY53qJbXIYm-wQE8Hm0_EkwojNFujHaeL1LTyUtZmCiHnnJgOxhQzfqmtd3bd6mw9_RVYMRByP7uhFSfz3FEAeceWSsxyKADWxMNlQOIuiDvXxh8_kFT0N9-H9k5skzgezXWsOmQqCKxCSfdT3I6mItuXFRi3xuViny66ucsvfvPDzWWv7gnva1OsKio8JkWLxXL-4E_5OJoaBzvJJF4ceuxjIH3yw53UW7IvRaALzrjCZZxreCOsCHGn2vSTJUZvnG96pv2hPV8JuLye0bwVG7eLoTm4buBXk0-OtHMyTHCRXsudeqW2dJHYIypz6tsrIrz4wdA0c0q0DgwyPcSS-6VSyYVDWZAoPWZno=",
  "id": "rs_02417f333c826114016aacc913b6c887d08ddde30b21ea7e7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.205,\"left_z\":0.3},\"note\":\"The gray bottle has lifted with the left gripper. I’m raising it farther and bringing it toward the red cup, keeping the white bottle and blue cup clear.\"}",
  "call_id": "call_r7tPLJhaJ5gSeg2zIcNzyDJH",
  "id": "fc_02417f333c826114016aacc919734c87d08202e9c458ab411e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_r7tPLJhaJ5gSeg2zIcNzyDJH",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5457, 2.0781, 2.3096, -1.0878, -0.4278, -0.3779, 0.2449, -0.02, 0.8032, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.488 left_y=-0.2064 left_z=0.2832 left_yaw=0.0171 left_pitch=-0.1971 left_roll=0.051 left_gripper=0.2449 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.6171, 8.7863, 1.453, -0.4127, 0.0464, 0.7741, -0.0342, -1.5248, 7.0496, 1.7021, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ad9b127b3975994257bc699f671d12fe77ed50666766fbe4f93a85d77aaf7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9b73d4c16a2cef0b8c787c36ab91864564eec6ca262449f19904c4e58a417a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e6e7f53566687622815741fbb7a2942b315baaff3e0366383823e72d0ee4c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.046 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]: [-0.3958, 1.5925, 1.2503, -0.4259, -0.3397, -0.2512, 0.2428, -0.02, 0.7986, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1147 left_z=0.186 left_yaw=0.0205 left_pitch=-0.1534 left_roll=0.0468 left_gripper=0.2428 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=-0.0052 right_pitch=-0.0149 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -10.3179, 9.5521, 1.8046, -0.232, 0.0659, 0.5201, -0.1436, -1.1009, 7.1453, 1.7363, -0.0171, -0.0708, -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": "gAAAAABqrMkxsmEZ-X5VxH7DfdINkP6qJMfz4nGFEFIG1Hs95a9oBeOfTvQ0FFYnAQr1s_r78Gvpiy2lkNh5JtihKjAwICSLv14bni8ncKiq0WBsjTzB9J1LVNog0VZa0U05cKOSWIZNEIDtQsALXVVq9LtL58n1_Os16UN8ciW1UVhuvehZuQOeWocN6EYKmhkgqkcNUseR48VEUo4R3uilG7zs94-2LYQD6xCgG0YLoWRy_MaJeGLTiWe4tArIffGQ4QCSwen0Q1RtmQC0WBsF99rTUMvt17acMNKkHaxXkXT4tE8N8dUNFdEh4XoB4xvWp_eq9PMkOcpyauVJswtLiQ61QIFerqbuxMJyn1WtGQF60nwWa4SsfZkfQw_qAzvDGd1ciCqWGAtT6pi9atVYxwa7rcTuE1nP8uxFxpauNuE_tpwXrlcKSARx4QihjVg3T7WjnNh1tH1FpQ7HM-uoMek22TMoz7Nuj5wXcOujupuW42L4gXfLsTSBgSiXcT70mZL5VoFeMlZ-ZnZV98Qbfnto7Fv4Ls9WhRjyRQ44OdzZ4KuF_onvD_PRLkO93hQIOL1ivtW7lbCqeaWX_y4ZGXwGZuH1S-nFZl2jRuNAyXg2T7lvGykrwKpEjoDafg7bn1HrCPTG4SCSlzT9rhc8u7bnMZe7Ug8d4Jv9qm8UvqGgNk8vparqOW-ba3sE-2MYZMsde4n_u6HciSTeYsd3lJ2oxCYFnm_mabb7aviz7L69BeJie9DOhVEEopQA1U72SqRP4Mcex7cypgpO8PxqS84mWjZ95GQGv-UcfabUlATuyTeoWRN-AnCJSoiK8AytekEzpReWP8IGXvs-PyrDbuUdtUeHWzsjqzQ6u1Viab8Yu0sFXjx5dtY5uNUGnoAFd6VSJ6NNjFs4FZrKVA6hGZWse9ag0m2Ll20hDuCur6Aqxe0HwV46lFr5WjaQ2DZZH1t7VOzU8DgyrivhgSfClrVPpTtjwcn05eC8xmjTCGNzSwNYbXOpd2qGmM0w_xwHvPZfFwXh-mKjurLD01trjo7AudlrcVMZoxS5cpEXhAyoFBw8bcHW5vZ8kYFD_vL-QjkFpsglm2r7J5bI7yY7VcQTlwXyej8EOLnoGn4bftXuN6FNJ1ZsSC45JoiGTQ0W0xk7zGnaAhOgXgMamzdEG34CTN7I9MLm9LzuVbEzS9FWKvBBeEqVUbwTNLh9_dqB2RoHed8tf7SgHzgYqR8bKlteuZPk-Z27nR8CgNnAD_v1b6dcOjO8yGFBlDYrhRjrr_5lGe8ORph18iNxWEzSeGMhLWaEVSDGD9WO7ZULLp5KH6TG7KEQVK7faeEnDUHimKZG0EgV3-Ny2JLXjG7GKtSqIxvhEKkNm940qUPWopPG6ia4e6Imr3GR2TlCkSfxUrM1BoST1hj4oSNDGTsAOaRJDVm-zq4VYu3BX6fucTE_nj5C4C9J3PkCrfQMQ6QjQDsTEkOfClyYLwhoOi_B1n9qEXohxeh_TJZOXbek-NSUF7uumJXQi6oSjSF8ZU0hQ4PtxDbsoq_K5AEfyA243noc9WvB3a3dzCCnATGIWx30Fx9hgw7_gxrNi-poPK8MhRqbPozC4ERsohh8O9SX-TXMfXEQ8UdXjRs9JCEkWGEpbTp7KuGS2rBdjX7pFw_CDWp4UPrurCuy0s6K99TUSIR1qaMHGUfhfe5niaK6Rk9iGRobFvIqVlQL0SZpmFGPAgOll1uRuD_Vpku6gQ_E6vNGOYolIuASZXCqER1RSEXRfDAyf7KvuqesylJP3cXENTx9Vdl5QcUYwfvVo7m542kphIdak1Mu19wXf_rqSFxacXCOUqYGc6J4nR8swUx_WHed-nmTSFnweHcKjiz-kJdI7LfphlUFz5H4Hvif_J5vQxU0cCjsBhY5J39rcZ8VvuOrJ1MdZjutTVOp_lPa_teolDV89sgx7iHL2UkZqd-yCPPgTiacmCyVQKp5wndwbdMHBvPP4r2WfDJzmo5-eBiZDJIzx8DRMHCIaOF20AMGbos8OIXzdo9-cg75Xzuq1wcaOyZvJM1NtSY2i5M2g4RDL8DjvyUoCIkhfwHT3SMWYXbeAtYAtixRE2CTqwY9Vd--y-haCa9ELo4UbdlrV9VNEUhe5buzY1qQ_mVE20-yKEorDFaSQhZcwrZgwiCqKe_UIvC5HSG9LfJHsLJc5ncWcCynHim3geUdV3VRqM_u5GS5JvvCjD3-K5RzEZAIhapUmRgCNjQXYJQ5lBElK3fJOJCI5Ihst6puQJgdUFaYIUG8H1G3dYy46Pkct6ursAg-Kcse1CcV9vto8gxOYCl5qaaF-B8HjZoup3zrUHXpNQY-bdEvPW2lyYyKNYgt3-gLo3EhoY7TV4i6r5bnRgAKgWO81XmXfRVSPOzrHJ2S1AQsDhDf_O87jqvmW8Af7xUJ2-ftatk10cv70lckvuMN0x4E2SOiuZYFHNUWzPJt-wIPTPO3pfz1gII8ls8hTw6Q5SSpm6VWmF6K-xCoFUBOwO42DVEuqnGQMNcAG44Ys5EGfSFPdOiSFWZN9B37HBjQdLdjvS4UHnHZxeu6tQCxEmDFI9-evP9-9QvMo4at0Qkh_FLYiBmNxCATQw1hodP7lb3bN7q5_5CX95MhCDS6XIUhq2bZG8JcClJc-gQpwSWvt5eMYR-5uW6Pp55XocbybOE_ELOJZFkKNn75Kin10O7rC6vLBAUo7NG2MIDqEHv__B-yA24VbC-7whf7IODDizvoF5BBfDfP0f372_zJF6Jm9DTwqRGsUVMKy1m76QvN7zK2yl5PxnWW-fVVX_x0saG6BFZtyRhRRo4Yd3NKDL46pcxB7lpuVzgDM4RO4NN2kuCQ_2munEfjVOKe-ntR-u0M7unmCazAsIqomJ1KUQSxX_Jw9rZ0fJY_1dvkqtxe2ewwf0VnHh-QPDq8NHszObR1S0fkcsKpXLZmeEfEp7GbR4a40UiZ4-gkQ4YzQjJSApmftKA2NLPlUVI_Ce3B3odUoRGIQXUOa_4lL5q6Ad3PHaH3Ki5zBR2qjatB88-GbzoQM76vmwS4c18r1cM3CmLxnlMH9yphGhSFYtiJn7E_PT24mQImQE6p1_Bd6rGcDAFFZdnbOQaZVmg4AlaYjF4xWbroP4URQ_XWIYUQ1LW_9VTjG1XQJRwkbDTh_E1M-tDQ-bdGvCPxDJk7ZdRup4JVyR0KQzKmU4oUPONtp5pHlA9_GyDGMiuCIc9VJ923tKEKcL5I9_NUjaXjfUOM9eOtwNnujXoj9ts_GNgenl0mIg==",
  "id": "rs_02417f333c826114016aacc923041887d09b8a5e256eb90ce2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.13,\"left_z\":0.27,\"left_pitch\":-0.45,\"left_roll\":0.65},\"note\":\"The lifted gray bottle is near the red cup, but its mouth is still well above it. I’m starting a controlled tilt from the cup’s left side so the bottle opening approaches the red cup rather than the blue one.\"}",
  "call_id": "call_tSwZr83Fv6IW7xoUKrsNTZkz",
  "id": "fc_02417f333c826114016aacc92f7efc87d0bdec683a8884511e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tSwZr83Fv6IW7xoUKrsNTZkz",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4782, 2.2848, 2.6823, -1.5341, -0.5476, 0.0101, 0.247, -0.02, 0.8032, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4776 left_y=-0.1399 left_z=0.2614 left_yaw=0.0194 left_pitch=-0.453 left_roll=0.5561 left_gripper=0.247 right_x=0.2952 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0198 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.294, -11.1521, 7.0496, 1.2772, -0.6374, 0.2466, 0.442, -0.1299, -1.2923, 7.0769, 1.7265, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:574eeb0f6701f798f6fce0dbc2ccdf11d073865682b7658d7a4cd9d4bc5dd606",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbaeb1463c3e4d92d84c2ad0b26b77ee0f1f9b15fe1cbd89869f5ee212223e84",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f861731a6111101c5eb8d4c4aedecedc9f31e3dbcf26c3bb48ecaf4d061f06",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.607 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5457, 2.0781, 2.3096, -1.0878, -0.4278, -0.3779, 0.2449, -0.02, 0.8032, 0.6086, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.488 left_y=-0.2064 left_z=0.2832 left_yaw=0.0171 left_pitch=-0.1971 left_roll=0.051 left_gripper=0.2449 right_x=0.2953 right_y=-0.0005 right_z=0.1785 right_yaw=-0.0052 right_pitch=-0.0195 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -11.6171, 8.7863, 1.453, -0.4127, 0.0464, 0.7741, -0.0342, -1.5248, 7.0496, 1.7021, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMk3d2G28mQZFSfjEQSBQbf177SinngwylKxT8tv_MizbaxR9m6dy_8TnWHpGWZ_vGA1-bkHo5V-PXyYBVMa3IvMRCR1WB2p5daKlObaz4O7R4CCxNXXaPEaMPBjeXZzb9V89tv5_22x6GWe_9PNktrulUrsqWjOaM-oEQlBzv6Y58ktbXh_z6Z5_On8aMC89s-mDY6-NGVAt3AEqmIlDS7ZgDMJQ2-h4EdcdjdehGlE8bzJWFs-1u_bHc6LTq9nWt7PMEzYvMTsBZNIVVw9Zw2ATV7DplTuSS53rVmZ608Q8Q4Pj7TCxif3PzAky1MRpqxu5dUkLWZsjggoIeeupZKeibAI-a-snNIxTqQVeQ_TbTJcsDDCq04nQotO6XP3PvOI67kK53cz_R3m7PB8l_1Jv1a7tIDEp2YyAMs_qwyt2zLm-1p3EKa_84Ynp0Ph0jQEJFvObPFp9N4VLJyIjvoFfcdGQ7BO2TviJtoQJ1EqvFiPSRp_psE5sWCeJ-N--3aRR1heEU1boyaoZrrBNSrC1m-q0-oT52dZTIgVg3-3rrRXkPZggpL65HzFBf46J7qNjPT7XYogxHXbbw9WZjpzi8xSIzKi7pINBXwNqxpjYCOQZf9sNFXG0bMiYEfxF801HMdDL-eJ2LbL-2AduU3U6amd4b8OzptAk7VOX9W8-Eww1YFCDNqSD_xigLsD70-3_aG1Z6k1a3TQeoWEuveGRLOgDp9u6zTJgdV9NIeG0phRUtP4ioPL7if2GB_hfiAz6tGeWgWyYBeYc4bogszPJAhoUWydnZzLRKEBBxU0t2FOkulYbV-tCkggk19tOMrAOHyfP5URnir7Xhyu_qWlwt7I26rVst6J_p_xhJvllYpfb0wEmUtFdZLgRDg652jJpuaqf4Mc9gkHhYeRyzbnHqpTzPV7kyBosRcKrmB1QWt4DMeGv3Z6QbBeaeEFRHKFGZ_OlIiJ4bgCdWf0d4rV0aWcLYJeupxXtAOYDkY5EYK8gMyg-nciZowoVXP6_H3xiXzT3v4gKgkmGqRGVh3XwsK1uhPmG_csSOvQcddAHGVE1-uIm_p8JUv2XUX3VdmQTi3lwsoUhuG5EksD9mPPXWf5Afc-JeIKjQ0dQtWFQvUd5v9r-prTsU_c0C2Tc5wa-Tk245pFyTZTm-2WIWTVGS7eGipsdXp3oGzd1aZL9zupszYJxa9dvK7Mr4J-zSL0fR7kSJuIEChr29a-hGugHYZmqSjrk2T0hx-cph2WRF19eCVYz7OjSfGeE8c3wHXML8sPyMIIMGRkggLj-0J-RANR-b7RNKNkhpHUHK9H4zIxId8QMbUbHIwaEGjRFR41mm45aDtCW8UPaTiec4ltRbHHhbBgJN6djy9en3RT46bLytTovsQag9HRbX1Nn_1ydwM7l-_UgsOvG_1Iy7EnbSFYJwT43vicOEgIZEpNApv6ZK1Yh7TNikfHA_YgGqCCFLPVvyEMs58bfchtxXmXZE9_rvn6Di2l-86ahrV9mDfUBULVLiVdE7YV8wYrmryT",
  "id": "rs_02417f333c826114016aacc934731887d091a82b17d46efdc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":1.25,\"left_pitch\":-0.55,\"left_z\":0.255},\"note\":\"The red cup is visible just to the right of the gray bottle’s mouth in the wrist view. I’m increasing the tilt gradually while holding the bottle over that cup.\"}",
  "call_id": "call_XrDIbnnwpdzyUQTUwtcEPaUk",
  "id": "fc_02417f333c826114016aacc9362c3487d082039c25765dd0be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XrDIbnnwpdzyUQTUwtcEPaUk",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5629, 2.2635, 2.3508, -1.4017, -0.8146, 0.4561, 0.25, -0.02, 0.8051, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.1422 left_z=0.2114 left_yaw=0.0415 left_pitch=-0.6577 left_roll=1.2057 left_gripper=0.25 right_x=0.2953 right_y=-0.0005 right_z=0.1778 right_yaw=-0.0055 right_pitch=-0.0218 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -17.6068, 6.8171, 1.2186, -0.823, 0.149, 0.3053, -0.1983, -1.4564, 7.0769, 1.7607, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab7d1e1a2ae331172e52655a45bbb6d6831049a73b73f82c892640b57f7a4f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38a527332f22829468534e8523c258dbefe42f382485997798dd4b32eb84594f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:686ccf6a0cdd895fdbf75b814a75b3a9f612a621efb60642c57b589d10f51ca8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 8.696 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4782, 2.2848, 2.6823, -1.5341, -0.5476, 0.0101, 0.247, -0.02, 0.8032, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4776 left_y=-0.1399 left_z=0.2614 left_yaw=0.0194 left_pitch=-0.453 left_roll=0.5561 left_gripper=0.247 right_x=0.2952 right_y=-0.0005 right_z=0.1783 right_yaw=-0.0052 right_pitch=-0.0198 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.294, -11.1521, 7.0496, 1.2772, -0.6374, 0.2466, 0.442, -0.1299, -1.2923, 7.0769, 1.7265, -0.0269, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMk-BZHTHmKXv2MeCR3iBSkiO9vOb_ovW6jhHmjnB-6vKz0g18EjNMTEDAywTmS5Ce7skRuLsa7CL3_zOViNUwWIQ7ryVi6hugESrFScYvb4INew9ytPwPVkjIXCsXTAv-vt3tWxP1vgvLQGxpbDzQ991iqSDG6-TIZDlua6-_2zrY-NsUZcUfn-_wK9xu1N8JC92QkQ9wzmbL3zkqU_lrVppyJqdacOL52Y3qNFFKAmy8G_4JCrs00C8nDZrcu5gwP8p8GXp0V-nOrmjT65sN7gtY5cELEGG4M0cZsY8gW7Zn822JhFz2t8nJiPA7vf-wnqm6r8jCU_k8Po-ccOKFrVaA2JYUyqaK8dUVhhJqvSQb_9Zw8shT1IJsNOueqi8y1IQoSo43aPiVY4a37aj70ykrhWNYnni5ycfgLjVwo474AD1UkWKEAnJ0gtAw4mXo--rznIHQilYT0zu-Nfqow--wfoXTaIS8luAL-1j21K1b1vq1EhE-yRdqv1fPW8lylGD3ltoTFTQTqyntD8MlS0xD9_rY7ytl7hy-7VJSIO75OBZqE3f7_i8veUGOvYzYuGBoxNMcKyycGr1I_FndyNM_x5ogJpRbP4iwuQodmG-ShiJSxnS7zZNIdIkCeCUXJKQkpuDB_iP1oG74-dCakOZzDcwugohmWQqCkZTuxLUSOCzEL_qLzknUK9g9DLOc2tdl4bswuTO4qC1mpFJpQnwnRyX687um2sLxYsDym3Rk_ZBmYOM9UHrGivPHQbVSwp0TY3udxImKSVvWZZPNNOk9ozygkieNyWBB-XjE24GvZni3Spm_ntVT3HUdeppdeeQjMjy7pkLUeJtwAgsttA7beyRaeeAvl8iEPzyvud9O7IVd2BZ6QUZK1K3m9SlaSBUjxXL3TY6L3JtM0dQdQLoUC7ksK-c1rMRG0ohLAdkWgTNsZxWIAaz08msUbuIg0cYU6gaHNus8JK-I_yRq72GrRi9EJPeDKQEy8D3X8IgHyABgxZ7dobTC5m1mr7akAWxDG4GoActXySUauD8NCsr7ciN2M46_dpghUUCSVLYkLgSzHIs60tSSDMIKbDyOocQiZaiIa0k1KzlGFyWHjQjFkfN0mnMZ74ej5B5bW8j59OFwajCQsMAsQbkqZKyUgXqUiIY1cZO4gNopXUsT5MKcpiE97TVUwelOFgMETd4nNM20lFkBCJHLNJT4XKcQkj7ZCbVemm5BUsjxqNskiu4RvcJkQmbk7eHz6v_ETML3NxMFSzY-Q5FC_bWog4PWj2qL18nTvuCWG4J7ovN3tz0QLMjv0FFlNtMRvmXttBOos2D_pcEhNANtEzaG1dwJTGQfIlPN2P2BA29UKyppP_seFOE91fvKdnRQ_pNLGb2mE0rzGyEcheuk0CUbopQPpHRiAPkIRIKlMjNZd3xob-pfso5w_9A63sXcUP0LsHSX3sg42eEg-0LmXF_qRTeD9JcWbpBO4ujnzRlm-fyu1jvQk_o8JJ1WqCUqkCjANO0rTWr91vh3huyOyJV_czlVKD1m0GvJAYBKvoT-5UWHG71cqnZNChtUMID5msTE1o1ltOQXCWz7DFCYALriJkTIma5pEmkNsYdQ0RAzPJAFbLHflJgi2oKWP-4eqEKhmepR4Ao_1Horh9AML4lcyvkxee6ai78J0h9Ib6bcFAvsLdG_MEKcwRDg2XqaNLue0sTUNQSG2TZHGgbjf30NpiodZhXAF4UWmjakl9V9iqzEgNRqG9CjsKnx9Dh2CixW21qSr3PWz9962u4InTRauRC_3u8lEdJaXPM0RJBBXfovutXoaMBrELF_9yh1tW2WNsjqEzGA_M0c4cyUifjlBmvlk6ibRpITYyeAtY05Dtw8DInRo114AbVfMwM7gUDeOH_obNTmiS6sJ1yzEBHhx9NoXImbcTXSLDZXpkdZSBKA-fpgQSqnWZbnjfflnlnJ9y3tHJce4YlM2pDkqKivioCgG3",
  "id": "rs_02417f333c826114016aacc93a494c87d0b3be8b4bed5d1d71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":1.57,\"left_pitch\":-0.4,\"left_z\":0.28},\"note\":\"The gray bottle is now nearly sideways with its mouth directed toward the red cup. I’m completing the pouring tilt and compensating for the arm’s downward sag to keep the bottle clear of the cup rim.\"}",
  "call_id": "call_IuXC8Y8E5dGWmYeb3Q15VHw8",
  "id": "fc_02417f333c826114016aacc93d417487d0ad0715f50d2cde8c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IuXC8Y8E5dGWmYeb3Q15VHw8",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6216, 2.0125, 1.8721, -0.8894, -1.0595, 0.8707, 0.252, -0.02, 0.8062, 0.6083, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1423 left_z=0.2418 left_yaw=0.0406 left_pitch=-0.5117 left_roll=1.5494 left_gripper=0.252 right_x=0.2955 right_y=-0.0005 right_z=0.1776 right_yaw=-0.0055 right_pitch=-0.0225 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -13.9556, 7.4735, 1.5751, -0.8474, 0.1392, 0.1978, -0.1026, -1.2376, 7.0496, 1.7705, -0.022, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a6a048e13393f00094c8e6ddf76d3f23b4512a044feb63ec2dad9b0ea913adb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:648c725fc539ef687182145527d9080158b78b9038b952695e452e126dcca006",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04367234217ddef4cac7fa6fc1add3e4f50a1ca5eedda7e0ecd6842c7f2a6632",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.981 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5629, 2.2635, 2.3508, -1.4017, -0.8146, 0.4561, 0.25, -0.02, 0.8051, 0.6083, -0.3851, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4729 left_y=-0.1422 left_z=0.2114 left_yaw=0.0415 left_pitch=-0.6577 left_roll=1.2057 left_gripper=0.25 right_x=0.2953 right_y=-0.0005 right_z=0.1778 right_yaw=-0.0055 right_pitch=-0.0218 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6359, -17.6068, 6.8171, 1.2186, -0.823, 0.149, 0.3053, -0.1983, -1.4564, 7.0769, 1.7607, -0.022, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMlI7I5Mxfj0HfbunwZAJjyfo216Vp7A82PJ-s3691eVppSMc2NAykQTLJLM-lkRWgngFBTzyXPNNpTZSZRzNOmmKCnpsOJBBZMeWejVL_E11BxmxfmvKNnvz0eTw5EJnbschLTC6plJ4-DL4JzQh4E06wW6PBZIKlS4twX5nFdDZR_hqy0PXEVvdJEJ48mVt7OgPiYaFNW2UGp3HtoB_TUGkmMbzdfpNQb_4cvFHlZNGc8frscwA_BXfMgYaVRmGVA4Llo9cSHCu7GJk_CGjXinj2vNkTv95AujZ38LKVshcuj-3qXvJzN_YMmQB0gCQ0Ef-Biptt6dY0qzc_8PVDTkCD49ATf5qMrTOyzBL9sZiK4O_XXuEmhQ8w13PayY9u2hTedsFw08ttfNzd91qhpBnmjKCp-g9d8JoFN9hziBpv17Il-AbHl5folRwqi1jYtwhYoGZHTvGSNBNUZCa5fIhhGxOTD0HCAySEQt3dZOlZ_lkBqtsKFEZqddHwV6BPwbZ3_6JJKA53Ck2wZhnaZu1jss6GMmQ6WLVaWrZguKDuTA7fOOMsJtA4bzgYL38w7jv__-WWXnrrVS4ajdJ4_1_UFTqDaGL425dsnrL-7i98cMyC0l9U8T2ONMNRZRVvwwjXRUKimXeDGU5JqiAnKm435-G9QK3ZudncV3PdFxe2IsGNlq_UG5PNM3rvR9rJrsUISmmMpWwcdzeCFOqhmTO2mEqcDCvJ4WWnniCPGLn9QoWG21_67H7Ka6w4Ez-p_GKbngqr7osjngdWiW0kcd34dnTyTpniDjlWzchc9yN22vXnjVrpLMYviq5id7OAEAJETB8N-1JGJiK4sN1o6eJcTaLagOZNtSOKeJEL7DdcHAGUp_ReB7HO6DAtHDzQzNuWb9z0U8ACwykf3WROYDCyrZUX1Pv_wBWH-zzBqtSwshA-4LGK3SkPuLUznupFRLfRfbMd8p56SrcbSmqAzxjmY3fpxIN4o-wIEf9xavXihzogB4HF9SWCsWvjNFWtryobZzYM0zYuEr-11wODEmsEXwWY0aZrhlX0Fq7VoatVwM-VOwc0iipckh4tDfJJL4l0Awc_9tWL4izLO_3THSTkjCDU_fMmoj4LbD0gd99BmnlokkOtV2pMcj5IrDXI3iymYfSA8_1VP-OSY5a_fhJGNwXt8zBoNxNU8uSFun4_MWCHH77FZQcQAoZpyOY2veW2qEPzKsW_wKJ8P_iwF79zZrXioI1ZM0QrJMqGFwKroYpIDdkmI0MxcBSQBQ6e6im-0Ee6CvrYW-Df4vzFq0G5Tam0cC9TkuB7hsUSUxV6e_UbqlJK3IVxeZHqCxaMa68kJi3f3XMMtihqQu5sc1FD0C_1DM8BbYIFf9weGq8rr1B7497SVNwjrr-yiDJ8oui3Uk85ni5CAEBTnNQfNrZ9O4t5A9ZjINexoV-CCwjoxSS0BElPaI32SaPMTmIFgxfmOqsEuppZGSsOaVmZIEH7P7ZdeejmmuvFkR8he8P1Yef6m_O3_2iJO0N6QtUMXK859bvJw7kKDacNUoD69tdFMeuZS9ftOQ3X9eXVkmUKW3h3h4Uk-3gfinv0e42W0UekLkLKCV7CpvSU3XvUgr6q1axknOg5AC4J_PtT-jLleHmQItMDEfEVRnOVVDnIDauHXWI5YjC7fWuuWNRLQN2X6iULgQJx0FlNjMduA40a6Z1KmOoD-0wcMVmKrP6iOCc2qzmimO-OdPiE4mJ016FVakvj2TwYoViXrtaj5IGal32RwK5gtgps6i9B-kS_CQL0dT4BFlH6U8dM_Aojgw22unl7EJ9Bg2PpX1W0CTLxfPZ5bE0CMj4xaTnrNFyUSwf1cSM3SuSU9BJ-J-94wIIYHbalJ3MpbSWuyjyUikr2RxXQV4XxVn2Ao-zzU51PtnBZHZdsoH2Vpxb_0VKJY_njbxO5ckpVYuB3MvoV3IgTiVm-Vn_zSJmnuHmJrT4GyNwKdMmISQTk1QNGGreQfNyumHGW3tn8ADGE-Wd3xxkym-DjVX99OL7h1OwjyW6TY8C_g-IgLr1_VxmJFPC_4Gb-uO-pq2hdTN0FJegnKSH1WOdBfzj263TdDOt26XfOg0F0qhUpIuMQYbSrPl_w6pZbBsqIAIoNi0c6jEvN7JV3nn2UMS6PsMx9RY0vPLe05zpsLibAg3YIr0iOJZp-OXKrrI_ni7s-tC3Cr2uJI_XQg=",
  "id": "rs_02417f333c826114016aacc9417db087d0a417fc1988d77578",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":0.65,\"left_pitch\":-0.3,\"left_z\":0.3},\"note\":\"The gray bottle has reached a horizontal pouring position above the red cup. I’m slowly bringing it upright again before returning it to the table; the camera does not clearly show the flow.\"}",
  "call_id": "call_wzIN4JuATFMxSAEHeZCuVOp8",
  "id": "fc_02417f333c826114016aacc946d4bc87d098fb0b6a4d915524",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wzIN4JuATFMxSAEHeZCuVOp8",
  "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]: [-0.5392, 2.1345, 2.434, -1.3598, -0.7319, 0.1116, 0.2542, -0.02, 0.8082, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.14 left_z=0.2891 left_yaw=0.0385 left_pitch=-0.3365 left_roll=0.7345 left_gripper=0.2542 right_x=0.2955 right_y=-0.0005 right_z=0.177 right_yaw=-0.0052 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.7265, 8.4034, 1.1062, -0.4371, -0.0855, 0.2222, -0.2256, -1.347, 7.0496, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea41d34f5ba47d1563d5b496767fe604df6bc93c9b635984a7930cdfda4b4242",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9d8e9f91f84b4fe381af7cd63b2e569e185808bd2d7eafe01585d3b87a2046",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e61536c4bf3da2e586fe33a07b23b65a167080430bbc1eac4599dc551adaed04",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 2.463 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6216, 2.0125, 1.8721, -0.8894, -1.0595, 0.8707, 0.252, -0.02, 0.8062, 0.6083, -0.3847, -0.0101, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4694 left_y=-0.1423 left_z=0.2418 left_yaw=0.0406 left_pitch=-0.5117 left_roll=1.5494 left_gripper=0.252 right_x=0.2955 right_y=-0.0005 right_z=0.1776 right_yaw=-0.0055 right_pitch=-0.0225 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.759, -13.9556, 7.4735, 1.5751, -0.8474, 0.1392, 0.1978, -0.1026, -1.2376, 7.0496, 1.7705, -0.022, -0.0513, -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": "gAAAAABqrMlNnR5fp4_tFI9wllPSvXOFbYAiy20OtKQ52xp0j1LsppBcIaAGYnxZ-FA5Flh3nCtJeLCO5JNaaC2DvHWstauezRj4UvZAPoKvI2lazwvJOIkbitdDUwzhfjKKevGUN45ltwJlb5KXEhfu0sEPd5G9x2060ezNIFRNDgeNzK6sVVRgSiac9BqNcmMqgvxzn7VVBx9VAm7NkszYFlz-qpkqnynvRABh1vkjNo4q5kM6nEUCch7Hf4Il8Yxez3SiPLBpAoR-GvVTDSIYT6siabImRsKv_r9e3cxuJLagRfrP42uO5KdTxtu6C_XkSY9-370ZdJsT_E0G_I-nYphUZbzNtZtHEKvCkXolxbjmNbbLIOkskHbNyfvD9fJST6jHFqKTGgUYIhgZ93ZhNvNQKTTH4pQ8erMxbOoKpJaUMYbzg5gElrCySi3Aj1ZzLuIU-LR4yPma43SecyRldijUvfNemFa4kydSE77HHUUyB1USzO3zhMXGD0I8p5cR0VEnN0INYXZRPY9RsMeSklRZ3sSJfFxDV8LBaGQ-R3iOOVQVpeXlhD3e-39dk8pwHFsu0whBLZWy18WFbhbItU9-2F9TRnHaPTrz6DS-JO5pJjqv98V-bZPgIathfsdPH4yEZn6v9LNLosdJpcnoyZm-Q9On9xaJvGrRXDBFU_qc-XjcMKzc3SQeuHKrfhfqqxoHVenGdOWnGduWr1NcUROAXsAJ3hDPfXnaTEZFv_4rzcEPqQ65vbgYEUI3zGIiElW36CjkQTjgW6ZqdPg2xtb9ZSpkgD5CaB4yWDZzBpDuGwKdkMFsp4M9ZPOfvgiiY9qIGBVXJvoaarTJX1ESMCJH8gP0cU-DCB1enWJ14P1kA6qeNgU-naEbYDEGBfIR5HS_LEgkzVusfjhSM9U87GIxB4j1zAiPzEKSRXhrU4jMqkE5Rr6KnNi4v0NIzuJq5gZK18CYHkl_qxu1roXZj5kYqvVizI1HpnXbQjgJrsnsIdNcJsgZDf0L8N7bpVliLthnRNHOQgveyL7_qwQAMIKckGys-UOp_deA8HzH5UdczGgdODpq_bIjQ-bX1c4MeNDk65_yR46tdsqIWP8DbYzkG3dFzqgwEJzhRuZeNnJ5IG87ZiKURsHXxvGnuZswpBtJ-1fwGrj50mCRTrJWLcyO201UWmWvBD3FDTD76m3fh-7D28RAuDg4ItDvd6OIje6tl8N3SMreBJYFwHAfrdfRzDzmrl2WmrAYx7Sujl6PmtrZ5osKbZoQA7oF47ZJBtHwuvsIbaTFbeTJqpSETlCZNrNcZM4gVGAI_br1qLtL7vSUepuf6CUgPufXAFaRywn6-i9p",
  "id": "rs_02417f333c826114016aacc94b271887d0816c6e4165b2780d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.443,\"left_y\":-0.117,\"left_z\":0.26,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The red cup remains upright and clear of the bottle. I’m finishing the gray bottle’s return to upright and moving it back over its original spot.\"}",
  "call_id": "call_sl3hHxilApsAe95JGInIIWAR",
  "id": "fc_02417f333c826114016aacc94c041887d089be4ffe5dd4f80b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sl3hHxilApsAe95JGInIIWAR",
  "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]: [-0.4145, 1.5833, 1.3804, -0.5537, -0.4164, -0.2214, 0.2555, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1101 left_z=0.2265 left_yaw=0.0473 left_pitch=-0.122 left_roll=0.1133 left_gripper=0.2555 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.4137, 7.9658, 2.1954, -0.1538, -0.149, 0.1245, -0.0479, -1.4838, 7.0085, 1.7851, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6bf43164e9900976dc11d9b964799bdb7dafb01bacddd1abba955c655be844",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b4ed80c4ddb434849de420173c5089378136cb1e41102f2740b25cfe79693a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc77f2b50b750a62c15e6cf9a1cdcdab0a35ae5e9864a79783412deff024eac4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.069 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5392, 2.1345, 2.434, -1.3598, -0.7319, 0.1116, 0.2542, -0.02, 0.8082, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4708 left_y=-0.14 left_z=0.2891 left_yaw=0.0385 left_pitch=-0.3365 left_roll=0.7345 left_gripper=0.2542 right_x=0.2955 right_y=-0.0005 right_z=0.177 right_yaw=-0.0052 right_pitch=-0.0248 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -11.7265, 8.4034, 1.1062, -0.4371, -0.0855, 0.2222, -0.2256, -1.347, 7.0496, 1.7363, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.16},\"note\":\"The gray bottle is upright over its original area. I’m lowering it gently until its base rests on the table before opening the gripper.\"}",
  "call_id": "call_SiO1Eysdf8jnmB6Veu8AtVWv",
  "id": "fc_02417f333c826114016aacc950271087d091e9ca1d70a8ec8f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SiO1Eysdf8jnmB6Veu8AtVWv",
  "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]: [-0.411, 1.6085, 1.1576, -0.3573, -0.4107, -0.2321, 0.2556, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1067 left_z=0.1554 left_yaw=0.0552 left_pitch=-0.1691 left_roll=0.1247 left_gripper=0.2556 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.8974, 6.0923, 1.4921, -0.0952, 0.0855, 0.0024, -0.3761, -1.388, 7.1179, 1.7411, -0.022, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfec4cab207726f24543f7b9efc403799ebcbfb947cb1e30735a7f47ded7a49b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7dcd0614e1b81773370deacb8e6021cdc30678b4b34e85cef42ad789c2366010",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5386d63acf91e9370524dd52a85dc5437015e0bb79d46e26f7f2170c02dbdbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.968 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 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]: [-0.4145, 1.5833, 1.3804, -0.5537, -0.4164, -0.2214, 0.2555, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4365 left_y=-0.1101 left_z=0.2265 left_yaw=0.0473 left_pitch=-0.122 left_roll=0.1133 left_gripper=0.2555 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -10.4137, 7.9658, 2.1954, -0.1538, -0.149, 0.1245, -0.0479, -1.4838, 7.0085, 1.7851, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray bottle is back at table height. I’m releasing its handle so I can move the left arm out of the way and handle the right container next.\"}",
  "call_id": "call_bL54qdD9M8VBV8pj0j62k7wP",
  "id": "fc_02417f333c826114016aacc95349c487d0a8d39ee83871c4a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bL54qdD9M8VBV8pj0j62k7wP",
  "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]: [-0.411, 1.6085, 1.1461, -0.2974, -0.4107, -0.2253, 0.9954, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4369 left_y=-0.1096 left_z=0.1606 left_yaw=0.0483 left_pitch=-0.1262 left_roll=0.1081 left_gripper=0.9954 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.0052 right_pitch=-0.0267 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.9521, 6.2701, 1.6093, -0.2662, -0.022, -0.1636, -0.212, -1.388, 7.0359, 1.7167, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44ef78615880c8095a6530ec3131657eddabbab8450a83837c5bba713c66e34d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df76e82310e0af96d82fe13d534047f15f52117cd43e75f0118fef426c5931a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5547d17a26930aaca913c95e15f99ae7797f05cceba2c79635a0c2139a2da96b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 11.59 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.411, 1.6085, 1.1576, -0.3573, -0.4107, -0.2321, 0.2556, -0.02, 0.8097, 0.6083, -0.3851, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.1067 left_z=0.1554 left_yaw=0.0552 left_pitch=-0.1691 left_roll=0.1247 left_gripper=0.2556 right_x=0.2956 right_y=-0.0005 right_z=0.1765 right_yaw=-0.0053 right_pitch=-0.0263 right_roll=-0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -7.8974, 6.0923, 1.4921, -0.0952, 0.0855, 0.0024, -0.3761, -1.388, 7.1179, 1.7411, -0.022, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMlZmTbXxUOsDyn5vlqdU7r4wl5xDA2yZ8qQDNpMAYITGHBD3lwydnn8Prf_UYZQxIKYuE6aWAdAsx3Z6Mcelk9BByJKeRf5NWjVBWZJ0Jnm_ZZ5ENhFk4Gcxdqq_Xa-cSM8IVK4Z8kwKbhnF8-90PLSB-W5iVtyG_CMHf0biSqtjFgDM-1f-ogEvERtkCsBXxvnv572H2CCO_oux_HY6mn49Zr9IyR1Puo5arcnLTAkapIS2A0M2dlq8SjutGlOPg4XBRs30R292jc5IVB9xYuEMiq5jVr5A90ebETFfGLNdWeCtg2exs_a5s4mMn58WZg065eehQPg_8mgB5UEkeBLP0i52HL2wiOIXEON3Gcz671GssJhiKTOrZgYHRQyYKdGgtn48lvpmagmLAV_wdpOXDzDBffCTudeX5mL1pe2bzv4R3013xqEjUCgzwKAIFlJuFvFBZyEiaY9L-kE6Q-ICNykgblquMJG6YbRU4Bc1rNA0cW8-bkA_oU2KqLqkCEhHb_J9wgnkkZcqlmpw9Bec3ZEjpkJDTr2Yotw8l4O03glxVHxqWh2mjnkjwlK6Et9s9WaMdR4vVJ-qKrb_st3bxZM6x7U4ALkcxct33sAz-j1DOJ6GQj-5C6z56TfAZg1S7pUtUsm5SjY6t8VVl_nub1PVtpsiP0R7QCQyZJdxCZUCjWulPBdQu5z0K_XrbwES_Vq_E3f1Tz8smsTp5sXE6_otzHtwtepD7lhqf5mE46-fX2W76DFZAF87VWf1tGxKD9vJILhqj9qRdtZ86GSRBRC7uAACc_tUIipCALDsLfJ_IxcwmAMk9wcqx1DNQYGyXxTbR_rno_Ny5eh80onjetyjiR8OSqO4Xdf2p5yD_f2hHQb2E1hVo2pAf8vPahrgHGiMKyHzAHyEjTxoW4XeaXZRO81Pe2kiRKEpax0lN0KiEXcETJy6Ur7AUqqconk4Ytc0KprugQxU9UTQRVU-VnGRNIPaPL7ZGE_B9H0zKO9Ae-bBQ1ijvx_eoUWgieNupfroDr3V3bW9mTHyYpFf9cMnU5ZmCA3ZZoI4u_dQTtPjqBavlsxD_zYCRGTGh4f26MBuRPiN3JBLWi3MvZWreBIRdCN_IEM1nkdl86uZHz17OtxgVx-a3veXWUhfqTBUNVWXlEwYHdLBxKM7dWW908HRlms1oUtEnlPLQAGfSNN4hb0JRXc88946AA1PtcUmIBxjRF-p6obLAgfp3WO4qgfdUXUKdC-GLeC4Ar2bVkf0I4G7n1AT7KBvmCFNYruJ5X3R9I4XfBb2DyycEzjuPDU46Yu5_8NA8zFVTDGu60=",
  "id": "rs_02417f333c826114016aacc9576aec87d082e5bf079d695f09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.28},\"note\":\"The left gripper is open, and the gray bottle remains in its placement area. I’m lifting the empty fingers straight clear before retracting the arm.\"}",
  "call_id": "call_V8txK5PAqavNZt7DMjmdIldD",
  "id": "fc_02417f333c826114016aacc957ff5887d0992c128a2d4a87ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V8txK5PAqavNZt7DMjmdIldD",
  "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]: [-0.4099, 1.6146, 1.581, -0.7033, -0.4099, -0.2333, 0.9967, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.1116 left_z=0.2717 left_yaw=0.0519 left_pitch=-0.1055 left_roll=0.0911 left_gripper=0.9967 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.005 right_pitch=-0.0267 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2, 9.1009, 1.5165, -0.188, 0.0513, 0.1245, -0.1573, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf70ec0971ef8868ebe089d2eea5254541dc42d93e85db91e1f2852336242b65",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78dfc44c28ac4be03523ff490b5d4eb8646822ad5288ec273d1d8f05696efed0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b55ff4f8efe11c2f46cfbfe2045288825e070148b4a03fbc9d28766af4f06863",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 12.79 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.411, 1.6085, 1.1461, -0.2974, -0.4107, -0.2253, 0.9954, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4369 left_y=-0.1096 left_z=0.1606 left_yaw=0.0483 left_pitch=-0.1262 left_roll=0.1081 left_gripper=0.9954 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.0052 right_pitch=-0.0267 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -7.9521, 6.2701, 1.6093, -0.2662, -0.022, -0.1636, -0.212, -1.388, 7.0359, 1.7167, -0.0317, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMllCNCb7giofXjdN03n-2Iv4pl1VNgt_Mg35XDrkMEMJ2uqeDoOy1ueoDo3oxl6lebvp14G2GLZk_x05DQ_3j8Sv_tYiEyXQ9xTsCFLD_IUv4SkCbqdIwPPGjD3JsxB3skIzp62vp1qBTX2Yw0EnyPvbBripI_1rlvfmpN479V8flixDYta3b4_gGnqvT1E-uXQ_Vec5WLlO-dOE5gajpzGbxwpjjSQSx8ahN5KDt-8-V7Km6SssLGlkEUgbTNL8bhj3_sUXfXKatDp-TuD29vs5zo0tZ9fe6ZXs0pWgg_An5CJAPigGKHjPmydSwE9A6b4f9fpCjfg0ObOV0Ookh5zsGCYd_cMPtNekjTuySsA0ByR7rfSdzyph630k1zZH-dncJLmrXRvkjoiSPngOPbrLPiVfgytyWLtK7PGpOVOEEIvcZlHkuSigwatpMtuTUq4vTku2wFF4Fd__QhCnrlYdPTxMBH4jY1l2JsE3KcjOF8oRouQzl2h8ESQq0gXWxHoY0eD5WH21Gp9V6nGfOIvzQPQxlxZLLqhuUyc-D_QmllAd5zBN1DL1nkzFRjMspp5CoY575G-OFIsoGzaf627iE7jOvZUg2MLNQP8pleqIv3sTBS1noMJHmuc35-282xCfcOOY5QTbLWDvf_waBLfUhEXimR08KRfqd15XApySVQrOz7rWtJVt34rkfQ6-G4pzVFq4451KPLDdi3hYczrL8n8crhJP6FmLpjvPSVip3TCX2luLGKQgNIAn8wgu7aSNeK_R80ffDqShHJwlse0b3sr_UravjofC5vOdOsYYU8suEdtlHhecMTH11TG7KSxkyxSWLzMwAuwydZ1-lZZc4yI1BaDyW5pD8BOF1HGOSKYTzcvQUi8gP6xV6KwFvPqyYrcC3C7nVxJsbMZAte6kweCnifQ7g79ZKeZRdtJ6dNdyOKKnxlrv4J83X2HMMWAUAdanEv-a8xmlwZPcxuFi0Cn7CWFQT1_iN-WfyCyJRHJnWGdbJ5FFc52RekffYidRXe1K1DBL-pxhqZLKBQzF-1dlu_Q52YsklgrFVnVLxWq0af5rBUJVRe7zIVnv2yrZ73Nhak70QRprA5UVCTV-vSBAPydS4gpV7_1KjxyDk5VFyGTwREwlyAeau68mCm6bkE8EWDByBvU0_xgxPKaXHUdZeB_yyGuzQGplWFwLJybcSNMyJZ6hKC8R13YX_nSsBUGIgGwTnkdjk8Wefv3KJbKIv5R-fD6LyqzfebaNoFtxNUf0JgFioATvns7WiScPoRgQmalN7FETHnS8myOeA9r54MgVpc1Kc5hDj6aHCF132VuNg0kRCY2WqGbNmDJXlttFG8GCcIDC4Maa9sVprtknQrAsAmQSDbGnxZ63BmMj8JJJr7MmcImFeRUgQkLeSaqalVsTGsVYentzIauPjtZAhCvo4oSy-W_6ia2iCMtMX4zteczs54lbrMYY0-Ga1Bbbi-eBP4tl04xUf0LmYXVYo6nEHNwcAML77LWSj0Ldmv80ShbyeSyHhWiPuiNurvNsRgKG3yIMKMkfS40C5qZ2CPvksd2u5kCW_6L7r1ZYMAIQQfBMpYBfTzB6P1cjNOXed8zgX-7a5UPPpgu-owPLwZTIRGIggFjWyA5x7XGZxdoIhDtMhVE41yjarmaccVxgc9SZxX_jYui4jaG-9qIZZIGsgBQDBWawS5tFDkLzSkZAxCqXUBdhpajV3Tsyv5GPB4y29IO9YFqESaXhlf7MCcjtryP6Ewbb8E33H1UGa6xpAClpv8J6BMDp3YF8BNYz4GTbFI6tWTyI52w3bxbViOMWYC81scL5QxDjvAcfymBLvSGlLE-l2pM3q1Lr1U0P2bpyGDIE55VTCcF-Clq7lDwWiaOeiA_ImpT02Y47RUqWLNHK40-e3V1dTSvdnRyx7kx0XvmY8UzBuesafT87MhRMFgqbAIQQrwoBDfd_xHLuArNAtTL-4n7FL-v",
  "id": "rs_02417f333c826114016aacc95bcc7c87d0be3e409beb1d16d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.43,\"right_y\":0.29,\"right_z\":0.245,\"right_gripper\":1},\"note\":\"The gray bottle is standing on the table again. I’m parking the left arm and bringing the right gripper toward the white bottle’s upper handle area for the second pour into the same red cup.\"}",
  "call_id": "call_b01e3UnGgOwkXg6e5KeHfZDR",
  "id": "fc_02417f333c826114016aacc96072dc87d09aa98282bdb33f49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b01e3UnGgOwkXg6e5KeHfZDR",
  "output": "executing move_to over 25 steps (2.5s)",
  "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]: [-0.1375, 0.915, 0.8009, -0.5667, -0.2192, -0.0643, 0.9968, 0.7803, 1.8801, 1.7134, -0.6048, 0.6056, 0.4683, 0.9997]\nstate[eef_state]: left_x=0.3008 left_y=0.0008 left_z=0.2005 left_yaw=0.0748 left_pitch=-0.1028 left_roll=0.0884 left_gripper=0.9968 right_x=0.4281 right_y=0.2873 right_z=0.232 right_yaw=0.0242 right_pitch=-0.0504 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -2.6325, 6.9675, 1.6532, -0.0024, 0.0855, 0.0073, 0.6632, -10.3316, 9.2103, 1.1941, 0.5055, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3caf3faa9f986cb2562993d509ada060c73ff8447b70a84a8dc5545b33fe383",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34b780a80224ff03a9d8364e540df9ff6477369c3885e180156ca4aa9ea2d5dd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646499064254941555a5e8cfc48c3d7b8cdef3d9b1fb644b4ef59c799669f4cc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.434 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4099, 1.6146, 1.581, -0.7033, -0.4099, -0.2333, 0.9967, -0.02, 0.8101, 0.6083, -0.3851, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.1116 left_z=0.2717 left_yaw=0.0519 left_pitch=-0.1055 left_roll=0.0911 left_gripper=0.9967 right_x=0.2957 right_y=-0.0005 right_z=0.1764 right_yaw=-0.005 right_pitch=-0.0267 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -7.2, 9.1009, 1.5165, -0.188, 0.0513, 0.1245, -0.1573, -1.347, 7.0085, 1.7265, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMl0gGexH94wnSn32uAda1-k5ACRxMBFqMzdaoIp10ZkGM8BdhDWiqO8UA4lXxhSnDzRrvLaj4xF0LlA81Ku1jAtMHzSQg510XIq97qD2ktn7bCYD-XMnuv-HDbQ1NjzkQ4AQ5Xxm_nSwhltFYxM1d_UBuiRCnZvOi6weIcDpxHyvgUTC4VtVgcgReGNvxQQ-2juRQPdyBna7zUqcmTCnjf5b7awarHzWVSXWTnL0oEsN-J-_I84uI0LdmT7NpCjL28LDGh-9-Ml6z6r5XYnRNBeWIO8YeWmH_ChxvACMhou1kh2GbcSYE9am5-RQdL5nbGy6SKF8u4iKK1IYaMV6ZSXOL1SBsgEPP9Xy1STqgqtSidz_-VwsJLnaFcMWR8UJQkFUDp6chChk_kQ9jZTjHE19X_M_vMIqghRiX2m6kWbfWQ3bSoguZ-PEP2W6kBYq1FgL7K6bgHqJ_webI4ogr6cctrnc7li_9vl_Aa2zvXcMPiVhwBI2p4Nnb65hUnCPsyj_otQuSP66CnJw6yGgaKiYB_J6BcIvSIw4-EGuZ2RRDzWSZKrvj6JYxElBO5Bf0Cguci23onKTunN7g667oDRy57ricZkZFwO9PFQ3Qj4j-_ew_SxeTiMksa0DXfUGZ_hjwLgUmAha5pkx3kj1STomPaJjJXBuHnk15SFabzO18Sk-pNaX158YrQWKp2yOu6ljYKPrTbwxyV-xOHtqEKMcx5iBZUGkxGsQR3jBuLun0S8gkkhh5bDVnFcrKXz2-cQmbBKfxgTCvjz9DJ0Gi1Kz8XcTF3dekJNDRoK8mE7dZ0hvZ163M4Pz779PRuEP76kt3sNaaqR6lGkDbCY_VNJkZYaJls63iGxYbLxpdQYVY53i-taxMSpaZAVhB9c_7-8W8RruBEDUQ8L0a7DCdFZDyq74yc45JVpVc9C_ThtAdnqNMSZRCevI9TbCWRlzT5nUWKNotPGS25yhzO4K-Jlav1PiKcasx6fYW0eVFi2iHuYUqQKUMIpBr7-hVZJG0uZ07LrbzZfkwTITzm6AyTMvC7yeIwGLrOmUc7FuyMu4nLIs4de_dsiHR5NUCxZ4f2EWR2_NIOEFwDFWkWppdN07Pwqepj4gXuOUI93To-rXGOgwbtJ3VZAQ3nBWEtr6AtELCF69PjJzzg1yzlZGYGI4E8pjLb6S-oxcLIkasq2biXGpc2oshIKmOQjK8NUTR26OzI8vcB-1zRSqK4_p_MFkhq6LJmKLqQqvf9wNE5k6FiDPgp5AsuORAHByPuUJHSFQCKsAgGlAhc9xfrwGk0yU8zzZoLNEwqtp5_O9tJoe66kX36JgPTCwl6z5T65ykoCxf1XJzws7XYgkIEvFm6-W-5Kx8AeYdSSohm2yi7zlmv6vbHkRp7t6hphBbxjR7yyprSvzcKdj7q1XWwK8vExYmnZAshzNFFbkpBPIfCwFJ6_bofhd8EAIOINmuv1-pNRItCu7v4-vNt-qud_awimbVqCVoWA1mrmDMZBuRIo7Y2bXZDVbcrOc2UZLwtNwIiElQUrdHwG4lJhHBzitjpb_nVDyZ3vsa-Kp7DnQrZxxiabs_BlrLlBf2S8sUA0x0QgdoX4q9H8snHrun6JSVMW46qqdYvwhE10T9L5z7wJ8J4qvCnv767NJlh26ZirbkCtLuLGUVic1jBeIqVYOpL-wkls_ouc8eS52sPdZovy76qt5yqVhEr4xKHaj2PboeDlX17qO9kmgsIwhCdwyHmLPnF7H3F5PQOUZ01L4lbz5c2sYk63MUmDgNN-FPW-5t2mPRoIB78ga_a1LvmMtq5vUernRdW3REsAC8IjEG-Lf2sB9uEZRCzQ5HfY5oUkqfrkUiSr3SeWaV4V2-_ibm136xAwfLYs0KaIuN5ScQafEenseGdV9QeM0CCu9_KCT3FuFBY0uJlf6tpbzUHtXd44QN1r5TLG3Ia7rLIQQrikhxHfmwasbK0sapl3ugYtHBcMhUMvLL5bO5y7xZQcQvSA7EjosVTDHAVqCln10vn4ZO0W3a7Z26ufHDF61dcOF8ukohBsAuoAFV3IGme9fvNJorcxNKqiLvC8les1ulf7VGOOCcGZST6EC8_cjDofFZ2DoHJtLCrSPvz0pbjvLXxHWaq159XvU3LzWnOFg1U5BM3zsKv47FomffizhOH2dWI7tGwA0NsLXy7vJz6SShGeXlelA5SAtPwG1KvILmR-_01s43G0eV4aDSDbC0tn1oHzwbh6YNgtOP5mIcQYnolCtrnyagmVKKq9Quim7Z755kM=",
  "id": "rs_02417f333c826114016aacc96c66b887d0a26e1ee007fb2c1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.275,\"right_z\":0.18},\"note\":\"The white bottle’s open neck is slightly right of the wrist-camera center and ahead of the fingers. I’m moving outward and lowering to place the jaws around its upper section.\"}",
  "call_id": "call_MxOtiTFeJeX0rqlqFO0J5FdT",
  "id": "fc_02417f333c826114016aacc973951c87d08d232fb42ceaed68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MxOtiTFeJeX0rqlqFO0J5FdT",
  "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]: [-0.1352, 0.918, 0.7944, -0.5808, -0.2092, -0.0605, 0.9968, 0.7174, 1.911, 1.6032, -0.424, 0.5705, 0.4236, 0.9997]\nstate[eef_state]: left_x=0.2981 left_y=0.0001 left_z=0.1939 left_yaw=0.0673 left_pitch=-0.1275 left_roll=0.0901 left_gripper=0.9968 right_x=0.4541 right_y=0.2744 right_z=0.1978 right_yaw=0.0126 right_pitch=-0.0372 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -2.2085, 7.3778, 1.7753, -0.2173, -0.0562, -0.0073, -0.5812, -8.294, 5.6821, 1.2186, 0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b467215348613aa714e8a5ea06181b7c3b51dedc56896b8cf6fdf0de0cef41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96b3ce20bee44bae831692dc411112799603c833f207085fa8d654c90b40b411",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc5720ca04a981a5e13382e29a03536cd49fa90dec22b37e994f8e40be339ef0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.247 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1375, 0.915, 0.8009, -0.5667, -0.2192, -0.0643, 0.9968, 0.7803, 1.8801, 1.7134, -0.6048, 0.6056, 0.4683, 0.9997]\nstate[eef_state]: left_x=0.3008 left_y=0.0008 left_z=0.2005 left_yaw=0.0748 left_pitch=-0.1028 left_roll=0.0884 left_gripper=0.9968 right_x=0.4281 right_y=0.2873 right_z=0.232 right_yaw=0.0242 right_pitch=-0.0504 right_roll=-0.0156 right_gripper=0.9997\nstate[joint_eff]: [0.3897, -2.6325, 6.9675, 1.6532, -0.0024, 0.0855, 0.0073, 0.6632, -10.3316, 9.2103, 1.1941, 0.5055, 0.1294, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMl8-ycis5oboGqX_WglLnxqxpMqjvrh1AX4RtnvZukTAUp5NLOwWKV3gKMGxwqhaPYcz46LQi1oIyus6oJidBBn86Iqih6FZp0348vFkLRG7BQrtHpDBcBMy-mVGQdgNW2QRqNX6oVLsLy6mqVsYUTpmy4SYy13U74D2cxYUqAkIhwyAjlAmxp1BzStg0USkXxHVvfo1lTtK0H8jVbIIiMwayh9GyF-MQA0jWVxHnjFHj9nCWV9T-JbruNyB3BWUVSLdfSJqk1Is_YOoI-xJU8A8HD5QEQaJz7GSH9IFprsTOyWRk6-5OkayQKcFIjhh_DLtdPVenzuCE7ucWt-4C2NLH-OiBE3oUHmErums6335bMu6THkqfsrbL53IzURs0bAQyUyXPVyjyAmLRP1T61ttR-lgtaemfaGVFwkVsgohr9_aVZW9GNc66S2J_CNPN8_uP_z56SJ25nwe7nsnPGwptbHosklaSkSWF7y-h_QQNFv24tOarnCdmuK5LGm8HMBP1fTVM6V3Bh9FXobe-iQ8OoKmbxEkOHsBeru_5_O3ejw_v4dqEB6mqNCu-VO8fpPFYJS4njUb2ll6dx7nqwhVp4ARDXgVBoCZzRwAl1K1VpgA2hvDHD1lDFX1QJgNdjFLSQ_oq9IcEr9198V5f_DYoSnVSLcFJt8WVqnvsjICqKwYj3VS7V99VJdnO7Tglh6eAKwKB3GoCUf3K-B9IkV_lUmSxwwCxPkTwZTzIAniZj6Vb02Z9CXfgoyg_dGnfGcWqX5NoDs6fO8fPB9U_u3iB4ppGdUJZu7KoRC52HWP-0J1nnfsUQt6CrpUiHFYYmyVRAtZd5oLIeZ7yshcaPljSmlv3lxy0EmVfA6KX6Z7R1z40oteTOQrp5SHafTpuBRiFbqw1-84Gikym3MHzCXyWkZCwgHNJyeyKMLPkXCeACBBaqu2ZmdWXkF7nKIYbzp5-1QJXUOSJNllxYnhLOjXi8Dk-hHWX4MhAwiX3C-bYHxv5PEgXFZG7p_meskG4oomkMunhnB9yWKEJZ6-iML1E9AledBnji0h6HQ9iggUfhjGy4WBH4Rtlb8oYBcGYniHH1jLxKhd5-wPR1i6UwZUuuGHuhGBtUuwG4uMYfWIes6FXbZ03ATI9Y5JJiLcFh6GgphBJ9T8guN2PYm5f3Kq-VxOcU648uV90bN_3Gv37LEh2Bo_hb4aUUYXKakQTwTmAGLYOnvtq3cVL5uVZ56GGsc9kz-1ypHI0L-gHxgtH8P8sJvBDORB5fkbWl4imGmQZS1wyj5pVzZVPz-clsXuSG5LXrHv9xRYgY4SL9NtoDJSp1MkHOPh9y6dQQQYt3AE3pf4Ii8QssIeVyFj0riwvwAQ0kxOLVUXgvKg8smKfyNLpJYS3dFvqoUdJl_pvt0mtzhAbnUQ338tSrffNHvv_lQ8TMlTVd7tmO0dznF9JIVvnB53K_qttpbF3ho8P6mir92Ns0yGf_EK_SdYZCWhoReEC4SOlGz0TuIbJT6chbazXmNE5HrVosKBunbydIH4qqG-iAdPsB8i3nptCYSB4uUDIZjbpVWkT931al3D7nZxmTLK9AdfvHZvoPdbuyRPqgUDHGpzN7B8H7kTemY4FdlawmQgeDcDzXLWUThMMObDfO6IpZMurhMizc8QNsx6tRXynGpD3gda7c9C20QMjv6Aq8ENGbq9biIHuJcSkTg034Ktzd5Rq7fwdWxZFntTGZ2JerO85BPCXw7yES_FkYm-uNeCau7pU40rS1jpQQMtaIws2oevdHfsp1EHV6JBgvEmjt8GmoZCa4-b6k0dCfQdumb34BWj-8yV5qOkYdx7zC-wva5mfEy5jgCIgDbGpD9HoYwqjIXnzIzL1zwEnA-H4bTb-4hRyzMBlJj_wkmgUkg3ESzA4AXBkcZmNFvBz_Ya_k24yrv0hgmIIHFo2oeTAdNtJIkvmgSr9mv0Oo=",
  "id": "rs_02417f333c826114016aacc9778a3887d08c4543d341806e51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws are now at the white bottle’s upper body, below its open rim. I’m closing gently to establish a hold, then I’ll check the grasp with a short lift.\"}",
  "call_id": "call_P8m37uIpNtXHSaoUpXgQ6TR9",
  "id": "fc_02417f333c826114016aacc97b3bac87d0b5b6b54a58d15f5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P8m37uIpNtXHSaoUpXgQ6TR9",
  "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]: [-0.1352, 0.9184, 0.7944, -0.5827, -0.2089, -0.0628, 0.9968, 0.7063, 1.932, 1.5772, -0.35, 0.5415, 0.4046, 0.1612]\nstate[eef_state]: left_x=0.2978 left_y=0.0001 left_z=0.1935 left_yaw=0.0683 left_pitch=-0.1296 left_roll=0.0885 left_gripper=0.9968 right_x=0.462 right_y=0.2792 right_z=0.1868 right_yaw=0.0346 right_pitch=-0.0284 right_roll=0.0081 right_gripper=0.1612\nstate[joint_eff]: [-0.1162, -1.9624, 7.0769, 1.6288, -0.1392, -0.0122, -0.0122, -0.335, -10.3453, 6.9402, 1.243, 0.2662, -0.0122, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6361b2519dd23149478f43d7424f678a4a808780a8355144119e35cff7f29be",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:274281c4d133301b12b59cc332cfe3d92bb4a5305d6cb4e4663a0a5121af3bf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3c5ea846fded99150358f00a00ef14633a0b6a8bd08e607d25e3600bf028cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 10.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1352, 0.918, 0.7944, -0.5808, -0.2092, -0.0605, 0.9968, 0.7174, 1.911, 1.6032, -0.424, 0.5705, 0.4236, 0.9997]\nstate[eef_state]: left_x=0.2981 left_y=0.0001 left_z=0.1939 left_yaw=0.0673 left_pitch=-0.1275 left_roll=0.0901 left_gripper=0.9968 right_x=0.4541 right_y=0.2744 right_z=0.1978 right_yaw=0.0126 right_pitch=-0.0372 right_roll=-0.008 right_gripper=0.9997\nstate[joint_eff]: [-0.4718, -2.2085, 7.3778, 1.7753, -0.2173, -0.0562, -0.0073, -0.5812, -8.294, 5.6821, 1.2186, 0.0317, -0.0317, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMmCQCg6STCtJUVHDoiUksGgfbPDStHOskW7J2MEo-W4-1BI0v99EOe08SUt43TdPkaDH4d_wL0PmKgAwzTd1QIlIblcKkkhnkYIDm2Z-os_D7IJCQYVo3zRnR-5UwpqO8Yyu2seBkwrp4aeG88DF8sJQ6zyGeGxBLCEt3L4AMiM5SFGPLplU7VLaPTwh0JGZTfEvX0wQgVg4GG9TQUnGD2rsbv9CFrjkW9IDcL1vmNe9qTYEYDtVe248WmyjeVEhT_EZxpz2OIOYswZG9vn16wDFzUdMrAkfznyCEmtmmSvAGk5AMeUl_YQXljCavoWNc9qDTp0oqaQSFmE3mHqMasnQkxPRNM5CHb_assJY_6_Dl3ClRrVcSAdsIdKffdqZ6oWgpMrKUqojFkwoMXDlJaD2db3SEGFrc5gWenj_rxHf6PgsZahBb4qNyylFAKehJG0bIAXdv_bJZhCm-YvbZii6LMenC6cdYwASdswaXoV2dAbvImGfGDcSLQHUTvbtya0ZLuYNIVtm7ttUir4D_5VmA3Befcpj5ViFqAmbWAjhUZdOsZ2CNf9PH0wq4xVvFt_er5X0y5AT1Pt6rPmkgu_APfAYVU8bhtQv0Czfx26BAzJ9XbstzmE1pA7XGy6NmOeqnU3iWBKNysYLiBYpFKzwOlzsgv5tpqQQuQlQL5UEFwNHO-bLI5Sf3-IHOAC9Wa077ShuvzHO0o-o1gbSlYmZJRPnH9lb03_j4rqmxPX_sNrjwMoIIhyvx1xmJvkwwJrl1xQ7c7vlAiJJ4CFwdOQnrKzaaVE7VYdZ6k-Faw4l5EtcFReS2CaKo6gWFhH4stV308XnKFBrWnmpyC6Bt-eKBJcXpqQw-XQKiKir2QpHeR-0kssHT_2xxBA2HhrbPFNgEJRtLo6acWV3cmB9PqImQqophZwmr_-lybj-o2friSmXLLvvkJYcfh4qsX9yhqevt6LvR1uEcDSZH7gwCUUUcC5FV2AvwW6xjDDgZRBpDLVKRrYvIhozT5GSxHkXHWqy1m3ksMDijc5mtIyQo1JXnSvWxYKpWrvICKNXhLSszXuk8ehr_6FYPM2XDLcGw8GR42K08Rs732NoUwdQU04YIw2tVogZf080gtKEzmq8UKkngbORBnGarG1vA6nsjCdLxh2-KhPeSDKy_uBuBntjADuWkWORRG3WFwapa103U92m03FcKj_nA1vroGA-AL6KeyL5eH_5NIBASZu4I3d4xWIokacPqeICnVER8xbqspq2hsPFiSOCryOvgv7Br_E",
  "id": "rs_02417f333c826114016aacc980adf487d0b247e346a0d1e618",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.26},\"note\":\"The right gripper has closed around a roughly 1.5 cm section of the white bottle’s handle. I’m lifting a few centimeters to verify that the bottle is securely attached.\"}",
  "call_id": "call_pYxoBLfBMKSYBwWhBUVRYTJz",
  "id": "fc_02417f333c826114016aacc981756487d0a3c87427613f07da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pYxoBLfBMKSYBwWhBUVRYTJz",
  "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]: [-0.1349, 0.9184, 0.7944, -0.5831, -0.2089, -0.0631, 0.9968, 0.7067, 1.943, 1.8164, -0.59, 0.5213, 0.3992, 0.1616]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1934 left_yaw=0.0689 left_pitch=-0.13 left_roll=0.0883 left_gripper=0.9968 right_x=0.4617 right_y=0.2833 right_z=0.24 right_yaw=0.0532 right_pitch=-0.0458 right_roll=0.0069 right_gripper=0.1616\nstate[joint_eff]: [0.0068, -1.9487, 6.8581, 1.5897, -0.1441, -0.0611, -0.0073, -0.1162, -10.4957, 10.0034, 1.5751, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8ab44cfd62ce657c9521e0c86dafe161df7c8c901fd488379080ebdb43b7983",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc0b6e344d9d2103ec5aade9c4c365ae76b1b951f07a92e166ba3e7ae08feb3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f90c72559095a6c8d13673e1670a13180a7131d3fd8bb197b0200dc4285e09fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.663 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1352, 0.9184, 0.7944, -0.5827, -0.2089, -0.0628, 0.9968, 0.7063, 1.932, 1.5772, -0.35, 0.5415, 0.4046, 0.1612]\nstate[eef_state]: left_x=0.2978 left_y=0.0001 left_z=0.1935 left_yaw=0.0683 left_pitch=-0.1296 left_roll=0.0885 left_gripper=0.9968 right_x=0.462 right_y=0.2792 right_z=0.1868 right_yaw=0.0346 right_pitch=-0.0284 right_roll=0.0081 right_gripper=0.1612\nstate[joint_eff]: [-0.1162, -1.9624, 7.0769, 1.6288, -0.1392, -0.0122, -0.0122, -0.335, -10.3453, 6.9402, 1.243, 0.2662, -0.0122, 1.0965]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMmNzex8qhd1MowQYGWbj3M0uZB9IOLBpqE12GI7CSE023NZuWjHKpAZ6h7F122okIxliMCy6ztyYBifkTbWNvdrrpITdDFeXNboUXa1sJsIyG4CP9lJ8fHeRucwYu9Nc3GLjzR1zcI5WJsRNyVgIoqvlB6Sxqsx9slPgBZW7p3OQJUVMVBFuxRDBGSR_ImOVB7naZKJS66IpYeKgskIKhmKSwak4lhjp3UkijJtEKGf2NLrGpNUQ0bhj6DU2t7H21glGKYzBIfCjzCH4tgBJNhqKhqsgeMRo3uqWy07p6zJRiwS00PkLUZGnyGaH4rJeYk2nBupDiVaF9zoXSLzGsKVN_YmPv-xfdMe-PhGo0JG46TF9K8xkOlRSbLHNEWwiMD0bgZvLHzcig1VLYFN20HhICyZd2Oojbok7jvWsMWrP-3Ly70L5CaSMBZ6hMeokWj1Xpv8NUBkZpQAuMaoKPe2dGy7g8mE1eVcT9vQbsjysVPy07BP2ERxz8ZmlliJ8309CtyxH06lqkR4_HW0Fn5n1ksiVuPGwDseHL2OQNoTCimse5vRN1OIS0yXu7nW9ryzZBXiyH1EbsksXJNGr7dO2QzxMucMRFVwtvl9Cl7wq2AM0Q_fSXJEtPz2lo-e_lk9ALISACwVfewmP7XmdVGrQ0GE3TSul8Dymtdi2pb9TdysXFCpUt6DsFlikO6p9Xy0Jd9NTY2mjgsMzgzeo7H6K9cONE0y-G1rRl_HiX-Chb6TNXsKUo7NOiyXyQ9K2HszUQfT6UdT23OvxyVSH0tNuz2x3Zf9J66AGN6OFgNor11iM5GMYL_ERvltaeB7mAiCa_VxMkXSwg6tsOzdHwXYAA-shMj91XGlpbZVOTDHgfLDLlmyDGDyyLx-pJs4uCYVsbvr-VrFff-Faq_E7Jn1FbR-_f5O7xGUgrS7s6Y-JpluQqtzE85cfIVS4P6to-_3zcJ7JcMrJ2dfjwFOzW7UrqfjdRvgQ5m5nJbgo3k7kWV3c0Ae-LtZWq-YathyRAGwosV-eOwuydVb3ZFBv8i8EX4NGlZprpfmxhVnpvh0nj5jm5CqWAOHznt96l6xfElTkscD6nVy4O__cIRIxvKCEDBUSQS0SbdsD_Me7pFpsov6aYDdnJ_Sc_7NMb_cKt8ZItqDc00T-5Azewp3aPzpfS8C4DUXPo2r6A-Yj7UAGft9ex6F4tE_MnCEXJ70L09JJoNk9jDLkgGd__l_IlT7YWLn3_61_B3uJ6JVyjATkYqjR-71hUOinNhOmZBIYmVqQOMN6X6ugT2MqaYxeH4Gwc3qSHeDCVcficj_ozQfRRnlYKJyS79QBGQNJlZtq94dqirbUGSF7eYsgQnC1gEmZu2UgKvrKP1CsMyA59vj-z4D5kPRKZ-zUldQnX2DdJcVffG9v8T_oSrhJ0JhBR6dXtQAkU6onxtRxkyMw2cSAcD_CxxCut0JtqbqlfPpdKySKgAVi4UfzL6SpLUdnWgo-MaosC8gEhQ2snvyE6ltheOC81f8QevAJRF_72h78xdp-vF7JVTXOK8AmTJc4X7mJrRSElXFudFqevtIq848SyoP3_0mooB8rpniREOoTWZz7ac91sUTR9_aDArqUFTJbeiFqyah4U-mAcGkew6hLwfU-AtMI_e7mWdt2W4BJP1kb4dCyj3oqLI9aatO4wsOUBb_JUI7qTSg_PxOHZcVSwAEIosd8TzsRqFH55gVHMn0nE_0Yisz6Y012qLKKhlN_NWyPe84pIV46lVRPau4YkFiKQbfmQoHnedX-EF0r3ifmWmVpAhLeZnGi0BeMlwhq2wo1GedrWnb4p1bd5SNU5zl_hKsXkaL1lgTlmiio2MfEXBikSlesXoCZAEW7Rus58tlP2v-GoqvQeuZwawF-ImGj5CttpiGYjF9A1jiy2PzGiMmS1UwGABcg17fCLAijZ4qvCXne6JYrUKEMaOaM-0tNEKSZ8clz-BMyJBmjApISqD4dJMwgzwEsYEEsLDjzPI0M1iYPlzzbqYKd-0oITCabWKPrZSQBYTZLTaOOATjddcU5Q2kXIhXJyccSnecAz8V7YXd4zAgDrRoQZ5TCV5KuSKXJ-sTVUI0AshW44p86fu6aJW1T8mUcfZHytnjjMmX_Z5N3YXzJsnumbtJ72SCccHSAt31o31SwBkN2ZWW_vawFvE471h1yrfu0736EUqw98f3Spb8Fodj9islLXJud0Y7gp2pRcwjagyLuWzUr0uFUzh0uGtBGpR5d6ozbA7Rkh293vzq_GBeaFq0YuoDEPVrE2h3bzfipClVGWj49Mm59wmjiiCGAbKOrBTjdWJHApfebj1kAJUPHjT__IWYugwR9BUBJ6bpBKjOq23fK-hR2I300CBxIgu7vdFJ_V4ruvMV2RQVddxx3g20FY8=",
  "id": "rs_02417f333c826114016aacc985c5b487d092f58a20b78d77db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.49,\"right_y\":0.33,\"right_z\":0.31,\"right_pitch\":-0.3,\"right_roll\":-0.65,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2},\"note\":\"The white bottle lifted securely. I’m moving it to the right of the red cup and beginning a leftward tilt, away from the blue cup.\"}",
  "call_id": "call_u0HYIKBvL82T3HbzyMJ54GVl",
  "id": "fc_02417f333c826114016aacc98c052887d0bcfdae58283ef129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_u0HYIKBvL82T3HbzyMJ54GVl",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1352, 0.9226, 0.7948, -0.6086, -0.2089, -0.0635, 0.9968, 0.7666, 2.4928, 2.8857, -1.457, 0.7174, 0.1265, 0.1671]\nstate[eef_state]: left_x=0.2941 left_y=0.0006 left_z=0.1877 left_yaw=0.0695 left_pitch=-0.1587 left_roll=0.094 left_gripper=0.9968 right_x=0.4615 right_y=0.2882 right_z=0.2432 right_yaw=0.0783 right_pitch=-0.2629 right_roll=-0.5422 right_gripper=0.1671\nstate[joint_eff]: [-0.2803, -2.5915, 9.2786, 1.5409, -0.1197, -0.0806, -0.0122, 0.6359, -14.8308, 7.0222, 0.8425, 0.5543, -0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b3f31bb804753120a6342bb145a24973c515b89204eadabada6f78a8707fd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e003311f32275abcbf3138f4798df5406edc7a86d875996ec633d66eb6b75774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f6b81b3da55a0dcc7b69c3a702ce8afa076a6858b254ef677edfb02d06a5891",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 13.55 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9184, 0.7944, -0.5831, -0.2089, -0.0631, 0.9968, 0.7067, 1.943, 1.8164, -0.59, 0.5213, 0.3992, 0.1616]\nstate[eef_state]: left_x=0.2978 left_y=0.0002 left_z=0.1934 left_yaw=0.0689 left_pitch=-0.13 left_roll=0.0883 left_gripper=0.9968 right_x=0.4617 right_y=0.2833 right_z=0.24 right_yaw=0.0532 right_pitch=-0.0458 right_roll=0.0069 right_gripper=0.1616\nstate[joint_eff]: [0.0068, -1.9487, 6.8581, 1.5897, -0.1441, -0.0611, -0.0073, -0.1162, -10.4957, 10.0034, 1.5751, 0.3346, 0.0171, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMmT7eI1Pk7tsB2aQsf-S0zkVzsElqtnV8Is814BXYbE1WD5FQ9F2vhyH4rE_D_eSLukfb0OkuvP1OTF3JcodN1YihFkGICMWy2bTZwtPb9FNQNmraiJyYxftkHM_0hEvce5ta0qAK9S3YhKuJDzZylmLe9gsH9mur1PrYHHz4d3LfEb4B9tk2LFdvJvq2D8foRQxsbf1Jr1m37zjhKHyfNdsVGtQ3ycxlM-HBSRTRXkp6cBh7N6qZOln3k-noL9j4A7RiXwDYEm7OJvXwi19nZIAqkSJlR2_msBntJmO_D-M88QiZRnVlegnsNhafi5UJKEF4qQ9HlGPfpHAtzqVXy2mHzdYCzUPMMnAJZrS52Se7C6OLE958zcP5Y9iqZsRpclKl7pHAtuMJSWAJLt5-D3VcfWJSCxBVrTqp67vbNluJ0fXcvYwssnTNZoIKpx5DBhMQ3kfl-dAEHl_Xzr-0kw7hYM7cTFCmdtBCoRTvoKqaSozexEJbVF1jOeqsMaOQ-o8hqnDrmjsw47VIpdvzw48NleGyiUtSkbVnHWQHDIAZR-HfyfNpFsLMnOddr7s5wHcSOY8ryZYGqOLy-3lPSw5mKS_3qKgR9lX0Ax_eDn-NYfcb1P_wqFHvefcba1fdToSjRwUCpnANad7Dnb6KJBmWZT-A4AggFFihGPp_2e_lHCYC27mUHrj3CkmiWy2u_RXtNDIJgf2nuSfIbEUSSaG2NkTzKoNPFJoIO8MtxqBKMzpR4691GNwZq_FkxboNRJWj0Xlqyzyw3abjKhJMEmoNobK41nvcnany8O4xdWdkoKmKPUEzB5EEqltFzqVhDgumLMRbsZt3yAabDMbG5wwqw02yRoeqRlv1wwh8cgUUZYXlFjJh6DUNZftf3X8tq-nwwuDnzY_oIOuSYMUMm9wC4NQQD3G8j7fjqX-f0uw93CAch477N0tVA0duj_3ABhLkWx8DcBfYj_tfa8VizRhJPd_m0D-v9gQ_3Os3r_E1XjbO0mdbA0Gn0jtAm-0Tsefkev3RUTUJAsTnX3Ycwme2s8LYYSiKdqxUDZE-LvZCVePmZpxJ7u4bGJZ38YA22Bts50DB3Ly6DsRP9gNMaNabMow9LsPF2kdqiw2fURqFap6DlunrF2MbyxkpZFIiuR98mt_e47sz-JBKrLfNoX3cGp_BJm_0fDGCbqGd-ZrcHWmHxWTvAY_adJy_fSdnAyfEnIG1rE3CWtiEd6VR5WdxshLmutQAc2JOB4t4DN1gp4Hx3n964muggKh-DsgN2X-Gs7lGLNJZ0SWtOqddT0QyIxlRabPVUnUw5B0I1CFx0TxFVBMZNgG8sHpL5PK_KyTCGgUuUrBAFn806TfusSmRKGerenVoOmMvqM4RAVFJk=",
  "id": "rs_02417f333c826114016aacc990a7cc87d0b13cf7da62f66572",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.31,\"right_z\":0.28,\"right_pitch\":-0.4,\"right_roll\":-1.2},\"note\":\"The right arm did not fully reach the last position, so I’m shortening the reach slightly rather than forcing it. I’m continuing the tilt toward the red cup while monitoring the bottle’s mouth.\"}",
  "call_id": "call_hpz4CAr6HoHglxQtKL6F3lG9",
  "id": "fc_02417f333c826114016aacc991c05487d0af588d7872a564d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hpz4CAr6HoHglxQtKL6F3lG9",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.923, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7666, 2.4928, 2.8857, -1.5101, 0.733, 0.0769, 0.1709]\nstate[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1867 left_yaw=0.0699 left_pitch=-0.1636 left_roll=0.0953 left_gripper=0.9968 right_x=0.4554 right_y=0.2795 right_z=0.2399 right_yaw=0.0809 right_pitch=-0.3097 right_roll=-0.624 right_gripper=0.1709\nstate[joint_eff]: [-0.1299, -1.9487, 7.0085, 1.5995, -0.1343, -0.0806, -0.0073, 0.6359, -14.8718, 6.653, 0.7009, 0.6471, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa77b6cc9d69326223d115bc570de0bc70789d8c776edecb22bf157d64240872",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e87b16d488327e03a5e5e9c989f84b3c2e98c5e1d1bf53433fc36d9c8cb4bb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ae9e68458102765c91f1953ba42a30e05f7058d309ef8e30e7ac3ecc49aaacb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 23.33 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1352, 0.9226, 0.7948, -0.6086, -0.2089, -0.0635, 0.9968, 0.7666, 2.4928, 2.8857, -1.457, 0.7174, 0.1265, 0.1671]\nstate[eef_state]: left_x=0.2941 left_y=0.0006 left_z=0.1877 left_yaw=0.0695 left_pitch=-0.1587 left_roll=0.094 left_gripper=0.9968 right_x=0.4615 right_y=0.2882 right_z=0.2432 right_yaw=0.0783 right_pitch=-0.2629 right_roll=-0.5422 right_gripper=0.1671\nstate[joint_eff]: [-0.2803, -2.5915, 9.2786, 1.5409, -0.1197, -0.0806, -0.0122, 0.6359, -14.8308, 7.0222, 0.8425, 0.5543, -0.0757, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMmh4XERFnIdmL7ZAHfkrlOvDcLyA_1PTJcUGGUNsgf2DFS1SdoVyYgou3yaDmavCGnTX2pDri5R8aTwoLjMl4U6yERn2kAPwfmQYMtoN2Bs-DZ1j0Pl6WWh-Sxb-N0wjZHc0IgSFHY691N5LTgBu2l7dfB1lwHHJkC6T8uH6nkhWkbpKbo3bs2sq-ZPDdKxDX-R2YkqVXUAZlyG1zY_rIaI8_csSwbVQtrsr6o_a_luJAefKrkJcQvJIA0v13u3eZuORugEQhSMSOqspDB-qqLevuR8vGPEYq4UTeOWtliWi7p2JL_Pzz94VhX6gMk8hVd4JZUzrTfNarq_XB1TIAdwwpui1IYKcgX9MPTnaPivATz0Oy8xwgLJzq3e6FeD_kRXGd5B9DD7ZLvboR2yB8C8RV8xpamTJQkBmx7AluIIwWAE2ml5oeHS2ZIKIi2hIij5EcYj9d-HJLsCtEQywtME6s-1OHJdQIu7j2gAEZqzNtECwdMoj1Jl8qKgdaIOpkuLS4y5a2CII0c0fZ_qxsE3ZmSjwucY3nIJneQyOoop0QM40ddXHaFBrK9t5GTRrv8eALcgaTyLKwUC5IkFRCMD_Hi0aZLhzexZLssZv-wSaI94YUgioPX2VzEABwoLOrQSCUfwwDDb5bMCyFN64iSFQRf5YsU5G4IfyGntdwOx0OOBV8Oh95lAeHkkLFWx8gfi5r1apmV_6qpj1i4f4D_jo-RJW2uOqoGpEQ-W04MfH9qEd8gCbZHkP6xQCFRxsLtnC-ynYOYQlrNsibTN0UlrosFiIjElWnEy60L6uvMWCN2D_xMainv4n7AhaoV_jiLhGT7R0htbOAuwhrBI1gAynf7dKTn59CnVKenMAoAp_kNrBmUj02_EIbidT9XOmM6fAEdzfedGUZt5_CnsJpM04uog-ewBjC1hx8IDdUxZYCvFEnv1bNJxM9V5GP4-UV0ET2nepnFDJ11U3PahZPEEDS59hCPjB9ucwSynRED2dvU0-VF1IpDCs0XtQOZqI2OKL6uY7kd8gj3TV1-jpHA8d04uXHeRL5NLJCLNWdLCjC-Vqi23dg46zzc2GJP2LVj2Ks7kzT-62wRz2FLDUJz_P6CRmJLI7jza1XUPq4k_hBzhM_3AGpfy_l5v9ax6F7LHVV0H_1NUA_p7FDEQjJnpKJOOu3Ry2rgpd5rGLHI7zwrCEJzQ7TrJVWCU22GCxjN4-VeOsqmNG7dgoj_zui4Hivki01-kJrWPQYk0JPORmYm7oXFCSZyAGbneEo9rZN4p3wyPsN-LHrvbMpQWGOE_WWdlHtSeRNW54ST06qst3NDPCnrvTvX1LHo1HVDoq3SSQ1lQLQ_Gg_scBPE8OGv3lK7_shzw96fiMmDLI3a5MEgql4HkQ5cTxIlKEiy3lqbMS22DtW1dFDWXPCknwDz706RTXcs3e-_wosBrZ90MRvX4uaPIdRtDpyW1x3akeDySCmnz4n00dOSdHbNqiRPv1xaIfT0bVtwXavJZnLshJiMdSSYZPK9ZKsGcNtQgPhJVvPvXBNEFO_nGOBZUoe3pAfgGmcED6xzxcdipPLRyacmXqCvqsCdrzPOWCoEyis8h3IOTXAyHSA-HrSPefmZLohwqF249g3bFf-VyPhAsZypME6vmNaSLTfKTS4IIXfu_w3OLl8YVeYsmNXpEqjMyHVN6fZmw4QhpFfKuvvi6X1SX8bVzg8Zp2Z3rTObkrpvjg8zqfIrcnnej7hzNrrrB7HvBD93CJYhPPqkghC4ORWWOFSAMI0eXrkyEWvTZuTRJfay9zvfgkZICVJ-0HauOQk_rbCDZA2lt2-avXwKZ28DuJrUjeRPPzZKj8oQs1YALMBqsdFb-OOnKg0sr3dZlEvD8FpBCs2EZbgx0hgE3XeuaJeaHD8N9u4m-RPAtEr6qnnHGfEdiJcm9nl6EmuKJEU-Gn3Iy87LTDx_it-kks7iSeBUnxyZviCZBLaudX4mXP1QUyevtrNJt-e8PVBwtZiCQkBKqigu_b1-kB7ZViiNJUXrtaA3UegijMbQIg_dZIx0wCZ-29MsS4WHEYMJ8uR_j8ZzIXKFyyICcpfEa-UioExZpbLprOIJKjZFkyqrc4fYByd2LeJ2mrH7VSDueXSxnU1Yll7_ASSIdER0b-OriQsOKu4GIN5aEJeoKUoIdiSJ-wfxFrtS51sOEuodEViTCk0uSiQbzduuwERzFMi-YUSehkhPz92of-ROKISjB1jT4WJHZ8W37hOUKOtj6547f0fIfijAZZiLisUE4kYBORokt3UfgFnhKVhCv80BfzcMc9MvKRamWNap1Mf8HA1RLbrhtESRuN9YfGvx5vz7_8Q6Hbu8bn_Y8JOc8Gf6IcpO-VGUeMLVIiErlk2m0NnnvT1-AoCbr4-ZlS50fo_kAR8Egoyd9uyubW-ul4S9HcujFKmVrUykoulVq0xG2yPad1bAr_6fuvpJPMPaxUwj3W8GMIPEl3z5V0yPWfycwQwfC3slCmQjlnGlesXrSINqMSjA48IJ53d-MrIJaMSIDeK8BKsa4iB0IMUyZ8npwPOcQROEbTunVivUdcpZ30LNB7WNPcGU_Wg79o6hrFEBYSYll0rRriynFmZVIuyZveFjbcEBNpGb56KLsrGK4i_W1uwToFuK9HVHj1GR4RX5xh4kZ92LL4JatZ2uTYi59Xr55x5BXjiZPsn43BGliFUIEsMiv3CaqlbXM1eqUuB5a7lEbWER7oOLBFsmBbSmBHb6-B4gPwTVRaXX6YFsdCUN8PdloqQisabCV4H94I0iYgxgyX7Hql_9x140O_rV8J9n5NUo7kQxDnBKbYmTGlSYPLsfcyV_BK9vNN1ictQPyy6uKawSuqze4ksh97LXmPOT2o8P_dYrSr5n78csgZDeVnXQHXAkcLykyujzpfc3nN9hH7GuyWSCsLbu6xNXcIvbq2Fc3i1VyCtW8HLrhNjpRtBn334Br8-5uzMKiwyimGf6bSCT3nhgvDckXi_br_-EpE6fPWUvkf1T6rBRFJLUX_nEeCRp9uMkbIFTMbOMGI7oL7-SoCfJJ62SgMuQpxbmN2YnYJP0xcwGIn2dp83hMd0hyJJtpLvExtzVz6CnQ5vzT-CxH4QbJzVhclzkV",
  "id": "rs_02417f333c826114016aacc9965b6087d0bf7cf3607bb70ca3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.29,\"right_z\":0.27,\"right_pitch\":0.4,\"right_roll\":-1.2},\"note\":\"The arm is at an awkward joint limit before completing the tilt. I’m bringing the bottle slightly back and changing the wrist pitch to create room for a controlled pour.\"}",
  "call_id": "call_c7MmEJsjtyS7ayQFd9WUvCTe",
  "id": "fc_02417f333c826114016aacc9a042c887d09b8b542db8be639b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c7MmEJsjtyS7ayQFd9WUvCTe",
  "output": "executing move_to over 24 steps (2.4s)",
  "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]: [-0.1349, 0.9237, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 1.0954, 2.3184, 2.3264, -1.5402, 1.541, 0.4763, 0.1712]\nstate[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1865 left_yaw=0.0699 left_pitch=-0.1644 left_roll=0.0955 left_gripper=0.9968 right_x=0.3583 right_y=0.318 right_z=0.2924 right_yaw=0.0181 right_pitch=0.2456 right_roll=-1.0927 right_gripper=0.1712\nstate[joint_eff]: [-0.1299, -1.812, 6.8171, 1.5897, -0.1441, -0.0415, -0.0122, 0.3214, -10.3863, 5.7504, 0.2271, 0.8816, 0.0757, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c89a3019200db8d01c327dac53c84f4ac5a7c013ec01e7ee43b0906d04f74da",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40396bfbf37df21520336f9ead885bafe1a0f1342e28e1e3d19e0f7e8543cb19",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d1b13cd3c033d35f3a6436f590348ad49d857f176edad20c21282c408db6e0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.053 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.923, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7666, 2.4928, 2.8857, -1.5101, 0.733, 0.0769, 0.1709]\nstate[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1867 left_yaw=0.0699 left_pitch=-0.1636 left_roll=0.0953 left_gripper=0.9968 right_x=0.4554 right_y=0.2795 right_z=0.2399 right_yaw=0.0809 right_pitch=-0.3097 right_roll=-0.624 right_gripper=0.1709\nstate[joint_eff]: [-0.1299, -1.9487, 7.0085, 1.5995, -0.1343, -0.0806, -0.0073, 0.6359, -14.8718, 6.653, 0.7009, 0.6471, -0.0659, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMm7RdjML36_MSywjUddK1jWvw3pkje4GUKN8ciGGduGIjJeUrSE8YjdShR3_XviVYsgixsrpOrwNDaz3C6dHxSBpJPSIMu9_X0tOnHHqfaYboyBoCrP25QaYcCl_n_fjV_c5jYoZCknqv5lMk4JVP9wuk5nKTVX2Np-nzY6hxIrE18Bkydu--8yNohaeMV1nqYZW0Dy5ppT3XEeK1pqbnxMVTUuE4MoiWt4edzlrUtKO8UhAWGNAUZ7Lxfqa8HE4ypvU40hSZmf9817xmE3VRyccYntP1cqHtXe0MC3qV8gemZ3mtXLyKBxfHsgZMzf_kdt1q13HXV2_JP2gNcWi2b4i85PsfC7oWe5Cwoq5S2WTBH0aMQ9rp5zpNxu3hPxSum7yUXAC6R3tkxB_Yy0PWvIFCWBr0CyVVlC0bpiDGGeBld4y3UpbxJTZUiz9bfUtI6akq0DssaV9h-Urla6-YizXUhQ0Q3PVbL1cMujktu-kTPBEwetdsEwE0BZIILc8Cx-jfR-i6nVFy_UM0uVA1F4cOIyH9EdVZyWvibUQXiuhKBqqpA_UL-Fsa8gXDsvFlgFW-o5eBrg4sFukvYN7dvrCfsPHdYAohUS03lm-A_UNgc82RXlnGWu4hSZIn3HDV6LFNiHz5-NmL0_JPRHR8-mM2kaOV5qaaqaDrWk026MJ-qsz65I9oOGXnLcBYwr8YoTov_rYECTZm-j8uu6PNcJb14rUU1xpKYbNVYpIgac9_00OSNYTYP18B0VlEEVw3S8fk_kF8EeTLdgYUJr4LhO9qfEVALX99d2r3Go5iJHGl-pcDd1IolUrEM-JV7eDxeEOTfs041umVF2YoMlShYsudJsJWGk94frT0bh2_Kw9lRpNVKcULedo7JG3EgSqKPBsXqQvihW_a20jsJPpZvjRSVTil9dZvKNopvdp1gmsaVixPb2sICv0dTn49beT3BdRkq4nHtK50KvG99x4Q1A3BIb5jgS3KqQJQWjJciaQm89mJRd98pxGnTrC5jtFu2NMzu92fiD_sOyXoXy-CWefHVnZi7xU14Tp-re5YRVFbeW0gSGKN0joAVdXJzWhQM6VGqHjPJxoOy6EOfsGSkZmc5MX4fR7QlXtIwIOTdSCRfQsTkrkhpnbewioSmUVcjHFzVV1WlcPNnCqRycP6YB8edhoIQRiRWL3gO3L5HmD60nPaST0pEMFMB2ubMGur8WNp47LFSGhjUKqTzTkNihQZnE6GnLhHy6WjvorEPxleA_MSVQvxO1eVk-mnJnKZsMwSco7b-SeoSL53JzFJzaOO0M5rJqM2CHmV-18-foUKw7NksmKBN0wPVeBBUBHLLnA62tzLtx_9HxbP1XlUhFqq8nMsQe0u2TOgJPEdFJtlQ8pxFHvYgpZQdRwZ1cN57lpw8nhabTGuuqs6aHAdjYrdV-RLlTsbT6WJGBq_GvrWvmCxzXNaFRHtnbeikiMpecxXtIGuqFdeFerCNB0G-G5G8uBb3eNMu98Dch5_g2H1UUAyxAV45TSo929kR-AdfKl_0moA0hZjxFoVxreAv-v5Tfoc7pD3Y71uyD67RccLEP22dO09h4dM1R3j38F67xTj__p1L520vUBCZLhFdnaetp74b-lvpAuF4B-z7O9ksTlj8m07rxv6YWP5xvVVpGj0T5u8tcdKjP_6P-WIcgVgC653pSIpXH2Nr2mYKNheS5j1si5g5e4MwUAsjLt-YW4Fa8iXEek_dehZ440Wmi_UHMMO2Q-5_g5OYX3TIBWduIUJWcI0qrg5BnD379dhmDI0nSl3HjNrAZIwZLOFtauMFPHb7UaVZuv8mUxUJfwtWDjbE7uTirRctEn37SnduC_p6SXAyO9C6Rv5rsCoVcq8bcIOjHfvJ45iidEao6MiXhthqxANiAYeZivC_NXijXLdjGNxiTP38AVUDthwq1IZYXGuey6uC5iyScoO_LOP4Zae5sSh4P_D49bJzC5ZQAB3sXTc8Kg2IUZ2t0JwuAJDRjBkQEpIqu1SFZRgvJV_KS5XsXEJgKo9Af27EVlcR_mb76iyWW5dRCBpMLRZKn0rQO1jZ3QDCKR7ygWNRRcOYM19wD_6kJuL5peMCJ_4ou6mn8uEC4pspALO1E-hIf_DrVD1j7dhT2DiYiq5VDOh3hHLj9Q3ImEH1nINy3Hzo9lTd8WqC6Zku-G2Fr3P8tgVH61bLIsMuTKPy8WGHDCP4SsDlKOkTnUT0HcTQ3guSnjAM4-0uVgHGm6TaMz6RQflSqmCwaALI0hsFr0sm0qUG5vX-IlIxZltH_qtZgpChXNRcbubsMmE1AIUB0J1p2ts8HySSBH0u3v5yh51oHE52fcmbm-lMg4JtgCZFTq-1wvhvyp1EY-2wHyPPNkIX6B_ntb_7c9P3k5FdXfJ0PEAx3LU3Jf_JMSXVbGCFI-JeqvYVfbZr6Mt585f96iLfUSA285o57cKXt4MtyGHgibXFYkZo0eCrDPYfY6UYjBQ-MOjsjoi2P2Dc2YqcK7BhYZah_dWQCaPCJ9asrZxWvH5MI8Sc_MiG-J8N9NRWh4az9CX1PAQQfb1MHHd6jTcI5eeZ4zRPap4Xs2FW2WYL0iuZIznRshPZSvZMM_fiiDaGcLMSlxFHFpSKIinhpS4kx9tVxTjeIrNHCpeElnxGkSlAVym6_obo5-xISW_o_TZEV5t1TZKhQrkFJojblrGa06XUPQTl2XjqBmIm0tULxlp_MeDRSya0UysVkzT5udNs_lvQW8KAi-F9K_EzfzsVGYF5dxPv8DcXoL5Kr1E9ANGPJ4OeKKmGAddwqCiMDp46g3a-THhfEW0NAGcUMpZssnYG7oWurRWLrFqB9gPhGblAaiy56Sh1BWY6dQu12NID344PYPRBJiXk4ppzIlrstBH8mI6-cSOXxxyiK5VJDsReYazdvi4lSwjSI7O1UjbW3aPTfHnDEqiHnWCBkG9LOOcgYskirBgMHi1phGxvUHnyyWX6ekojGPzbEdd7RSUXHfbwNhFallOwleYHAXw-eYyIGa7YHX9zC13stQDTjRR-0QiWsYKj3poGu0k772V-rj5bwkHfE3rdBk2yOsZA7f_N_V4EKex92hEZmkp7cTmdVaFq0xGnosE6rpDjTWYwinF4d6vhG7tKk6_ClgGeWUw0YxRA8WhmBDc7kVBv_h1N7Lcze_Hemq1p2twtX0BocNXCwrdgtO2P95uubln6PDUb1mye40HF-zirW60L96oMRr7_2AoMS3cDanhArXFx566RHX1e2du1CWFsp_ODDnahyfx59864AB9fK5O_aAijEF-ESQIbjSD_s7NEALUOttNe9lyWULWCfPb2x6OFoE1PqDfJxUWhPfxdpr1b3jRTToIsk5v-PZIrmzwGLtLo6hbkxnsnTczRSmpsCHbNZBmkqI9g9wUNiVW7OFlAwrGhzW6X95-JvA_FWdVCD8QT5TcAiuiSXT8X6jb_OLb3ySnsCzQ4ASwACtRPEfNCBTG_FBN9AIjdh2DjmWnquARG_-jB7rIbsbBw55ONvGMFbrUN1AFj1yaG3L_SUZrPyc1HFARwZIW-6R3WFWtqTu_k3L4eni9nSWlTDBfv7YaWav41ib3bcZaZ6Yw15690XtTyI7yN1N51aAIukq6j80S2CuJRAqGB0p5GJ4PsyIlSauqzQVEhO047PrlUyGN1tKZuVVp-XUO9fWMySZ8WHzg_xxpX6VR8u0PXZiGlvQPBI5X5ARCrC0wCw7dwRPq3KEWvN0L6orVkFpV-lbPzIPQopp66aVRu3eQLZ1n8boX3tuZnUQG1YuRqOrH5KNSpGDkmhqXN9estWTP0YmlAFSAJY",
  "id": "rs_02417f333c826114016aacc9a6df7c87d0b38c2850b08fceee",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMm7UiFXX2xw-wjgYGsmTEzUaAB9A-8vgKJdhx4-sQxRFy7L00txV65Ycxu-wc8pPcTA43PZDhzSAll7Nt5kkWGisioV3ERjS82suBZ3wWDaHE6YMXkfeLtzqNxsacz1Ce30s-3MHmnnEE5tO26UnIS65sKlHaCSYU4K5qUt55L8oM7Bt46vx-iMz_iRNzHSZZJHHweBPJBEBHdGKj1R3UGk0T_57G5NcwK2ex1YUimSANWaUQL_BBxhfwy6dXiGHMyzQe-N2FgaIGbNNUGiOgs_bqfr_GdIZND2_lbiy5VFSJ4Hv8ReItBsz_SrfyL8AlkRIa2VqCYNKEqPtk8EmZfg804lKkxHkBbkYRtLYMWS4eo6NCvqHh6VdP9mZ6YcW6s5ssvoYlysN-5KaNQ39Cd94C9Mnv-AnZQxcJX8NzJnbLWz_1M3U5KB_o-HBsMSySqzd-GAdug5ZV8-B9fyKUfPrETCLHUk1fIOqexH5a2OAenbGnf69la48qRCwyWs3U5tIuBLYkPTB9S7a_GH7MUulqpA4yLA9NpntDm4X3NIYfaTW1gbACFuMkmU5cFS5PeRAiUfvNO_6ZML50CpVcfZh90ba6tO7L7RKKacFAxE9AjPsdZV93hsN918YSe8ae9ZGIHm_knqaF5cPirH3MPYzeDF0xIk9NRgGO9ryNsf8GrgPSkhg7oR3M_2cL0TX9c8j7bb-7lPQUZu-MvaL2Qo5FSwvkTq8OkRnmd4S-x4KgeedK6cYVfiI-AD-rVym2USNlDwEJYIw7l97LhTEbQLPENjxmj1bRZ9OcAshUXr6GHpuSV2-v1RyQZsVm-fhk4fZAPjWj8ZGN_TLbUs8Afpw6V5m6sLHO8z6dlobyjPOZ7kF_NHbX3AeYkrSQK3XEkuYG1RyGgKUwnAATGTHH7vBx_ZOeqEXk8lJlUIYvdjvJHn25bDzWXyTb0cmGJuFQHtP1r5-idx12LID-n6BzIaEvK6K3B3oHilzNfUR-Eigx_5xlRfhFPSgIrBX19Un6eQmD630XxPZO2yQoR9EGEqRxMGJSj8dnGSoaJte5PPUAlk2jkc8-cwF-5iFQOuyiIm_99yI3XdT8UJDaSf-vQQpYaCB3B2xAvfGfsfye_6T3lv0xt6cipiJqJw5IQBpD-HxDjzI_FCIscSfy66riommhDCPA7Qzxb0JYWK8WBIq65GkrHeljPz_Z4Hul7-ZDX6vzoQA1Gotx89T-0dz0cANm-QCImpQFqXGq23ZzuiGT76-7S3OKNWM2idX7LAFXODoUEg8U8B2skD3l0fRBxt-AxTEJ8xgY_MHeBUsOq5ToOpzf3LqkwH7xiZe6gDVex7oBp0b6up6kuUiI3yjl6GDljZkdECm1vS7B_k2Do_rfdenJC8fM5h95wsFeAd_v7Sez9pBttLcQxZ3B5zwyx0jeOcsI-xih7RiNJ-ZFIT93aa6VL1EQrZtR8FmFK2clib8t95Mk9t762dFM5HUBqaut4GCEJLDujLD33vY8Hg28cwLDkimCjVXuIClZFkEBxmkjDX2t8O7TyWrABobVOCVIzx2krVjL_27Yf4xov9WZzAX1_Bi-7ZWzhncFUVkx8NVT70XaX2fA_vCpBV73eOmISQwW5e0HtAPyNsDTmt9SyOXQwhdchFThjgzB1uwicYd4IpBs1PRDCIZApNd-Hq_lQrAC2DBfOuM0hDUyon6eMZmAnD3aLJ6VKC2tHAJ8KNFggPzgo3e5-s8bQzpF-whgr7WZXk3Mi-J2ZDZyPGjnK30OGHKiOCAKNf7B8yjg9yKjCzg4W2S2wwmhoakY20bxbkTIqki1ZgrRRMoyqqKGai_G-YvCeEb-_K26UFRqyoZADQgQ4QAAZQoo6ijF25RbmE4w_hUByhuU9ADkdVqTMUh82aRSozX4hU0DiHCuxaDx7d__WmTzFguN3EJZrNfcvRf2OqlnEFFmN5q1knzF5KQLBd8Ao6moKSKKint1aebzSlMNd-Vjt9aNUiunI_pw14SbtmXlzVIX9sjYFoL1WZ3Lgk5EGieZ5T3IfbFGagIJekYKUXfa-FtUe856Aruzc7kD7Ujf2PJKryxDf53zfiWZCXepk_IzjObQruO8wTPRnQ-xCzRmUc_qhbeVQO_ZdYLzT9jl_P2g-Bdo3OdQiQNxUtFJWFUSPKsgVUjlDWcXJg7AKaVBzYXO37EeYUQTtGGg3gfSXvh0Ldw7JjWRaa67OYpT4qAlcUhq_Jhdur5hpfQ5S6NANgW8mhEo9Mtjfgnrc98hW2Ys4WBtm0pcH-9yzBkKzNn-IDvmFoR6ofN5LA0hkNgLdxSjKZowvDNUwCa-TdQIEjhNrO4z5zdwL8I8NiczQkqokqjHL0kBPosJXPdsH1pmV8ZhcQCWz3YjMfnc7hMtfeHSfSBbPFYkqKnXXRrNZRpaxtw7O7oQ3BPezlz-uKo2XraRW6nG_zHECLXgf4dIYAHj6Dm95YHhheVe5fmnWq62l7CfG3HwR57Caifx1sQCNAevZ3NmcZFNrsLtaMAwAqynZaIjioF-k=",
  "id": "rs_02417f333c826114016aacc9b3b52887d0a54249adbedbda30",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.275,\"right_z\":0.29,\"right_roll\":-0.5,\"right_pitch\":0},\"note\":\"The right arm cannot safely extend the tilted bottle far enough over the red cup. I’m bringing it upright so I can set it down and use the left arm, which has a better approach to that cup.\"}",
  "call_id": "call_DaCqJfBauca0VKhkCjJKUb0H",
  "id": "fc_02417f333c826114016aacc9b9db1c87d08858826f5990da01",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DaCqJfBauca0VKhkCjJKUb0H",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9276, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 1.0412, 2.0262, 2.0045, -1.1336, 1.3586, 0.1265, 0.1743]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1854 left_yaw=0.0701 left_pitch=-0.1685 left_roll=0.0964 left_gripper=0.9968 right_x=0.3609 right_y=0.2819 right_z=0.3057 right_yaw=0.0258 right_pitch=0.1163 right_roll=-0.9839 right_gripper=0.1743\nstate[joint_eff]: [-0.2256, -2.0855, 6.8171, 1.5409, -0.149, -0.0611, -0.0073, 0.4034, -10.8786, 6.3385, 0.8816, 0.8376, -0.0513, 0.8327]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:008f9661414643a0217fee9593b0f65775cab8b50888db64db20c6cf85ee0f6f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c326c0f72a2dd644001fdf6e4af87e964cfc84cc647a3c12169be4bca7d0d18d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99e75eac9f4de02e10ac1e62896534b8ea6df2ee0d0f7dee1a9654f443b8450b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.162 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9237, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 1.0954, 2.3184, 2.3264, -1.5402, 1.541, 0.4763, 0.1712]\nstate[eef_state]: left_x=0.2934 left_y=0.0008 left_z=0.1865 left_yaw=0.0699 left_pitch=-0.1644 left_roll=0.0955 left_gripper=0.9968 right_x=0.3583 right_y=0.318 right_z=0.2924 right_yaw=0.0181 right_pitch=0.2456 right_roll=-1.0927 right_gripper=0.1712\nstate[joint_eff]: [-0.1299, -1.812, 6.8171, 1.5897, -0.1441, -0.0415, -0.0122, 0.3214, -10.3863, 5.7504, 0.2271, 0.8816, 0.0757, 1.0281]\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": "gAAAAABqrMnB2YJXCm31sCa7HK-M1xCiXkhGFGMsX-Y65pDUNAI_AdbzTKvi0Zo-qlcYDELcYxur-j_rALfVfUntZ-90kPBuL5Ja-e38gZQZ5PtMdSVItKM8j1AI135hK1AdHrjAC6HKNru-E1O3cuYsEMLsgbTPKijFqlMWU0PnPZ_teOpxLuLiNOcUXU0trlYK_cdRmUbA32EwQE4DZkUOGlfrlxnWSQ1ZNk6hjMmtEWWo-ukmf_oCiqJS4sNbV1xXQ1ErEFMbctU4JmLCK5ixsDVl4bPOQ-4MIaa5IGDCckdw8g_A8mOXsV3X3wZ6KN-_9fvq3_IKPWaaSgRKHvpParAem8j9udEQPOeUfWxmoUpyf-oH6HNS8Q1AFT6MDiSp00vBhB24TXpVC4r4qUzxGYzYVlG0XuKCfaypBKIefYljnc7-o6ayoyg71Ue94tvfHjkmQdyfUqvfuiCicBlbqVmfSJOTPIjqQT_hpkhB1y5zs1yH_gnqfKSp1mM_j2ewpRQIVg6GewyBxi7A54l-mXsKybQVgNmk_RhZf1N6DzqPrKaDm1txPosu311I2aZ7WhgjAkWmVmw8_W9Y0l4pXN3cHFd4hHcBUzelUaMRmZrszaywWHLFdhXxeuHY4yYMBJdM0-HC4r_85320B1MmFhqmDJzHAYzgsn_SSOKl5knvLjkhtgJO2mvXmKpf-NV743768ICMdPNRSfQnrXF1AFHjPr6u0TewgYPEV6EhFa6ny-x7B30nWCCbc4-VysSmkb-akslhV4-7jJt_hKXnj6u6-NWkIg09_6h0wUuOPFGKnud4xwecGdzB7PHndwLMUsgZcKRkO9FDkyE78GX-x4i31w70hM-1Pxx3m5iTkW6ScX3LtmH4l9Eu1WJco2Qo7_GdtoB4K6MiUBpJkMJpu4WAh2uvbLZkNrKPiWW8sRP1HVGe6JUF6-U3ooQuq8k65vA6lvMM6bRDq_5CUbwPzx6uVhgfjSFbn4QI6xlh04I3hJQp4-vNAFD0NstSsLfMnZWOCcJs83cacOxs_wydxBMiNi0yDx1akvV7_HQDkj29R1iXgMUDtRkeA8UzxmjMJ8RjhXSwtk3T-d_K3xdDb_4ONd6KJsqdDTNA555xvu3KCz-eonnmweUAa3w2utp7JZ3tpwR2lx391pU7uIm4PZoV_WE2zEo7kjMttTBOCA-8nCsP05VY5tCmhRoO3SwTSdhQsQ-SS3nKyrmJCUTTY6ZP02xPnS-iCGcMEV9ZXjHfUY3MT0NxC4AbbJHKYSvn3_tmIVmdaGfg6mLPWUn3oVGLvNcrxqpwEpi2MFl4SkeqeJ45ZhCv1LZWCVEhkn_Vu3ciEXwRCAGL-YA9Pwi-j0FD6jsEDA==",
  "id": "rs_02417f333c826114016aacc9be279c87d0aaf4bd01c27e1e99",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.24,\"right_z\":0.29,\"right_roll\":-0.2,\"right_pitch\":-0.1},\"note\":\"The wrist has only partly straightened, so I’m retracting a little farther and reducing the tilt in a smaller, safer workspace.\"}",
  "call_id": "call_T7SeM9XRorDGHg8WjMZlbdRQ",
  "id": "fc_02417f333c826114016aacc9bf77a887d0b8361036f8baf79c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_T7SeM9XRorDGHg8WjMZlbdRQ",
  "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]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.8654, 1.7287, 1.7889, -1.0271, 0.7925, 0.3813, 0.1756]\nstate[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.3606 right_y=0.235 right_z=0.2877 right_yaw=0.0168 right_pitch=-0.0911 right_roll=-0.3259 right_gripper=0.1756\nstate[joint_eff]: [-0.0889, -2.0855, 6.8034, 1.5311, -0.1343, -0.0757, -0.0073, -1.1145, -10.0171, 6.1197, 1.4969, 0.5788, 0.1392, 0.9011]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a989e7e19f95880d2181ab3f23284d5a0863f82ca186e966cf93baf4c9ffd7fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ebfa135f6d1760e36442f912f2fc67c03a2f8e546c05fa93d28a8585e71f970",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4ff5ab98e1caacfe075fe381d60bded5197c2262929a1740d12e33281884ae8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 3.22 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 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]: [-0.1349, 0.9276, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 1.0412, 2.0262, 2.0045, -1.1336, 1.3586, 0.1265, 0.1743]\nstate[eef_state]: left_x=0.2936 left_y=0.0007 left_z=0.1854 left_yaw=0.0701 left_pitch=-0.1685 left_roll=0.0964 left_gripper=0.9968 right_x=0.3609 right_y=0.2819 right_z=0.3057 right_yaw=0.0258 right_pitch=0.1163 right_roll=-0.9839 right_gripper=0.1743\nstate[joint_eff]: [-0.2256, -2.0855, 6.8171, 1.5409, -0.149, -0.0611, -0.0073, 0.4034, -10.8786, 6.3385, 0.8816, 0.8376, -0.0513, 0.8327]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMnHjOnN7I1wuROKdDkzwOpRPvrSm38ECknQ-g81UGbz_wNnVgZVrRABjcEX--xcB4dE6_xoGH1iZmw3oS4qDPdENZIkMR4Eb6h8EX1W3YBhIImM7f996TZ3csUbgs3qwI8gQz7RGQwqBmUNCNVQ0V1q2D6_FGC5wLigNGiDx4ix-F14TTpYuF7E9LD1Xf-wFmaRxL9_xW-LfGAcvDcKvK9EoxiiS8jhhnVwBuyTKMv2GRGRSx4pzIgka6ZdP2qr4gw0Fxjkmr4eWMpcJvV5KTjq2xRDkS8KiT3S3CohekGo8uVBZ03B3Poxgel_QtYwjmKYIn2Zt2KX-Cev4y2y35Mpe32T3CY6BG6ppEl30ZUvDhQF_OOnYJ4HsdzSaFdJDfl3SgNSwvw0pEhWxU2wJ91lu3Os3t72VjhzFPD65pAyl6_uURZkplPVv0A2GpltdtfOr7ooE5c2rTSaqQF49dAB4IFi5bs-bLNqp2suPWNaHQxnkwropRwvScL9p4zB46EYVxWh1ou976D_h9R5WwhTdTIIUjW5w2phmRoLeAlKRotZ74otPtQqR4-BYqdEr1e_X0vsodHJ5hR_hsUFWXVFIsqCxtN1mo6Q8roNUK3zGQNU86R5d1Eqty8CWLXpz1DzqIfcwla-Y79xfhSiEO8Jye8J523F4EfZszZEdzUpr7xbXAJt4b4EfDJfQb6r4y8Vz6aSqYIORDItVOZa4C92wxccFJ8c7i5GSZcleQAqhy7FA5oeRUhy7gZgJlajtaJyIMsOPCSDnJu6rQfSCJW-wuIf-jWS2OvAtYVMwA8_CPpr6Ts0Ku-nihXQVe2s8uWhrWGAyk4idLUB-wsXlFXGG3kidcCSCAxVGty_M2MQs8dgA-a0nGl6R0usvlcpvh4EstrsYtnlgwqcjAhP2i2mR3o_wDAhGNKyhAuK-PTM1GWlRCtfTDiY4b6d60Latn56uJCENWSB6TmjUTFdcOih-ZeHWO-aPoz-MTIOx4wge_vPjWWxdv2yLxORn6ycrNWfCwJj_XcniLv-vxFuWqWfv7m4OL39t25nP8fcOrkBUEQCQAB9A5AfjekWCpXvHCB6LT--rnl4clUIVsd0f8tA_3WN5MZgmxfjbiMMLh5VpZMY9XoOZxEBEeZTKIn1Wm1bKb-D3byMJYasHNxm-5VlvaIzGd86s5723PoyCRWF7JBI00yKAyLNBs6br5TB05OXWemYTaEYpY3JGvjhDaFYrTVs7j4RpwRM7LU_P6d93DaByOZWty_USSzfZIiQFcjJfIB8UxnwTTjbx2JoEnNH9OT1fXVf0vuyisu5SYh82Eyug1C9cZsAS6m8GHhS6hj9gSa2eQ_lNrpDBjDUOceEO5EdnQQr4ni6ITis2liU4pc=",
  "id": "rs_02417f333c826114016aacc9c4b62887d0a915e2f80d5a1329",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.275,\"right_z\":0.27,\"right_roll\":0,\"right_pitch\":0},\"note\":\"The white bottle is almost upright and remains securely grasped. I’m returning it above its original position for a stable set-down.\"}",
  "call_id": "call_oSEPO0XhtmoVdhYY89SWbClr",
  "id": "fc_02417f333c826114016aacc9c5be6487d0a2e547251e4f6d69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oSEPO0XhtmoVdhYY89SWbClr",
  "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]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7242, 1.9141, 1.8362, -0.7174, 0.585, 0.3794, 0.1759]\nstate[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.4443 right_y=0.2675 right_z=0.2463 right_yaw=0.0297 right_pitch=-0.0804 right_roll=-0.0926 right_gripper=0.1759\nstate[joint_eff]: [-0.0889, -2.0034, 6.8855, 1.536, -0.1197, -0.0562, -0.0122, -0.841, -10.2496, 9.9487, 1.5556, 0.4078, 0.1832, 0.823]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f1083627f38148da70d06a28b03349215db4dcab4e3490604145d0faf4eed8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36cd57bc6f78b4c6b84540ac6bac1bac4c3f793e69c33d6a54abd6d61f05be52",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cbe084d5e533e85efd069f2f7043ffeb9430613ee761c545d86e7e92201222cb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 3.207 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 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]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.8654, 1.7287, 1.7889, -1.0271, 0.7925, 0.3813, 0.1756]\nstate[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.3606 right_y=0.235 right_z=0.2877 right_yaw=0.0168 right_pitch=-0.0911 right_roll=-0.3259 right_gripper=0.1756\nstate[joint_eff]: [-0.0889, -2.0855, 6.8034, 1.5311, -0.1343, -0.0757, -0.0073, -1.1145, -10.0171, 6.1197, 1.4969, 0.5788, 0.1392, 0.9011]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.185},\"note\":\"The white bottle is upright over its original area. I’m lowering its base to the tabletop before releasing the handle.\"}",
  "call_id": "call_TBXvQHHnifOfYWzjEtvd6AlW",
  "id": "fc_02417f333c826114016aacc9caa6d487d087374bfc73df8cfa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TBXvQHHnifOfYWzjEtvd6AlW",
  "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]: [-0.1349, 0.9295, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.6081, -0.5247, 0.5861, 0.3782, 0.1778]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.185 left_yaw=0.0701 left_pitch=-0.17 left_roll=0.0967 left_gripper=0.9968 right_x=0.4429 right_y=0.2635 right_z=0.1864 right_yaw=0.0238 right_pitch=-0.1031 right_roll=-0.1136 right_gripper=0.1778\nstate[joint_eff]: [-0.1709, -2.0718, 6.8855, 1.5458, -0.1294, -0.0757, -0.0073, 0.2667, -10.8513, 5.4496, 1.2234, 0.022, -0.0024, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:629ad41a5fddc9ce5606f13dbb5f11b419f385e4802e66014dc6a793bc6e1006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd7c5adbdd499bf301c74534a8b4d1e072c1218f18bb7f77193b828814ddff9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:617a3edadaa8d015ea32226202d28940e1db5534f1db73c01acdb2d1fcaa4058",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 4.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 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]: [-0.1349, 0.9287, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7242, 1.9141, 1.8362, -0.7174, 0.585, 0.3794, 0.1759]\nstate[eef_state]: left_x=0.2937 left_y=0.0007 left_z=0.1851 left_yaw=0.0701 left_pitch=-0.1696 left_roll=0.0966 left_gripper=0.9968 right_x=0.4443 right_y=0.2675 right_z=0.2463 right_yaw=0.0297 right_pitch=-0.0804 right_roll=-0.0926 right_gripper=0.1759\nstate[joint_eff]: [-0.0889, -2.0034, 6.8855, 1.536, -0.1197, -0.0562, -0.0122, -0.841, -10.2496, 9.9487, 1.5556, 0.4078, 0.1832, 0.823]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The white bottle has reached the table. I’m releasing it so the left arm can take over the second pour.\"}",
  "call_id": "call_aLfrah1kKGHygO5TqACdepkF",
  "id": "fc_02417f333c826114016aacc9cdf85c87d0ab44f467a9f1d135",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aLfrah1kKGHygO5TqACdepkF",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.5787, -0.4732, 0.5739, 0.3717, 0.9951]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4446 right_y=0.2674 right_z=0.1814 right_yaw=0.0377 right_pitch=-0.0921 right_roll=-0.0977 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -1.8667, 6.9402, 1.5409, -0.1538, -0.0073, -0.0073, 0.0889, -10.9333, 6.8171, 1.4383, 0.2906, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bf4766c220a5aae750466261073ff76dadbac32796b437fba815eb75f676070",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d397cee830542f19c194c5aa767fe99a7b4d282524fb840ac4bdcaf5580270f8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa6819aeb8bca77c5433d2235a2360bdf75d6ca278d79c9baeee8c04f5e26ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 11.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 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]: [-0.1349, 0.9295, 0.7944, -0.6128, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.6081, -0.5247, 0.5861, 0.3782, 0.1778]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.185 left_yaw=0.0701 left_pitch=-0.17 left_roll=0.0967 left_gripper=0.9968 right_x=0.4429 right_y=0.2635 right_z=0.1864 right_yaw=0.0238 right_pitch=-0.1031 right_roll=-0.1136 right_gripper=0.1778\nstate[joint_eff]: [-0.1709, -2.0718, 6.8855, 1.5458, -0.1294, -0.0757, -0.0073, 0.2667, -10.8513, 5.4496, 1.2234, 0.022, -0.0024, 0.5201]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMnUasgOAidt0i86k0lM2H5SWFD8PFppBGtwddECREX1atfUciBdwYVCzXYnLK02NzU2o9WGmO0lPERnBwgbpgELIH_2w6Gh_8Jhc5Tu8B9FhLqyqrjOZ6l8KfEX2OZoafiYqhGGC3Qabwc02nCcjmDWm0Dq_9UDjLDYVhhLl_cefBvjaIq9sJPyIpK5qbePmBf8eaZgsypJWKaHcJEogf9cIcIEzynMuBEhS08gXdJAvU_WIyuDHuS5SGaRMvaBefmqD597WvP2qfJDo0RGhTGDu94oG9ZeF1bvDcU0WyMZj1FaYpVEgGMabYalphKY-oDJQBd5lnmgDru7P-EJhrLIUWCWPAuRNWYSK-s7M91hbguIqqx9-K_Zl4u-ooKySzdXJvhTiEvrjHizUYRtAXY2Buy4f8SnClxYCfr-gSWyAIG_NHhh4cy4X0FGiTysG3p44vb5n6Pww71j0t2eWTxvl2eJm-j30B01tnw9xDtUcYs0OrAzSJAjIn94HMws5zZpkRWpMhDpf5HO-QSC8eGnGIyBBH8Uq5BPQJP-LE1wm5uwpfSJIQSgXnoEVQUt8WODdz_w57P6SP-xzciH4spituvEtLsWJX8hDSixS9QiK0N_h2xjMdsv9VYAfH28Catjf8T73xCN5YIFK4HZzn3hkHAoqYLUKbuRrkNqR21sVqyvSjQKUWVh29DkbfC7icP75FjcaKqhFgXDmkyAC-dB-SuUssHKc1ti_AFZvUnQhde2TpfOGY6ngCSE7_C_oORmhP941tPEe77FBYjRv2cPTR-CL1hNctg4zOL3AtGlS8VG_Xg180o4uH5c3s-4xR8V6vPzl2pDcRXjIilFGeKtaJswnbx5nMh9DhCGzGPH6MZ69_C1opIGSz0ox1PWYeCuVrcfcbiMMwojqhc0AbgbYNunP1DxpdhsJan0kyfBGown-A9J8ARW-wGYC5kvrNWQRTFPJSXOyyKpzxm7rYOz-llVaqK_56OFkjR_9sbYbMch3GDRVeSb6NZzwH-HjDLSJrE5Zh4BEtYeQKhqNRdnRBhZM9r2O4lDygyNnR3eY-XuE2K95XJ5WgX57krZfca91X9e8IvhNYtR7xOkZ5gLHQZbjhhadS1SCm0cXfWngc7e6NV1UDTX02PWCxKrNDkGrNL8Xj1fPipB66H41lNGF8dtIXhU3hvL2P26nepzhUpjqMFZRbuIkkI077Pn4TUVU57SDwJgdgx1RkUxrNmuJOyLZJdlv_l10b036TdfJlo9CSeed6RkEdrmAxKAB2CVFV_mL8y6pCk7HH_-nvlcbOw-sF3gP_JqtQ-EpIpc_OcgsFk0-E0DQYPrui-VDF8alVzTG7QbVqsBNlcC25v2XGN5oi33Xy_CCQ3VtSZA1mFZbey8acl3H6qkp_ihK_ctSe7H1fQHQP-sagoecrD8tpBYWe9ahQtjrxLEFj71ELFYNEtzinGiD6OLOkq-bjG-Zx2MlO-pv7fBfQKlpOurZRx_8hSyLTE30Yvk4P5Ox6YrJraj7JphL9JyonIC2WyI",
  "id": "rs_02417f333c826114016aacc9d1b2fc87d086200bfed528c064",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.31},\"note\":\"The white bottle shifted as the jaws opened, and the wrist view is too close to judge its resting position. I’m lifting the empty gripper straight clear to inspect it without dragging it.\"}",
  "call_id": "call_NBrGAupeT0SwkLpD4lllOTXs",
  "id": "fc_02417f333c826114016aacc9d2ebc487d0b3a0df305944562e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NBrGAupeT0SwkLpD4lllOTXs",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7197, 2.0117, 2.2044, -0.9627, 0.5632, 0.363, 0.9963]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4503 right_y=0.274 right_z=0.3039 right_yaw=0.0513 right_pitch=-0.0713 right_roll=-0.078 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -2.0171, 6.9949, 1.5751, -0.1245, -0.0073, -0.0122, -0.1846, -10.5915, 8.1709, 1.0232, 0.3248, 0.0562, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d103f94a91db5f3b6dd4153eea384e57529231ad507673e15651863ef36a613a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d391a80a200a25f69a1f81edae38b6a74d8f4d1dd9f336b08fcd4d413bc2d768",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8a64aa4ce21bf254887aeec865c490e1fd39e8582b37847aaf4007b3c9c093",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 5.861 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 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]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7204, 1.9087, 1.5787, -0.4732, 0.5739, 0.3717, 0.9951]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4446 right_y=0.2674 right_z=0.1814 right_yaw=0.0377 right_pitch=-0.0921 right_roll=-0.0977 right_gripper=0.9951\nstate[joint_eff]: [-0.253, -1.8667, 6.9402, 1.5409, -0.1538, -0.0073, -0.0073, 0.0889, -10.9333, 6.8171, 1.4383, 0.2906, 0.0904, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMng0IfBrY12FMobYxllWuujeepaY3Ynj_J9CyyEtD7PlQdKBeLXHwsIdGepzS-LJclqGPRc-BDfq7RMTRDtLvQ5tJ7Dp8wI2ILWMgC2ikD1s9aRZSMbeooik9vkHhj5QdnrueGR86oZUsZnpQ8HCB1bGOTvKod2DKy7VT-YL8Vx396gkO6aKnJXE_tvrOwGDMLPxjNJda17q-8RVceW4NO8YIdW5d5OH0J_AOKcwSJNXXyrSWtWfkBFjz3lkZfadGDuj1YAHXfrIHLJF7tB1LkqYVklSBxwf3kes0wtJv7QrbkZxFhuQN_2MGK_756E_SuJUc1saFZRW1Nly8BTO9tUYzBr-qm9gSHDrZHIObENz225f1fK2h1qNBSfFC3QX22Bde0aBDgxzvGyULTv7ZsGxOI71si2uae-rZVpJwXpzfbnSbPZgSZTa2eBux_Y7GsmesjHmcrmvfxRS6N0wLfmXSNvftanWqh3SLMyrFLGlTeHe8iWWN_6UPd_cmlyF4eTcQyWbvw1_Kb75jDIRUZ7AxRWFyyx7EeNtgP5VmsSJToEITnqoNI0dDKSdkoji2JeRb0YrVCOe-YPKCrzG-k5ka2s31J9FDBlVLBlwNa0iW0qMCHHzF9QmcFuA_4OWcYtt82NssbqD9gQSQLRcrTYzcr4-jfuupH1dCk6cA3o7IAamQisF-RhzTi7thFDE20K78M_6sAHYYT4oveY8VxDjOceNdaqkYRs_3OTmyt18zGzm8vtav4fJrGxsJGGWtLaLMamAn_ywcKhqX47-2iSD7dVUpxKtQJ5Mz7Db6T7h25k9Vd_z0gk6vVepFFeyWrhF0BQBX_Iluoee9b07tXC_u-QaSXly_NvvZuA1JXRYgsDwu2lgcZ1PajUihd49G1KUFqh8vX0_d9SBz8la-qyrBt2yYzZMJ9BDVkjvDezr95A4ezyo0bw8NxNwL7KsPk0KwAWYCHjLMWdj90z4C8uThj6ZcjiPVJNJm0N3HYnninNTc84u69AYSzGGOppPX8B5s6O6JY4z0RNrn3tyi7gID94mSLOp779oGpc0fVhmUio1KnNXMWlDd9ZDYJTkbMEvwx7E8xgjLC3g_09K6Dx6cggqhK4PYWw3KeAtvpRSMG2Scthl_LZHXaWMyWGhIKcyj-QzBaPGNn3dDhDRdzawS-y2eoG4e7cZQoHbFEGDOPfXBlmfjluob85hEv2AReK1RQDSnxiyyEOyUvXwcLyBMChY480S08sFTrQbq83zo-EcdxltAfY68INepxkV1w6ZCN5R_3hc1swPQBx8plnva0c7p93Ml-8EVGccYFSbh8lp7l59wyFwuQ9H81txxdoKJK8R0tVbr8LifvyelnuyB2SEh1jsKnGt2Cc2tn_I1OUuAp488uO7bttoPJbJoiqrbSXpTscsSbpkBnJu6spfD-MMrnyIsT4EPGzHRuk_ifS1kz-vMJO4p7hVdtMPzJquiEp4CrsVKPI6E_OjZa2L7nZB9LozE_Lttp_oBwohvWIPQe_KT9gUVY6z984TevdPZjs-DUYoZA4FFUhVrPaftpXI0T4O7PpGx1orsnU6Um-ZPFJEt27T6Y3fHwS6mGlYgwzNMJAZ9LZEosge_aaOBTm87jRCJJe2WrD-CanPfWBgFgvmlp6zXN3HpWNGeTaA-ReDd8jScR51Ac3xMuz8EpqJAfC6eAU_3uG1eCwYqNPF8hpMuZc9hKcXiMAqBZSbbGlyGBW0SovKvwMAxG_3X1_aVjPgovxkgLzgc3V0yzoM9aqVZC2Ehtks9T96XYIQSi8iOkLMh2JlIRGBU2LjtCl9lpRKP2MY1u1FKCaGh54WZarnodR8CAcsDFoTU1deP9BCEc_-i3vH7215Ar5Q9odfgrTiamQrfIBt7OoWwgVkR6M2syPrwWMFKx52nf2UhSvPw9HVwKkMdgwyyeUzBUEd6NLtI7kWLNLbwUa38LA_63Gqc7UGR3ppnIPXcgmL9Ez4H6jifmaqRVZ2c3N2fRWAUwfPzE-QWn-0Cx2tO6dWZWpV2aYh9eSBe4f0MxJkoheGsSe4ZsRK87XcdeQxIfHP5o2Qt8tw9s3e9jK87G-MJ699q6IFHoeIkBDS0eV3zKpA6ToRcEJ_HfpaC5sdsGy1eGyNLpJ_42N4sGsyTDzqsm_lor5aLRr78wQhk9rR5EQSJxiUo03rxM1B0yBYtGqSRhhhG0Z1kWoeaMu2bRTn88Uhf9BykvoCJBvwqF0gkjW8hbHLcyoegsrH8zz6AAQfqRWR3mDNyDCy24OAWt2P_Nmj4NV7at8DKzLptEk",
  "id": "rs_02417f333c826114016aacc9d6d0d487d0991b8a16fa690868",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The white bottle is standing upright. I’m parking the right arm so the left arm can approach it without the grippers sharing the same space.\"}",
  "call_id": "call_WKioqyAJapB0z5ccy8d3FFS2",
  "id": "fc_02417f333c826114016aacc9df112487d08cc5bd4b425d2c97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WKioqyAJapB0z5ccy8d3FFS2",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1349, 0.9348, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.004, 0.8719, 0.7586, -0.5251, 0.0471, -0.0803, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0007 left_z=0.1835 left_yaw=0.0703 left_pitch=-0.1756 left_roll=0.0979 left_gripper=0.9968 right_x=0.2985 right_y=-0.0035 right_z=0.1993 right_yaw=-0.0013 right_pitch=-0.0796 right_roll=-0.0779 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -2.3726, 6.9402, 1.5653, -0.1148, -0.0366, -0.0073, -0.1709, -1.7299, 7.241, 1.8291, -0.0806, -0.0806, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a0cd867324ae3661c6ee45856d874518e07acfbf500e4285a99d2cee12d40d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:126f16779709f3ea8fb76c6ca8e29f152acdcdebbe8df97f17782f68c5f3713d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7cbc6f502cb87311f3c2933c9d96ab07a4efad5695f9cab7bf0730a46e0d519b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 12.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 103 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]: [-0.1349, 0.9295, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.7197, 2.0117, 2.2044, -0.9627, 0.5632, 0.363, 0.9963]\nstate[eef_state]: left_x=0.2938 left_y=0.0007 left_z=0.1849 left_yaw=0.0701 left_pitch=-0.1703 left_roll=0.0967 left_gripper=0.9968 right_x=0.4503 right_y=0.274 right_z=0.3039 right_yaw=0.0513 right_pitch=-0.0713 right_roll=-0.078 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -2.0171, 6.9949, 1.5751, -0.1245, -0.0073, -0.0122, -0.1846, -10.5915, 8.1709, 1.0232, 0.3248, 0.0562, 0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMnoVbRAmXtX6YoHweRKKFRUjs_TvmjQIXKE5K02GZYlKtkZ1tpWrviFsiRuSCDAGULJGaSZu-tKahzYoG_hoQdFC6Hp5eM5iajojpbwPl0HiOcGapwuKd-lCUNfWgKsu38vEzwntqYPlLMPfek6ktVGziYBKFytE7tUoljWin09aqC5ahnOWZkmOltJEojed3qJBnwZh0VQlDl3GbkZSVTo0URSwxqf7q-Dr2qZ82mF1qmJtt5dNNR-bnBBDi6L938suSj-m7y_NgoCsZGzT-NQ1DHX1SurkEX6rCI1CBRf7io_z5T-iOh9EoDpjAJSDxBLdMiVruv2v7j3vSh967Rhppp8blwOzD5bmRRbu7Zo0mGnx8-Gwz7roa_wUikRUHlWN5pzUF-FltWacM3BAM_rPnecD5DukzqYG9REkPBDxML9KnwMd1op5zD7xPQzi3oZgYxsHR11xs3CFxAs-X5Z12mbC_1SbfD9irM2EcCq_lUYyk8Cm2Qw2E3OeqXR4TPkBWDDPqTSiCbzkJN13mQtyFYAChawlMFxiCe2_tJMq50_FhTEugcrlR62ZCg1r3KPM20CvOIjjbZw1J3-zkYVOEHIuSKq8K-69T5Rs0fHtMgVSmYUzZz13zqKpYsWSU7LmMjghD8_PDJoAEu3fbFSO_J03c8rSFwJb9O8zCwgO-2L5zgnbrNthmJ7QR81VWQezTWjXmo6znYzUSEfPhr_syokYPim4NXzodAK9vQKYwNOc14CCOSyNo8Zlfjd1f_YfhzsvcMSfZlx0sLl5vtpejQd6wpVp5RHOGVdw_QrMNbEYaxr3jtWvfP6DcO-LGIkNbblJ1bW-Q4J1nGTR60wMVGM3DRwKWcFseZvaKNYnXPYwVBNJiQ6n8rVguGq4gu1U77R6zGfHTU5hsnJatYndMv2jLanAFJXOkwZCqVBUCuScV4LmuyMxAOcVsiJZn9IFW0M3ijayColc4wEeAAfUfFfrTgCoYJa_agnzqo2QItul8BH494jLFJiehMn-UhjTvTn8sHjkgWw20UZfeC_oIxbnUDgW82JxZnvdr4r2TgyzRix0ykZX-HW1OUWJfOGSbs2eL1lYV5PN0XsaAB868Df_ivwxBMAGfOjFyWo2ZyLg-mwd_i_3CU6qyS7LyoOOoCEYPOlXCSh3cs_IcEteIkobB_txv0dNclW6M1EWY8a5dajr3DwDspsqu3eq5jYKpb6vloaW-IOwEQ-3TqbyymEu9b3rAv-YxhGi2skVzZ1Huh-zihk9qlPORaExEqQybgsvzBSHl3s23M-3H9db8985EFNSClhobGBbrUWN4rTls0mFcekyjcJ4149H9i2VvkfnOmEcVEBfDafnM2FAFMVpZyidGFkqVlpW_IOXcks9tCdR9uK7rIbxLFy-UrhcrCWetjhf3oVd2JnTfVBIMhyysHQDkvj-YjqkA3wsolNMttpocxIpNGIwzS-sRJpktRI591pIX2zLRDYeu-u2xotECQbB6oXZwCkzPClDFp7TMTIOnm3hJOaiScllT1a7ic9xi_ToRIF192R0SfB5UQbm71_OPjXBkJP5GXodUk=",
  "id": "rs_02417f333c826114016aacc9e4697087d0b8aa84b6b8aacc89",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.36,\"left_z\":0.29,\"left_pitch\":0.3,\"left_roll\":0,\"left_gripper\":1},\"note\":\"Both containers and the cups are upright, and the right arm is clear. I’m approaching the white bottle with the left arm, keeping the fingers above its handle.\"}",
  "call_id": "call_NYzi3Hy90aoDSbPIndSNes4Y",
  "id": "fc_02417f333c826114016aacc9e654b887d0a80f4dbfa42d0b21",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NYzi3Hy90aoDSbPIndSNes4Y",
  "output": "executing move_to over 33 steps (3.3s)",
  "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]: [-0.9817, 2.0106, 1.8172, -0.3714, -0.9913, -0.4866, 0.9988, 0.0006, 0.8757, 0.7467, -0.5259, 0.0376, -0.0971, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.3528 left_z=0.2736 left_yaw=0.0753 left_pitch=0.2644 left_roll=0.0051 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1927 right_yaw=0.0124 right_pitch=-0.0967 right_roll=-0.0856 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -11.2342, 8.9094, 1.6532, -0.3541, 0.3297, -0.1392, 0.1162, -2.0171, 7.9795, 1.6532, 0.0904, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bdd88654b65e131e3d62c1a9ca6d8655a898f565d4d0d4bced0a1c66fdcc7d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69235fb12e1c0ff7831c1c436f0a9a3f5518b469ffd51635df42f12c5e32e517",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb3d67ae8f90ffe173c021d241e0ad78cf94fcac762db4b1898bea80a0fff5f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /responses · status 200 · 7.166 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 107 changed as sent

message 107 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]: [-0.1349, 0.9348, 0.7944, -0.6132, -0.2089, -0.0631, 0.9968, 0.004, 0.8719, 0.7586, -0.5251, 0.0471, -0.0803, 0.9964]\nstate[eef_state]: left_x=0.2941 left_y=0.0007 left_z=0.1835 left_yaw=0.0703 left_pitch=-0.1756 left_roll=0.0979 left_gripper=0.9968 right_x=0.2985 right_y=-0.0035 right_z=0.1993 right_yaw=-0.0013 right_pitch=-0.0796 right_roll=-0.0779 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -2.3726, 6.9402, 1.5653, -0.1148, -0.0366, -0.0073, -0.1709, -1.7299, 7.241, 1.8291, -0.0806, -0.0806, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMn4-QigmPe3uQlHRCg2Fj_SaXkMhY-lmOrHiDAm6Q_48HyZ8_bCas_i2n-5xbloJ_RmMl7vD0GaBXGDbtemUraTCON3BsToy9zFivD4qIg0RU0w0YBv4R9WnZ7ioG1QJ1Ps38ksPPIgniX1zAcSkxM5GBNu8NrUbfxgs5mGsQHNmlDQ-w61xAHSFECJIbyO-HeBd2OTLSHxf69J45e53EED7lQ5Xttm9iEX5SmTarLsqPD9Evrst8grHK8Z6IOcYg-FnXdgRujr_HHCoj-YRzIZrMPlPGnLHOoIMnBsf1sxKJz0J4pyH6GfvCtvS5qmBj-0J-vCQ0AgsPbhMt5SrSoCzb5ts6McInJSLYjRRp5rrf6xWX0K9h2iMy-ypB35LL5-UZRssHxdx_2IbVtYC2OrZdKwRRzvNvzrEpxfAgOO9yScUiCUKYC_-1pFhFf0nyzQ9iuOoFjl8pB81nEqFDopQXzu9ceoGHOJR3CxVq3_R4Y_O-C4UyvfQsiEeLbGNl6fNFSGUzmybx4eLkKNKXJwEq5CCSdcXy4_rRZSGoCyFMMU_TRwjys00X6bKDvODnDzgzBRf_rzOFhIZ5ygMFK2veXPIQv6b8P6Kfw4ugG5hRxjUkB_bGNwTLzFUrZtRTzI5hPu5qMyYe0XlTdHMg_h8xUP39b5nbIgRA-2WjlQRt6OzHRWZczkk2_TDN1jIE7tmb1mgs3h1dk_zD0MMOgZKnTaWV_VGqglPc7YG8UAqh9Ga13IFAiiAhKEiRyAOTYAvFPVvvDAMRk1GT54f-Qdr9OdLoH83mDJ14vVIy_jlQ_2G-39NgiIUnFuuRXUwN_ycB4anYr15NY8OHncTr8CX4uOMJeVXJSJ03YjAGypc2ZIWrc1gU5bveC46JRbD-yZmhSlZogx_SwYMgyGGyaax2dR-c7WJU2feR5JvZRt4t-V7y7zpSc49FkJdLx0uc6Pi4w8TEAfONLnBJsquLMLyXWxWftZn3kRXvPNbYxWHbPQi52KzpCoV_c0a8oR0RLBRuagfKgTtFM3vlkqIvVsp3zEc7iBb_BLvn3NUVktHaD9wnj69U8nT3O_x0WOf8bO-4kp4xpOnS62z30a0GjK6_y4x52hYuzbbghy0bJCNv1gn7FSPjlvs7i6qHNPjNlPkSrpFk0oqypz0-THrFGBIK2PVkk8zipktkwgxedkC7LJzlEIUpS_aePu2s64D9TgBrg2I1b575eCFICB8vRK6iupa-YDNZZNfG1FOZonzdDIU6KOzicrPXhL_UjPPPjMkDjEflq7x8LXgK2uhC1MdsSxBq99JZLFq5dDwV1I_NbXdRrjIEau-bnw-ur0L-EJR-ICVt_QbodWwv3vpuvVMX3T6-mE0OnPTxYpLY0IkuNTDLSONYntHFjiTgja1E2oikxv5Ds0oXNIpc7ok9rAea2DCQiO1eCaU33S97jRob8koSdlqX8xw07jJQeztfD9Bz3iqoGJy5MDYAYV7PqZTtjk_ASF6LqndYZRUb8AkXQfyCkOYHR5SOn6K4VJqOECwRmQiRNq21Rl3F4fhEMTeCFi6TF-7LW_JkMtHMimfC9gELbBRCbO-XUqxuF47vtV",
  "id": "rs_02417f333c826114016aacc9f075cc87d0bb4516388d04a5aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.445,\"left_y\":-0.38,\"left_z\":0.165,\"left_pitch\":0.15},\"note\":\"The white bottle’s handle is visible on the left side of its upper body in the wrist view. I’m lowering the left jaws onto that handle for a secure pickup.\"}",
  "call_id": "call_WNVwVEX2h8INP2Eve11NIk7f",
  "id": "fc_02417f333c826114016aacc9f702d487d0b87d811ec6241dc4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WNVwVEX2h8INP2Eve11NIk7f",
  "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]: [-0.9588, 2.212, 1.8194, -0.3264, -0.9173, -0.5789, 0.9984, -0.0002, 0.8753, 0.7456, -0.5259, 0.0368, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4399 left_y=-0.3765 left_z=0.1685 left_yaw=0.0659 left_pitch=0.1496 left_roll=0.0295 left_gripper=0.9984 right_x=0.2971 right_y=-0.003 right_z=0.1923 right_yaw=0.0127 right_pitch=-0.0975 right_roll=-0.0857 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -11.959, 8.9778, 1.3895, -0.3346, -0.1587, -0.0562, -0.0205, -1.6615, 7.0906, 1.6874, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d195fa46e2bebbd4aee9c77f290345851597d0b0d1433cbbcb20fada2b2e38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a59771a42afa761bc7728c33282efd4218241ccc6ba052b5b3ee6caab6280b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a12f50501fc40413d08da1fc6d188c452a995b63a94fbff7ee30bec94a9343f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 5.372 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 111 changed as sent

message 111 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]: [-0.9817, 2.0106, 1.8172, -0.3714, -0.9913, -0.4866, 0.9988, 0.0006, 0.8757, 0.7467, -0.5259, 0.0376, -0.0971, 0.9964]\nstate[eef_state]: left_x=0.4178 left_y=-0.3528 left_z=0.2736 left_yaw=0.0753 left_pitch=0.2644 left_roll=0.0051 left_gripper=0.9988 right_x=0.2973 right_y=-0.0029 right_z=0.1927 right_yaw=0.0124 right_pitch=-0.0967 right_roll=-0.0856 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -11.2342, 8.9094, 1.6532, -0.3541, 0.3297, -0.1392, 0.1162, -2.0171, 7.9795, 1.6532, 0.0904, 0.1197, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMoACH_oZU-FIF88WwIbJqh_GlaC6YZFZFqko-xG8tiq_dQyCXONjfh2NvErHKsBEClfHdm4Bb-EWClg6jcCS07IG_6bcNTwmgVYg3rYb1uKQIdPa5JuYPGecrggdPQIp7EViintpTOzUNBYyXAHqpHo4XcJNynleonSPcvQA1H1VqplTFBL1uWvFLVGqzz33KX9IzmpIGNlOVk_QzIUejUHw4ep5EDM9Y6v0EAVeLPhjmZYJofqlzAKR7U-hoWQTV8X60kiSM5kHENsPiErafXVePBHbSRB3UtqJpwfBFq9gPJG6maob6qDI2SaS7PjIEz0iZkrZqgF2v-gMaEvS0pJsNCCnWW0ORJru8ZZiHjr494KqWCNnxYFePf-QxuIxhbRzmqCLAnnLoUgLdk99zfXiYOH1TA3sXSJrv4RmlhLMDB16kuS0u4Osz1iRS1FpTkXekGms19j43ZNljrQhoKb_Rc95aULql_GEx5RwsHrA_uLM8PdZqjEKdc-73EgIxQStrN9cbUjQBI6FKfXOml0N0U7HXqCo3Ej8qcFrUYx_a1xKiuz32ZMXkrp0rVIzkS-5AbYNNzfgBgRfG34eZTlmok6nT13PeU2O9ExjPrkYr7TKf9_OVsr53U2leOv1yCda7YlCnTGzjEEBUxbqUEMstZW37X7EFx4Mrb2jozlyqgpgPn1MT0QZt_GOH_AimnW0yCcfgDVCRr1ae0TQ9jonztrW31lWLWprghYhLmfg5X9cPmxk0ZiyS9DUKOAzGX_u_wxp70eIvbx37LEMsfL7TJwz3g_AmS1Q7GdQ7SAxXh4nezanNP8weFtnxIVH6HFy52kTwUKwCCKzo30J3hYW__hm_aU_MPel12sPWH2rsIZk60oLU6rC6mOm4_j4lrNl5y0_zvt2pK1JnPy_8-5ABAZ2UR5uySHiof0AGy8brGnNh13H0iKj5Oo--lX-sgQamRbqAsn9i46aMpA_jC9wqxnzsNGM2y4Jnj3ZjpnZlDsg_Xg4tbO6Rv9wYKIdho-C-j3Ol7V8uoK3kMU9nbbKKAGGwxQAvxgWlQZ8peU9xwYoulBGUK7k5lXWLj_er6fh5dl0436fQpSEjeAgJU_JLlW0HoF1pzlReBwYuOQV0AH7foxl6ibRhYxLJu0WDt6z4MYpwX0hkzWZirTeFyA-eJmN_GdakVlQVjwmKQuHU9YFOfZkzXtgsIoJ18Q1rRJbE5xmp5sYfF3G5oOKon-kCKcL-FQr3vccK-5ZYJ90p30UYK3YskIKaIh4Kakt6ck-T_HxMjMXe5v2ck8yhRW6cuEMQpLhf-gPfsQ6czq8dhs3f0TxDwzDPKk8_9r1Q4dD3D-ePdf88immmBijlE01S75eq5dnhYi7YKx6polVBsKdwjxlSIG5Ejyml0TzwqAgtXF1MjqPKCvGpIcB6_O7wh2yTa2-JVjDxEjWrEUGp6unY_ecBju8Fp5tA-mycH8cKLYidZQ1B_G9g5xR5zz811q456D2yQd_enwfp-FcALZGNUVM04KE7ArVC8Wv3jj",
  "id": "rs_02417f333c826114016aacc9fd0b4487d090af386b57f8908b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers are aligned at the white bottle’s handle height. I’m closing them and will verify the hold before lifting toward the red cup.\"}",
  "call_id": "call_gAqgLAZoudHPv8YseZC0hvwf",
  "id": "fc_02417f333c826114016aacc9ff1e8487d098e7e85b0e967d69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gAqgLAZoudHPv8YseZC0hvwf",
  "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]: [-0.9596, 2.2425, 1.8191, -0.3267, -0.9127, -0.5842, 0.0134, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4403 left_y=-0.3786 left_z=0.1514 left_yaw=0.061 left_pitch=0.1308 left_roll=0.0499 left_gripper=0.0134 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -15.5282, 6.7624, 1.4042, -0.3639, 0.0317, 0.8864, -0.0205, -1.6889, 7.0769, 1.6337, -0.0513, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39e335c80f6a5ac0e61df1f02091e349334ea9abe7607b69426ea07f30615b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf6256ace229d2bd86b3e61fdf87cdc1299049f825c1c3dc123d36c9aa60648",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c3d7416aee45c1eb632f5650e97a26216ecbdce8d59658c790d977f3d9a170",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /responses · status 200 · 8.517 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 115 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]: [-0.9588, 2.212, 1.8194, -0.3264, -0.9173, -0.5789, 0.9984, -0.0002, 0.8753, 0.7456, -0.5259, 0.0368, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4399 left_y=-0.3765 left_z=0.1685 left_yaw=0.0659 left_pitch=0.1496 left_roll=0.0295 left_gripper=0.9984 right_x=0.2971 right_y=-0.003 right_z=0.1923 right_yaw=0.0127 right_pitch=-0.0975 right_roll=-0.0857 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -11.959, 8.9778, 1.3895, -0.3346, -0.1587, -0.0562, -0.0205, -1.6615, 7.0906, 1.6874, 0.0024, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMoGeIOpCwr6nF90wFD2bhqGrpuuGG3O9Prez-u69aRSQHfYQx7HnP_ds15MSKlC_zjpsE3hCATJgDVMmqTX5x1XEviBeU528Ufe571EcrN55f_hwH47gbRua74Tom1nRyA-YQp2CaTkKunlTP5nZlBYY_soMNvddc3NYa6-ycndP99KHo50JclLxxT24uaS3DUZeWJ5OXeGA07oCavWQ5PpdTgQucMVnXCl7O1rwA272mPU8liePjGVuCFyWEFcPgIpP4C45ugeYd5pWwHWp56Dr18YMsv4onf9wqZIPhoXEJ0ytKJF3CJa-6WXM9ZjxAPKG4_FD7aPV0mn2yKKqytGo9r2bnt4K6JSRuqw7JkB85MgaVIaYIc-m4RhZP5yyIe2adlNlzyRqBIobg461YOJv8e81o--sUr6ht931726P1d93vhLz6wewuhYBWnOQoe7K2HPDwVT4AhUWskcgzMBVLIG_GOqzdN8qJEPyQp1ymSYm0i_HZPT4r8l3yE5lmGDQZ8tOMRbW5-ueHs5s5YZUxey5Vk-edd4xkVpA8KZvN4sZ7jtuoicAibPsoQGuCewvuJ-d9glisS06gmFk4j0o5yr6hGZnTvS0mm5HpeUO0DJRBVu2qpQuiAF9m1LZ6Hrxp7VvyxsBjGnpIKFr37l_LfewDiQPqmugyZrEy1xR8RwBZzRatN2ccKpwU9TePn9mqok0XZ6FKNPBfr5NVVQQ4GiT2Lnr5ZOKwOa2S4Asv7MHyfxUnM5OSXnP6b4CspVqvr0p72DefigLB6Fvd4dS6m0dZN1yFDQR7InzTsfsjzeF1NfnJmTNHRGRvgazm1LS8L5ODSafKd6GqflRatv-6lPMJfvHgMMeLkMAmLVV7s8eVhaGscACG4OtoxVfAXkjBs4agDsvsgtD_9_R4gArx_JtHiTS7sIVjZksXH0kAjPXdQ0E4p8bT8VP20NMiLdmwY5SYq4dg_pzLkQrRpjc33Tu1s2QpWBikE_koUVCd-B3rdl2lNDzi4BapjZ-VVMJUulf3C5j4t8A9oqqxXeUPwXeNv2N3H8e7bpklhsrxNEwkuOamkxL8X8rKi7Sby24TLgOpEXchUPfdBaZ6fC-eSjzqIw_7Hse6G0uw5YFXRbqRaqc3Gw79sTN1FtwuTvj9U5Z4vvrb2Z__ElWkGkdkvkOsFMJdBXRIkKgNO11xI33EY4sECwCaTuipDrW2_rfEz2o-GT4_lDb6rcnQO3h2PZ9Dez-FHfBNxAZL397JV6FG-6j2yB6wT3k6EhNADGbYTHBF8RWqq-zfdbFbCd87M7mXQGMo9k3hbpgCNpP4NU88KvWGTwiKB0DuwWIt4UkbkM3ozN9CxDQF0NyLIaW9houvj2PCNPMEHYKwuy3i_e7CjA--gH6_pn2uugT06i",
  "id": "rs_02417f333c826114016aacca03332887d0ad626caef82e2afc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.465,\"left_y\":-0.355,\"left_z\":0.19},\"note\":\"The close was empty; the jaws are just behind the handle. I’m reopening and shifting outward and slightly left to put the handle between the fingers for one corrected attempt.\"}",
  "call_id": "call_G5vHMaeCtzKHZfUZUv72D428",
  "id": "fc_02417f333c826114016aacca04944487d0982abd8214ed7313",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G5vHMaeCtzKHZfUZUv72D428",
  "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]: [-0.894, 2.2421, 1.8465, -0.3771, -0.8692, -0.5354, 0.9953, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.462 left_y=-0.354 left_z=0.1513 left_yaw=0.0688 left_pitch=0.0912 left_roll=0.0965 left_gripper=0.9953 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -16.8137, 10.0991, 1.3309, -0.315, 0.1685, -0.1783, -0.1846, -1.6889, 7.241, 1.6337, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2423850eed100adcd9c60fe1712fbe25522412b19daff89667a5d2d5f78e9f66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2717caaaefb555d0f8f7ae5f9cc35e98a098d904c0b1a8c3574c87ae2c962e49",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9c0c43f1baa7d7815f3737b9dc528f94d80e6705cd560d5d256818c52ccee0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /responses · status 200 · 7.676 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 119 changed as sent

message 119 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]: [-0.9596, 2.2425, 1.8191, -0.3267, -0.9127, -0.5842, 0.0134, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4403 left_y=-0.3786 left_z=0.1514 left_yaw=0.061 left_pitch=0.1308 left_roll=0.0499 left_gripper=0.0134 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.1709, -15.5282, 6.7624, 1.4042, -0.3639, 0.0317, 0.8864, -0.0205, -1.6889, 7.0769, 1.6337, -0.0513, -0.0562, -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": "gAAAAABqrMoPZhXZGLgqre5YloYuqH8x70E41l8oZ4ikEnw4r-CyV5Bqk4LognZALXhduXgplh07FVvjWGubzLQsx3XnFyei_84i0NZhUTaj5FU94zEv1BnWHIvfLyKP2_JcL5GGogvyP1B9SmWq5k93iPVk_-683fslHyHq9RHVICLq8Gv-q0Y5eKGiTdA9GtOOphf7ZVKABcnvp0Y1IqeWJBr9DizO5fhNXTtyBQsDazZWIZTuuIVAclEGiKbJH-2jdrH3dusI5wjDsON6c_CM74qZ0I5oJTKnzF43q19gyGMPlARH0xzNVsc1q_Q8_B2WpOcjelD0zU0pWk0RMFF_5yYJpLfpzuVNra7S4_NxwAoVS6_1tNLDl6BV1ZEYC_gelaDVIZmc_On5gPUlJSm64P-M8S1O77Ix2OakogegdoWpRM0G2UmW1Z9LV2jARGRguhX2Su-7RP2yWSL_p2qD5QuoHVlGwXRyXr9PGIA5okdErHFKuw2BTvuONHsiPmxBZIUlTsLRSquTVKc5GLAQBsKKjJU_ZVkQN82xFt84nw3d8w68j3v3qPk1D2PiXzUSv7Q2P0mTEfJmkycMKpKFMwCtZC5rDTN1L2BCdngUCPzvryxPvEo2Nc7facrwXRs4WgFYIbFwujbUL55ojy2NeLVf7QdZ9tympR8DUaKl_xqt0pDNpsIlR8Dg_AbjJFoSoCDu8e7jFhtU8qfVYwTt5K8N9IDvQKm2UWnnZTxbnkTqJn0ALzFDihT-VmMDnvv8s0gDLcjLEo72GAx4DV6Ktlg5-jP_U9GlrAp8X7H09bu87osS3m9-oXRecyxtMtc8lEaHEPqXkFX3WTsN0o0UFMDI33AMJKuc4pnkf4IeFMqHoPNqajEI_Mb09HHovzWBgO8vaS586OpTK4nl1TIFCoBP2-0tlFPZVsFgPO3YwNmrwLcDLDsDJO1hY8mDb-dA5TeawFDDWlntm8aj7JkuSIOot4tSNetlc0aR_QZfbFuuYcxcPMSvQ44dilNlqTE8yiNIEC946f0V0VjfcHDED3Zmc0y6WJhj9fgdO9b_ZsrFOQsCFFdy4MmihJKCK0lGZI5XGmqXkcIjCtX8MtWHoBsKk3ATHakaoY5v01On34OBGJS9ZDSWq0quaZ-E8mLtMHOmUjN-h0BvkzYGIvBXPKEGGM3jXqk9_vvcDICZUAvFEPoM-93uP_gPjxybsE-TnYldsZ2yhRLirJRrG8jcexfiq6ToqKZAgv6s6cZdnHr6yNf1sgdCZkAiJp7gx-0cgt8Oc1BqnAepGL2ijIKIowp57nYxr9dQujFv_jCWL_mrUWwGcU5MW23v1oGz0gi6SyY-0j3B6q18wwyGF13kORqmx3DPbIa2lsuUAF16V0pc90Q8kno40nAe7ZDklIC4k5sOBV-VU45wuT4Sbebs10EJE272xNkbkuMMEN3Peg3ZQ8WDkkPne5KAIuhSeUovtTl5KEONoRmW9P3xKiF2sCn-KuLdX5OLrDf-t9YTVG0H5IuZtCjLuSixWzpBKcESaZHeZ6JWglVnXRJvaKhp1nfV5PBlrwqaDIByU5TcxHcG3xTn-tN_uYhYfjYUXPJgMyuDI2nbkFFkEdC2ZzDAxInnviwMRpJFfk7tEqtmp1C6TdmHrz_Onv625ePIU4lLDZ-YtChOU1w3jCw7TPxSPhnkHqCqKlY7KgK_1_iVn7wSKfGN3_Ze1gWs4rAHi5VJ6yq5QHLGjAqzlMVJyKuZX3b_STvBdDd_c4uNP-p5mj7V1lLokzsGID2V3LoU5MgIDm8I0B7a4OEZx_Q2nLL3eQGuS01FCDowc1vOzbmaBUwWNmZ93EwL41W7Yn4dkci984lNTlbZxpb-yI20sKAXKPPz4uSUwrzcSkrSbSra8ArcwYseAAQFLDUz23sledJ_8e7Sa0gTmd0w3gnnfNArCk8sg9FdKVOStAWCd1oqWNVySgx3txGJP2f0Q0Tne4mhcasxQx5Xtwp3qnjqps6Ypvti-nSzjCRp_PUVOQKC-0etWz8spvx1aXdgBcT5EaF-tBQ_h2UKWJM5zNjWnldjyWTcVzVDqoQOzVtaI5eRxU9FaJGRdDQ=",
  "id": "rs_02417f333c826114016aacca09f46887d08387e3acc2ea0f6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.37,\"left_z\":0.255,\"left_pitch\":0.4},\"note\":\"The left arm sagged below the intended handle height at this long reach. I’m raising the wrist and pitching it forward so the fingers can reach the handle without closing on empty space below it.\"}",
  "call_id": "call_RdYdYfmdjrWENHSoei88zQT1",
  "id": "fc_02417f333c826114016aacca0e0c8087d0a76b6120d7e1b782",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RdYdYfmdjrWENHSoei88zQT1",
  "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]: [-0.9409, 2.2196, 1.8294, -0.0551, -1.0454, -0.2783, 0.9967, -0.0002, 0.8753, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4635 left_y=-0.3703 left_z=0.2165 left_yaw=0.0755 left_pitch=0.3397 left_roll=0.1223 left_gripper=0.9967 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0983 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -17.1692, 6.5299, 1.707, -0.149, 0.3687, 0.1441, -0.0752, -1.6205, 7.1726, 1.6337, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c44e5bfe334cbd8ada44cd48b249cf90a83a18311d77ec93ca01304f049e53",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:785f2be1d68654e77b9cb976f55327bb0d2a0de09368748ea1b98a4f9737f3e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e103c1b780406c709acf3e43d1ec96d23e8c86b8d1dbb919d3c9bf73490a8c62",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /responses · status 200 · 7.62 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 123 changed as sent

message 123 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]: [-0.894, 2.2421, 1.8465, -0.3771, -0.8692, -0.5354, 0.9953, -0.0002, 0.8753, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.462 left_y=-0.354 left_z=0.1513 left_yaw=0.0688 left_pitch=0.0912 left_roll=0.0965 left_gripper=0.9953 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0979 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -16.8137, 10.0991, 1.3309, -0.315, 0.1685, -0.1783, -0.1846, -1.6889, 7.241, 1.6337, -0.0415, -0.022, -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": "gAAAAABqrMoYN0OMzU4ZY3MYCnc7f77T4v0x7mlVJ9Za8PYsqVlgsmeL-pPwMNWfoqrJrYrCJL-aXLl5dFCm4ts_7TccVB1BDbJY3E712zTCoZgDgsaY_smkj97XQrSvE1YvAnle5FtJMrkdZGhiVLbq_8zqMSGvKf_OZOm1fPK9xJOHhHWW-GT9YIW_RH551cCjecdIhmkAulIgzHHQjKLAtvJvg7mJHZ0WX8DBQLSNqwCrie6GiSA2GsztNZLK42Dn5DfVYkzFd9RurBcomMg-fTNbhhmUl7RAs9z-qFPhVhdWN5cz2gV9z_tmSPKxg49BWoxB0XLLXLeBXDA-WmdUp0RDwihh81Oz5As486z35nr3jCG8QdNsyV3oK3ZmBlr21rw8Emp-aeCK_gW4l3GP1L4xXf0TmVSg96IJoN45jrvxnbWI46G6FfesfRDg3iLly9HiuRsF8u2dz4NT17PP6JV8cLnOmj-KOHRUkwnCSs0JlOYw8VyBHoOBGGYowbVrkye_C2pN4KxViM8FhG2wpNg2zyair2AdNIycGh2RhoZu4j0I6iZq6eVOK5daioWB4w7D_dOiDAwvrs83StkN3-iYKNzYOLChyWD9x11r3ubWvnepGsqE1XvxFb7O_M69Ul5vzEQ9nRIQP-2_R5yxtrY43wTL7KzlYWtV83qnyI0SKDtn2ew6626SJgawWVMXJmiK-DLQG0ZYHGpYCoAZTBfJmAE7iuRg-mLC1VXiboDfY9kxWh2pxDZobIlqHFQw-8xKo_Fp9JGrfZW84xs6OdTlv6QpoyvbwyZsX5ypg_H1fKWG_tJ1AtK0M57hGdp_k6eMZYZ0bsAQt5kEFHmNwT-l2l3jvfqyYoq_ZkcHjpE_Q8E5OT9wG6VjOSVPGlqKu4YreZ3YigN44f_fgyiwPfxtcp21jPvkhdA_i-uIJMDelLc5nmPEQiYRblW6UpFtExyUi66REbG-IroR5UNAGmX2Ri_mna-xjlw_Wn2fFBKqPUVz7kM8wTODGQB5oEZvMJ78zpV1Ro0oZt9JgFFxiGmwzlWUt16YnHmTdIL-XHI2yt-4x-qYyHoFk4_fAfHv4GzHLph_Ziqt4fHH6CiL7lB_fbHKK3o7LpA42tmTeCCq0LSkv5HtmLSGmF976txWfzwIjSPklEw24wFXJUbVyx4T-2JnuP0mr-invrvPCnTc8Drbie9v6sdUOd5z3F1DBa-mQrQXokKmifAfFIq0QnYtdrAxwm_44X5lLeOKPsCYhm_3dTnUeEyokZvYfH51zAyTZ6NJGxmYMkahN_J-qoVrtcIO7kWEudp30O8rJ-0qRztS0MJIjz_zyn8Cgc3zmioGmLfwqpIAj2vb1CsItIciVjuqn4_gtXKHIUINZbpQ_wY_QCUXZoAUEs2nYG44ccVYc-zLsVZ013lKHs2xC7zQpQfFO-hqc3FZ_R6h36B0puWnZ9s3rqRFw1fUYFo9qxnGgRlQMM3RlYkfTGKFxmIJI0hiR6GL4_et8puTPXQuv4J7g5-9L-HbwYtlRs_wNB0-9fdINkLgVMTcMrsQWPAmfVvZro9v01Ae3IC2wSz7xVxbnbqfvA913Wy7I7AHlGgLH16HM7-RZLO1qSV723oo_F07lFr8z6QT-jwNTEHv-_yVNAGkEHCyHUz7hySu-1TWy7xIb7uUawYLFFLVUDY1HfGoi1GPNtxmX-OjcNdTm8exqflisV1tbBjOvP1W4Anbbe5I",
  "id": "rs_02417f333c826114016aacca14150087d0b444eb1038e15dce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.34,\"left_z\":0.235,\"left_pitch\":0.4},\"note\":\"The handle is now clearly visible left of the jaw center. I’m making a small sideways and outward correction to center the handle between the fingers.\"}",
  "call_id": "call_hxEx2CSp2MwfDb9ZjMDRemuM",
  "id": "fc_02417f333c826114016aacca172f1487d0b51ff8bb890fad6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hxEx2CSp2MwfDb9ZjMDRemuM",
  "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]: [-0.8986, 2.2009, 1.7195, 0.0776, -1.0256, -0.189, 0.9968, -0.0002, 0.8753, 0.7448, -0.5259, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4756 left_y=-0.3492 left_z=0.2017 left_yaw=0.064 left_pitch=0.3482 left_roll=0.173 left_gripper=0.9968 right_x=0.2971 right_y=-0.0028 right_z=0.192 right_yaw=0.0133 right_pitch=-0.0983 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -17.4427, 7.3094, 1.8877, -0.1929, 0.0904, 0.0024, -0.0615, -1.5932, 6.9265, 1.6386, -0.0562, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cdfba5e3cc3d2eff915b24898b6a454a9cb8645941b394a3352a1b3d60cde3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c683654d3c39236271bc022e1ee825dd18135c14d153ccc72f75dd9b6b107057",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 348):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99210feae936b35cac44938ab9dfaa187d86b8f659b6864c73fe86647be124c7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /responses · status 200 · 7.029 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 127 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]: [-0.9409, 2.2196, 1.8294, -0.0551, -1.0454, -0.2783, 0.9967, -0.0002, 0.8753, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4635 left_y=-0.3703 left_z=0.2165 left_yaw=0.0755 left_pitch=0.3397 left_roll=0.1223 left_gripper=0.9967 right_x=0.2971 right_y=-0.0029 right_z=0.192 right_yaw=0.013 right_pitch=-0.0983 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.4581, -17.1692, 6.5299, 1.707, -0.149, 0.3687, 0.1441, -0.0752, -1.6205, 7.1726, 1.6337, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMogzxc6ryLEgyueGe1_OHbArOTziqJW8EKA7sPgVYnvp4l-0-Nm_gx4H2gk3l1kS2Lit0OvGXNBpdxdPNhIbqYypUF_B80S9QvWDBSus7cepDz-ge5I5ELcOtKEe2GYk1FcQQaFuU1P0e0k-w-zO8hC97GesDRmu2JZUzytqRr10YdY-sbHzPM_YQXrtqmDr9pcmN3GZuOSgv3f1jaYa7IyKoquApYNFsxE0VJzFjdhqqllDJp-rtpmyL4TCGrQw2TyBMjk5Pbkiyi8AR4Q1FuxKIbhxKqwdG7CxGVaYpLDgOyrRcVuY7LFi4zwVEb3w1Z7JdqlcvFEr-7maUBv6uAZbBFagHy0dhO9eo8ACEIgfq7S1ZMwk1X2CagGUlBks0MTxtzoT7-acyjEPPGqvjxed0VOpIq_03bqd-u-01lfMF08v1syF4wWEOGDLA9vY2Jb_Z0q1dE1awgxFo9JLGIaTxx1izAlsrVzFKaCkY0GTg7MGSz_6Top2o4HxlOiZjqmfpFMq_08kWYvRkw-N1DPRGEa4cmmA85pZEA8m8kpPPvwAf2hR47C1U66DpxC2hvL9x66LiUiF-KJW-ILPcUD9ENcrS-Do02J5_wUVvB0mD9hcUcgLa59EvzQFmSCn4DXfRy_Vlp9lJeSnY84dSjiheF1s4VYB6CLk15K1jzGd3EvYGtlTomtWrzL8FzqkzGLwWZ4eTVLleFEThH7O7cRUzIKiJRT79gIJvb9CiXF9lyIovY0dVWh1TYFKoBocmb_bGoobpIjo89LcpXOqTnKyB9IVaPld5kk_VmFAs_ni4EZLwJECc8_YlAT5_gHJEV1tTJiAo73sSsj99x_Fd8s4xnVOyXYRbm52T5jxbFgIzgiP8oQvcihCWhQH40BnQ7M03jbMFCzLjtXmST6Jz5qiYhFZjqVQP4sll9onbErknP_Q0F3lJBhez8oNcIGQO6kYjCiHmgg8D2EaQHe-QbvrekZiP1c4T_Qq00LCb1ptQRXixh35J8exyiHh0GrF0VDVhELzwIVYDKqsexwC5AplplJqwufKwc8X8kb3aYeFIRn-0IJCBNGgbfcCLTH6o_9K7TY-9KbQYE3rfCu1ZB-M_vumrIriu5XKiAbLaw1zY3myN0AwZk0NcYyl9wR1HwEKbKW3wL2QQqdpVCjlj-FMkFIBTVfJ0ZOIZTj9VwydaXhDoHeMAm17j1yeuExZsX5JPnipqgkbKiSJztU8Q7oD-ajPBeRND-tc6XUra5gIKxotBKMjw3R-YjcoTxTAFE-4vqqpS49NQ2yAfzXf3T4T9otJxu_2kemyho9Y_eesSLa_UVHiFxNrRiF3CIw-8X1ooaQXXx3wKK1KdKTwxz6p93XRJmjFgpEOAFl6rSel0OUSz_J44E9YNvSg5-jIjAnQYoYN4Yfd4H9mA1gJyTks-mSXvIYbKh5zMwEVmzTEphUSRQWKmHwcuoFnZz7p2Ey7f-UlennHZuRg8nHVSCYZoDBCWTGxTnAl-1JwV-yzUAiYhD857JA8ykpydLiUL8pki6tqXOghG5m_J1kCe6yCA==",
  "id": "rs_02417f333c826114016aacca1cbabc87d09348ce35c57b34b9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.315,\"left_z\":0.24},\"note\":\"The handle is still a little left of center, and the arm is tracking the height low. I’m shifting a final small amount toward the handle while keeping the jaws open.\"}",
  "call_id": "call_QNTkOl2wBHVZ0yRa7PMYJLAO",
  "id": "fc_02417f333c826114016aacca1eb7c887d0a7c452fde39af5fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QNTkOl2wBHVZ0yRa7PMYJLAO",
  "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]: [-0.8795, 2.199, 1.7031, 0.1257, -1.013, -0.1642, 0.9968, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4828 left_y=-0.3428 left_z=0.2028 left_yaw=0.0687 left_pitch=0.3613 left_roll=0.1666 left_gripper=0.9968 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -17.2923, 6.6667, 1.7656, -0.1685, 0.1587, -0.0122, -0.1436, -1.6752, 7.241, 1.6386, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3598d240a42b3d6c63967ac78df86dac79f289e14480405380bd49374baae5b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b2fb16ada207e672caf899ef726112487640734b3fb700647f180dae074baba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 352):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06d4e733ff3410ac81cb047bf222d3f2678bcd20703be9e7de07254fa7129d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /responses · status 200 · 21.43 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 131 changed as sent

message 131 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]: [-0.8986, 2.2009, 1.7195, 0.0776, -1.0256, -0.189, 0.9968, -0.0002, 0.8753, 0.7448, -0.5259, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4756 left_y=-0.3492 left_z=0.2017 left_yaw=0.064 left_pitch=0.3482 left_roll=0.173 left_gripper=0.9968 right_x=0.2971 right_y=-0.0028 right_z=0.192 right_yaw=0.0133 right_pitch=-0.0983 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -17.4427, 7.3094, 1.8877, -0.1929, 0.0904, 0.0024, -0.0615, -1.5932, 6.9265, 1.6386, -0.0562, -0.0366, -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": "gAAAAABqrMon0DCPBpBSkNtmBiBy8Y42YCXl8LR1kCL_U9tVMgVdimKMoMRJ7SqdRMY9Uemlyf24QpCDRHYXxqh2D6a8sVAStLogD4yJfqfXiCOdXtLpT5-ugWsokAqH_cqJW_BTCepxoN7MoxHETyx5aOt_CKeqx02FUi_f7j6WGuHutB2ZwB_4XyfzkzrPfd53W-drG9j0v5LCPCYH2qrvFb45SbEOTTPLNUyyxNfwK0bn27Uq8qmGfjnKj8kHkPqfXy_AMqP7YbHPBG6WCY_8wuAfHsWvLExAN-SRhl3GlhgUotPwwbmk6cx2hRvJK79xCpGSyDJN7HZ3AlRUMDx5fZrXKl4urv8_Lrt2NvoFuv3Wdjk4amqk02D-jSeGm2SuqMkJibUqXiY_R0EpBGBeZbsh4JyUoe67WaOXmIC5qpJFAO4FPBVI9KgWMCG7s8XMeFfC_pnPI74lUHCxQRTSGHIRxWJmkfJWYI5h--QqEZ390kvS2vPPvCqu4KJMYIKWuZABV0Mok8I4mLWisdxZuVQYTAYDLkQcRxtz1GRCzn4kl96J3gbskzdMvB761HTC62WdbfKm0n4TgpOeY5-r6G54mI3rhpAbm-QWlrpM1TvzmAQF2ua1SO_ZDlkfoiiWcrDQkhG8lTncX5HubqKSvPKzXGCpzLB3nRnytUdM7Bx9aPJTpMlB5Mj7yFFeBxEmgX7C_-dHWBt1gaYZmms2fbrLRdfCfG2VqvqvmKtAWMrr4J-ot-55XAXelZ15TwJW02G_WRGkEGFi0947M_bAgUQy3jiTXfP7jcxOaBCU13v7ZOFPxyYpiOTQinVkLCQOmXAbSrsqOCvhzDNsHxoxIiwiX-y9cRT_488EL1VsnN2UB-ObnNNiH3ubba2TgYs40qoOhlqlC2YIy7muFA_9vd5MxInhl08mnwiPj6lN50RSUfnDL2XA-5a7sLIrfyAQwQqaa0iwGPmPXAWWf4s7KPup26d9OXioE53RsvzcYShhADIeREbWt8BN4b91FG4ZQaFI6pBPjB06iO5OcHR2dd_s0zqAgi5vgom_GXK_YqNmGLTQ13THBQRqFAp2bWZ9E7a7_XqrELMc_J1johgWWqt02zqdikib1pNciHlT1-qaDVDufERq6dfhF856SMW2UUk8RT3eRoe7dJs30Zf7D21czhM5YuSMstwzZ8_JAA6-PoN03-wdPUyw-z1q9enBhaRw4d8ki99jWBtOJsSt5Xvh9YySbCd6bPLI1Vf2P84mQtfHVAnn6sC5tZ3nrgNPc6V0ar5WvAccXqlnx5q7mUQ6YhH0hLOwyuXHUeABzRvfPS-x_46AcSM2Q_lFcjE1OHzRk9oiKPV6xZX8sBV6n0SaYaK9T___y2a-P-3kU2DTzPNnZGKScflzPWdHEiQkZs5iw5XuHsL4wnRLgeqiYkoUq4TUUoU3aOk8auFJ6xyjF66zZvqLmy6flflkJPNIgAI2D3CSuGvrEM30AyiD8nmdhp2bSmgIRUpeH-Rti1wutFDsRH_lkj3F7ibV938Lc6WWzNQ-Uqu_IsHL5IdrhAGYnlLlYkTQGXDSX8inE0mvk6uJqwfaoF9ng2jCVfyb7uY3I6w7DqjT6LTVEz6j5EHAw93kbv-qh7GkV9dzkjbGeWfQm_afNf7kfZhEDlrTYuZ0LHtsOdTEcdGN0ihN1fbgXZBK33DNS5Ivq6A4YObW7LZzkE7mFDdSYZxknk7Mvtma1U2VH4NCVGvMTqQV1W9Lq3nx5g==",
  "id": "rs_02417f333c826114016aacca22d15c87d0842290a5233984c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The handle is now near the closing line of the left jaws. I’m testing this corrected grip before attempting any transport.\"}",
  "call_id": "call_66ygOcohNFpHQ8D3xvjSLvKR",
  "id": "fc_02417f333c826114016aacca26a60087d0bc1ffc829040e1a1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_66ygOcohNFpHQ8D3xvjSLvKR",
  "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]: [-0.8795, 2.1994, 1.7031, 0.1207, -1.013, -0.1673, 0.0133, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4827 left_y=-0.3426 left_z=0.2018 left_yaw=0.0688 left_pitch=0.3585 left_roll=0.168 left_gripper=0.0133 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.9846, 7.0359, 1.5995, -0.188, 0.0366, 1.1404, -0.1299, -1.6752, 6.9538, 1.6825, -0.0171, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f33c6488afdedddbb284d9653dd7996cf9465c2de40bfc9cb200addf619e9756",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b92718b87d665c71533304c5569d6f3f05b51380f45aef76b4cc4c6411ef1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92873a03a4f3077fb3d6e6824c19af481da6333f0a7a4bc184a95012415932a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /responses · status 200 · 5.032 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 135 changed as sent

message 135 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]: [-0.8795, 2.199, 1.7031, 0.1257, -1.013, -0.1642, 0.9968, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4828 left_y=-0.3428 left_z=0.2028 left_yaw=0.0687 left_pitch=0.3613 left_roll=0.1666 left_gripper=0.9968 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -17.2923, 6.6667, 1.7656, -0.1685, 0.1587, -0.0122, -0.1436, -1.6752, 7.241, 1.6386, -0.0122, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMo-nXbgjnEdP-mxQ3GDoW4qN--kO9-QAmpY6p_GuBCvbp5cG3YkjSNvQb0KAAsEfRMDXVLDmLjEZuh_okmt4n0CiDhP3BIY35Q2VEnVYc-la4ArDt6ZgZHFmhI8kbI8724O9_narsMzcb2zosmZLM34l8HMo4Wug0Z6LVUGs_AHpkgtAvtrj8ZTVdRbH4BVuRdySpbgszDMS77gPjnS3TR1GIIJSe5ZYOHApeaQOzUSIzd1ZVDAjmayLkAI3G9MRp6LVWEs5tp6jupigFS5L4cxKLagHJwd-2B6wHC99WMUq-6xX6ixVCIvQf-xUE0EYuRsDFs8Xf6vIK00_DoK5-60fSDIYoS3cGhHOY66rw0IPP8qHh1SNBduFEngyHgPWpiV3tjJzetwODtxB7Hr-UNdV2UFGTogEiQ6RyC55v6D6gRwUx7XK-sX9jb4_VwCuVsg0Qw-RyXciyaBenf1dyLs_Z-RXB6u0Y3dxiwXgv89Ju9b8AFXDNwHyZ7syYfRbZU0ijyXQogfJKQxEx_zYB4Vrh6iAHRE1Ukggg_C--z4AptawWz4THVyzZzw3YV5VUDA8o_ybNCy-Z9RVjSjHwILz1RugXeEJgEUCNrTxvrXrmbl2vt6UCftVHexedNSuxqjaGPBFCAXoXRAMP7zyuoczNWQ-eVg3p_UtgKpWC_GXPnTR54-oSh54V8-3Act6RDUmF1OPsoF62xZGUeHY0MTKpJsfH8Yt11xQEH-VJ0IW9SGqAg4zpycWafYGaNd33ZFY6690luUYcE-p8PJsP8aKGhwhfSICz7f1taI0cJjgjsiU4MNOHZVeJ7znz0cT8nqx1xnkh-V_K9d9zzlcSmvdfGJVvc8Ia1Ett55G558lGkqpweTNVxE-QnJjvdAVGIYQV8-OAmgkUU4Thtp-Gx61R9HgIB4_s5S6avKrqIuq2O3UMJRgXe200J1EsdR2rWasBFntUZDM6OfHo0twwSitQBEiqzQzlBGmbPZPN2X8Oy4qPS_uCo62rU1OPmmiteql0IUDMl73QP2fCvmFg4XwN0blN0gxb8BpegEULMjZGg25DwXs3_pvqgaqIET4nWIT4IVTc9RgUenxw9gaRiwOJSVZuYJFtK644yoqgNK2_PC8uiIHBxuxhhgg345qBhruRyxySbTys_6dp6WFyR2TFWNd7VfOru-z62B0qiuUwhOEDri2SZjgVOb-3xh6X-elBaiIo4Uc52SRpLC3Y24qpwsoVPcWvW2zbpC53hQVmhWdAIQVLeKlokm7o5J5ZMRpDS4hsTz4n7YAPlBPQ5YS7Jo9pvsaBsM8t5c1J6734Av7l8krbw5np1mMlfGuxAyLmEp3KCjvcQ08X4VQH780iUK0svfx-xDBPQoEWc2U4LoGuOAYeWGppmcSkdpa4ix7IxkrGPxuS3Lx0nzXeOyIWOlo1igSb8TD9PLvYtOIwwR6V_JkG-g9vI4a-Io-6-XCihiP2ZenYg_MarEGCePCzMZUHE129VT0Cr-QTbVFtbHqcxse5FWqU9voJ4ypWJxfROZaWLjzsMOI4-E_xqk-FtBg56FxxAW8V4FOBmLXchiMB8ao1zqGPo5xwFQePRPbbdSkud54ctJ6RHo8eHOx3e-bHPQaq9GTjVTYn4kv5zoXsSDBuJAs_f3gS8O6NFkOx5IxixoRwObeWshRixghfROSOv2p1FbCvvDmxLrnD8nMHiIh1LQhTHUBimNThh7kcCDInJ_8tKddMaUDZ_N_gNlS6JpuiP8NhL0vhLwd5m7o2gMahrXSj0d0RQG4sl_CITCcD5R7zXzQ6YxbctR7xDayM4G2gA-WzD_UK1M3OPOTn1ik7T69okSJ4FDYu7Cy4ibaa3lRG01B4Db6jGi-TTeXTGU9rKpagsIJUhd39HeTv_KH2EcFrsV7M5hjC3qYjOzSvsa56FsaI2mvualV_YbYaKjgmYhrPGXgV4siEhV50c0kGrhdFdeZqzocnqsOXSlwYJC__A3d6jpLi_w_Mw7_sv_FgjnhFX3pyhjENwSKVCvizI1V2g0n_7_ny2QKLuOKMyH5TLSlgLej7o-5PQIowYhJ6803-fmxfDI1Gm-bEA-YeAUo1JxYwdXbdB1cnOcgMkcMmdEBIT8zEnmneNHtNpGLhUl11jXFo1mVxlSV47KjnDS_DpdjvHZeg-3V-FJ7Pd86Y_2nevWCsmgdtawjNyK4drak34RHMbS3dQ1M0HMCmKmFBJodbze3NtO7a0h2QWzyyjyZVcco4lqmJwI1A-kN9fsz0ea6fmsbHZYjNeaGuZ2vqTa7rV2aErRbZ6E9Ti-8p879APsPpuVHO5Za0-9vOzGMopgPs6LjksvOkKwI3HhUR90VbPsdCG6zdkd1-H0pDiPtf6JCAAN2QJW86Edeqa3vmmR377tPUd0GMHh6fzuJJKKporhkp1w6KU-nvHzO02fGDKN-EF6WhaxG7SRGNU8HuMH8MXfwG04z0jacZPWSSGSXkoLNl7lnoiIK0Vl9zuchQH6hn9DBtfiQuk1Nfs900smCK1euny6VKzGHd4xCl24nD5aBkQeGIe7-afbbYcFJCjkZ1zzFSrIqJscUu3ydESICy8TfzEY_-91or5StYVBzXWx99jRhhtK1ZdYMDQADAOkFU2c21FgTpIdpHHQxZ-HRFr-j6JH3XjLqdymEYj6Fr9yXrTAD_3tqYbM049ymTEbbPzeRtWhmiy-riuM8MUdckkwPSojAE4UqBAbO6ty8UIR2yy53cL3APiT-_ygCRyemFKSGtgH4ro7QmkpktmQWD7wOaDGhSU-QLuLLv6bOOOWRO1Uaw2P5A-LwsaQZCic3gMbHApGAk5SBVkhPiDh1IPlA3ZReliN2y6WMkz6j8X1qzP0XEgluGILLZeLzyq0LSnmQtDkIavDNuHNkMIpDvcuZ6CXSmmByjNpnQXTiM0p4sldIvdOMEjN_nHwiK0YZdBK0ISAYoSqFTupz-zz2X3OK08lEx8bLvCv6bVDwQ4-Oxo89OITNpZ0-0tSn1UF4I5yzUucBZCwMocZp7i_zg5uITzT4zkzAd01ilA7oLn7Rvf6Q1ZrtdqCyB4fXmXSOeDSytLpyhet4KQDcqMDa8YW_jli0qpB2Qw0Q_yLYvGxOaPiXB3E_aUIhSyr4K5PhlIfU4Oh-Yyx4Bq8L2DJOw4LaU1gwIBuzo26CZne6W8OpXd-I_ZvcqjO-2sYsZp1JzMgbS_zquWw1GNsmRx-7uE7heJi5SQqbfoVDH4diQ1Inv4nIMJ4fi8kAxN9ddJkFBgeh9oBjk2PTpY0qpqAYFTaWwAzK5r1IJoCI5SfYFQHq0pnGfMSDD6Og2yp8ZxvG3HYgreK6qXNd3sdE8E5EZXCbUt8uxGwQnngEmGuMbbjwgJkGHk6UxYWCM-z5JwgpV0-ByPSgCLlbQ-s0IKNFwL5uAsZfq5HzllLBRLzVZqFwBvNkG7IihAy5P5OyJ3vK0-99pgEYJA06al_zql-B2YYGydV6bwtUjJK4TfOMUHjgxHlmsHKCDmIbYEcEm4HWrLty03VkNSlNzaT0S59uFMoYcoX1M_8uUl6wM_6UpjL9WW6tAYILP7SbytsejRG7dwCwwy8Xiajab7RUZn2wDjPXgmLWUGOthFuyIfB0BXJEp5PFWF0vl3yaSV2yqMoQW9vC_RiIV5i0YlqNwg7Jv9Ehk_f_vbbzuTMTdrvHY5W4cZovJjL4zG6J0jGo35CDZlKRf_nmwtXeJqB8QR8gI4Bv2gVL_hduR0gIaTU1OgOxRaxlu7f-76i0k-RYLXP-KpkTgTceU4KWK-5yNRK95_kCKcLYUsrCn_ji-ewVZiuWxvD",
  "id": "rs_02417f333c826114016aacca2ad83c87d087d03c595d5e2fa7",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMo-ZTxb42y247nlOJ8mmzt1guc_pEJklibUb3hmJZEw9LGzeuykLq2KXPjk2h6zGosEIgO6PXla4YI2PA_jidWqIrkUyXOkXRMkL73NYT0Wqjhc5VbMKJI-yXfPBv8RPXSBazqXi6eIgqkrnuTgoKOoc_K5MwKSpmD8irhIAgZoCISvWQIzdMud4h0X3SfCOGD0hd40nQZ05aW9mBNJ5apMct0dlCuT6cAjqcn2qvLFSKbcaeCqAxvSRTfd0jrvmRuzI1p-a198xLxze5bnwN4pCtoaO9xHWVq9bAP1U3rwM6S_CrIkei60iOxurb5QVeTBY_ZnR4wG8EPCke4IsSzFcW_cbBN5RccTkw8VJdGUA5hv-2QYGmvXMAnu8G1tf_oGHNoXnxEC0yO-9rR9gXYw5p8tVsuHVSNkwXHDVH8VjU_32UayP6NM3BPGv9DAWnubV1OMaD3k3j6JlL3wowRiLOMCUrLYqx1sv0EU4X8HJ07gVM_Ppsn2if75OqPqrdhWzl42WdvcrwkQ6sviFvog6Osz_AhPIjt-votx4pSTtCKpMLRzMOOoKvVfAD_KEztBcTN__MaqTIjDV2PADYgw3OBO1KV2Gb_kW6PLdvPXlRoW3WmXJrU4AUuwYvNKTxOCBmRpIeaNBkOWjKjNpZiMY8cJyg7r6EvVq3D51IPrzvyF1tgNniEEKiRBUoW3Uul12B3q-3EK47MPA56kIwO3FJwDe7ZoKr0kg1fGVTz2xL_BFDbTp7s-90okcSgjxlz8IH90-GEjZg2saGIPAR_XOVCMl-0d629aZhPxyWWSn6UihUQPg0uwsKmEw4c9r17p0T4TBnJQDXWq1k_w59cZ8gJzW3UHerrSIuvXyDDT95zN4xEDZWxhSKpY-7LSB9-qbb06CRk5xo1LHU32a0CV6A44yBx79ouekK1IdADnGXXzNC0PR_2XJD3R-MvmDVmDH0YNAnaxAbpao-3ZjPt2F17Lvsp57VaU3ZbPDge3ty0_EbSNwcJ5-Y0yeO_XktgcApocCqzaNFdIaiRcfeUUclSzv6bec9zJV2OGD5eXOBmhNUFpEdHsLMqu2sDyr4pucz5aOnynW2c9H728-66JsOlzHWh2owvliLwvfmCmnS0952sJf8uRMWPeiZLpYXytZ3BGmck5hC9mI6XsKCQUeww11hqH37D_OrXfM1vzZBTgA0n6Qn5cSfTk1Ia9Xw8ADyQntt0xh9ZFS74dCk4KBtrFStN95eWNupS3XKbLpqmOfAnnuxBdF57GanHWi5MQ8kjnx3yPzYtl2d4stn6hB7zlLXdf3Bosdsd-mcSAfS-UYZsLPjDgAzvkUGTe6AJ5CcoaCVY8biy42cQYC_nSWYBJDluYSzrJfz8xRj2L8WZhyi0DRkJXcyJ5gsQDcsadNUT5fcF_pjR-ALBLs7YqNl0ciI2lOBr8kSyiLLowDDacN-_FMtslrAx06SUClFDYGI2EigjEDbzlqh-ypF3_uWHR3v27B-1ruVYZnR1sW2BjuhTm4k60yAVteDV1BAM0nb3dA9Lvkdk0MFnMuUx5zt6JwYojW7adtJ8wWJ80rxPOfo111Ogto-Kau0KQWN2Z",
  "id": "rs_02417f333c826114016aacca38e06887d0aab4e62ebc19e191",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.26,\"left_z\":0.33,\"left_gripper\":1,\"left_pitch\":0.2},\"note\":\"The second close was also empty and nudged the bottle, so I’m stopping that approach. The handle is now visibly on the bottle’s left side; I’m lifting clear and repositioning to approach that side directly.\"}",
  "call_id": "call_mQz93TcCtIDYw4E9G2YCHTud",
  "id": "fc_02417f333c826114016aacca3bf0b487d09a2be14f9a6c4f72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mQz93TcCtIDYw4E9G2YCHTud",
  "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]: [-0.8185, 1.9182, 1.84, -0.5224, -0.9134, -0.3115, 0.9951, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4504 left_y=-0.2713 left_z=0.3005 left_yaw=0.0769 left_pitch=0.1992 left_roll=0.1811 left_gripper=0.9951 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -13.7368, 9.5385, 1.453, -0.1783, 0.1245, -0.022, -0.1573, -1.4564, 7.1043, 1.6337, -0.0122, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20bdbc08c3f03ea13b8cb02b8361f50e3259dff6a7ee7f9803548edc46f135e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6710cde8595f59bf8b2e9cf2b0d75e542ece6166bc35be2df3105066a585fef1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f105759263ee6eea5979cfc790e6e4d949385362d24cd82b0d0754c4b0c2efd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /responses · status 200 · 7.331 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 139 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]: [-0.8795, 2.1994, 1.7031, 0.1207, -1.013, -0.1673, 0.0133, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4827 left_y=-0.3426 left_z=0.2018 left_yaw=0.0688 left_pitch=0.3585 left_roll=0.168 left_gripper=0.0133 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.9846, 7.0359, 1.5995, -0.188, 0.0366, 1.1404, -0.1299, -1.6752, 6.9538, 1.6825, -0.0171, -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": "gAAAAABqrMpEOqPSA3OaomU6U0chUK-Ig0-f-YVkqIHb_M4pCvDVP30jFQsguD0i2ihTDIyJXMuFSIo6tE24q5y6nRfu2JnYHOJ7ng2WYc-S68DmotiClyXBHaFYq30CEm5S_5aNbKyDDabdKJmFtBgr5cIsc_I4-u6hI41wpw18TJ91KS1VmN8s9QdwUvNopwRQe1vLq9KSE-vdOpzVNS0RJTNheWifveAl7pyuClz4xixGoDX8FBntK1IEsAzbuCDozM7pPbuKhV_SQgmJ5Ig04P9ujUt_5Rxv1eA8mNqXnYgYPbFl1frnMQDC12SDS7E09YsZwSdJt9-CGjvkj2E4bsxXn64ypluVqgIeq-3186J57Kk5IWrNi_EPIYyPOyJHbYXmCtSpTM3uD5t9l48gUL1Y9kDN8f-7MYkrcqhjpvvfW6emMJZ2j8jUWhqhCinU0KEeUyDPzZ45g5VST9wsCBD7l08HJ7iuvtZ9roxXbs5W1KzHjJJEFvRUPAETWknaQA01hCwE07ssC3AdtlfTZYkd33dMz4S5R03axSmkS4XNLltKgSrw2jQ6ARFCfmt491AHKqOp8qCFxCMRgGBwCurEDYiuPcuSKbF5ZuoNrAbUzZco9euxZitccpIVeQwhDRfBIHI6YmXq9MXpD9Qz7g60rKtG37fREJ3fEissjCzHurtpd4a2zEIkU8WNqv-FblUNt2hwYzh8KUOFvWBSoQywAdj1ijLeR0_gLx_tD9l3XAul3dYyx85ZHF7u7iSg_1tRrflEqvZ_f2RucYq-s2QPBAxa2nf5RrU8LgT7eF5F5tsj_pRlwTXebBtXJj0qF1OOE1ackYt8JWxi2b6HxaIXxAClqqZQ1Fqg4i_krlKGWawbUvZ7bVtPKy0tSDTlyd7OE1HLgYcC5bLV0GS2jqhGQdBQ3IpPo2kVd4kiCX5VN6HT_JuWy1FSeM8JthhlShL07johgvF64OTIHAK8FSDToCNlVg49mKSyMBqqFMd-iIP2DVxQZcbqT8uoBiZA_7NJ41vvd7e-U1IN-bTEWz8wtfN0cFVieWlTtb8v3JDFXPz1z8tL2R5uoaKNho3VoXNo7B1f01Ue4jwUtdBPJWosvc9SmM14vqlQwKwMca-Q6ZysCJNP6As_meWPsjBSGW0s3vHY_FiU3VPEhl771p7ziCljv9Dou45ziOI2OToDGwz3-9r5E6tiuutO_7s4_3euZ0pEVZSa4fu4Zloz5hPsXTbX6jq_i9W40hrN1WV-At98V_Qa_-Dx6_Eb6e0u0m4JJY_L3zchs3i5TAdmFgM51CHP_rOsmJXFqn4RYVTRoBDy1wCZOFZp0s_wSOKg6eRLL4-N7j913-xEW3bIIXb1kB5kv9MBWh4Kgefo04cgq9vvjrQ=",
  "id": "rs_02417f333c826114016aacca413eb887d090e9c770d3e0c8d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.28,\"left_z\":0.215,\"left_pitch\":0.2},\"note\":\"From above, the white bottle’s handle is now unobstructed and just ahead of the left fingers. I’m descending onto the handle from its left side rather than across the bottle body.\"}",
  "call_id": "call_mNa4kmJJWd3omWMzmHoPruQ7",
  "id": "fc_02417f333c826114016aacca42569887d0bd5fa3cd5fd858b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mNa4kmJJWd3omWMzmHoPruQ7",
  "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]: [-0.7689, 2.0426, 1.6863, -0.279, -0.8742, -0.2802, 0.9967, -0.0002, 0.8768, 0.7448, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4836 left_y=-0.2743 left_z=0.2092 left_yaw=0.0758 left_pitch=0.1559 left_roll=0.2226 left_gripper=0.9967 right_x=0.2972 right_y=-0.0028 right_z=0.1916 right_yaw=0.0133 right_pitch=-0.0994 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.1983, -11.2615, 6.3521, 1.7216, -0.3053, 0.0952, 0.1587, -0.2256, -1.7846, 6.9675, 1.6386, -0.0415, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c7912fc22d99b42a93946d13ea616b97fda3ace9a605375e3882b0119bc3615",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7af17a8cd906c8296de4424b239adc7afb051b080a989bb85eff5b3ad11f8bc3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2c6a5bb62730db3c42069e807709aa7f0fe34378e234e7a7d6f71111272130c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /responses · status 200 · 6.601 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 144 changed as sent

message 144 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]: [-0.8185, 1.9182, 1.84, -0.5224, -0.9134, -0.3115, 0.9951, -0.0002, 0.8761, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4504 left_y=-0.2713 left_z=0.3005 left_yaw=0.0769 left_pitch=0.1992 left_roll=0.1811 left_gripper=0.9951 right_x=0.2972 right_y=-0.0029 right_z=0.1918 right_yaw=0.013 right_pitch=-0.0986 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.3214, -13.7368, 9.5385, 1.453, -0.1783, 0.1245, -0.022, -0.1573, -1.4564, 7.1043, 1.6337, -0.0122, -0.0171, -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": "gAAAAABqrMpLZcxXxujRqTdcztzhexzDZ3DOZ1U7wuvZNHy7CBOud9f0gwUhqLFCn3IuXH6SPoaqFJZmoixf-Vb0i_5gT_gTEo-sMxD2Nlce2UL3WOlsnkqxQyytQINqXS5aSeBAtV-GYz5cb35mmniT3afBom4DcOz-o7lSwfIuIdJc0aRI_xo2LZK5sp95jjV1Awacxx0r3v6wdRA6Sw-DOGRGHEIEX4vPvj4vd4YU4UEElNgsLW34BtnrqP9fapXt1MlhcrUP4Ww0BsWKd4IUFIhrjF3c3nIBt5YrgejxzJfGn5nfmIhR5cTo0g7q9WYaSQi-PZYsYjLEOL2PxSssuvunhfVek2mxIhWB7EDaGPhH_XwoK33OyY-bGjP3L3tO21P_n9eQQKZZhCHLU8iDztK-alxpIh9jdfoKJ90ePSzErIQskLLzxVufo8q-bi3Do2lDwv0Bto9x4z_VAzETKFJRrBjwYxcqcryIZJfBSghGrDW1eHFSiBSe9aUfqgpO584JEcH2j5-hRKM1VxF_XEclcylzrGOVQBkxJQt703V16ZaWvNbRIFv5KlaMmuwolv5qN1ZToIP1GgjsL1xsG-hK3LXyj3u-zcLPvJVkz3Y-7B-1B-7Mb9CJhtaHmIjkBOFsf5fjaDOsJholjg3RyUQlyRDKLc3N9uYMWwaTwTglc6ino_Agv5g2xPMqwo-iOq6ATUkTtljV8H4Snj8GSwKISLT21FCkFNfHaYbUrAVHU3eNMNYH_Bt9H4VguLvKt2zpanFlk8UjgoUMDhFssej9b2WoZocoERBbnbXej75MZbhjIeIlX8SgikRi7duzr5aEuS2Y_UUZln8FRgt92_wIm7Vzv2mWspmGa9rMJ2TlH3f1qa-_27MhWI8LBE0CIH_J9W4Uit1EHc4gldaHvnFUD0Q5UExiPP8x3DtiV9UxZEvKQnyqScv4MvC6z4YaSb77gZSf6D481LfftO9AYA7XUWRmKzt9OkO6gtSsc2NTInKHQ3XtAZxAMDHDm2MCbF2cSmYqABMU-grP2fBLr6wkeDdYVny9Dy95AhXAex-YpA5CoqA5cDT0p4NybMemkIU4dlRKf66OAzS-gY_MignXDpvTZgQAo1b_qrR7qqK__lEXNG-H7ADZwCoO60l1-o3Vi_Q8AprBVSG4QOYOZi8hpEkofWHrRaoKC2YKxeMjdXY0kKK81_q7nG_cGX7dx7bNywsxq8xwi_wfMpZnOM9iWYOEbqWEEYhg89xyAbQVIVoapp9D30i5q4jAMjjISbJbA0eIcMvQCc82bbg8_z_NzZIV_H8LQ4cLIA12S0Gf1Ds1WFhgeiruXAwIJ5OuRT6UMHMUq8uV9zhRI4XL1Ig3ZKQVqSQuzN62RksBTqpJqqFT3cpX_3bPBdSIHFkuV5VrIMcyOM1h1aLAmoY9_1nAQk4KJLBR2nV_7eDRRmJNrT3vEZjiLDeUId0n8aZDOdQRpnKYR529R-4zThoZUZaAWMyjdUwCjepeoM3zYsG02lOkYByuC7dV-mZk1CKBGxCKFkKtOZnbE9DkLtwvAlx8UYAYdA==",
  "id": "rs_02417f333c826114016aacca47d22c87d0b46e73388dab104e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.30,\"left_z\":0.21},\"note\":\"The handle is slightly right of the jaw center in the close view. I’m making a small rightward and outward alignment correction before closing.\"}",
  "call_id": "call_p123xUyd4dqG9jiuTziPG30j",
  "id": "fc_02417f333c826114016aacca4a498087d08fc10cbb90a52f66",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p123xUyd4dqG9jiuTziPG30j",
  "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]: [-0.7689, 2.175, 1.8782, -0.3145, -0.8814, -0.2932, 0.9968, -0.0002, 0.8795, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.5079 left_y=-0.2967 left_z=0.2104 left_yaw=0.0911 left_pitch=0.1764 left_roll=0.1949 left_gripper=0.9968 right_x=0.2974 right_y=-0.0029 right_z=0.1908 right_yaw=0.013 right_pitch=-0.1025 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.6291, 8.5128, 1.1502, -0.3101, 0.0952, 0.0024, -0.1846, -1.388, 6.9812, 1.6581, -0.0024, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9efde26c7094bce591598b4c5cb23f8b19128a234bc6fc707dd40c441203511",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89cca6a082e2c5e1e489386ba9c31c313ef50da249c623bfa340f65dc782fb1d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 381):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3602e5fa5df246bc74e2560e3fee3d864ca20592000b4c37e12b88b489e9989b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /responses · status 200 · 3.918 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 148 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]: [-0.7689, 2.0426, 1.6863, -0.279, -0.8742, -0.2802, 0.9967, -0.0002, 0.8768, 0.7448, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4836 left_y=-0.2743 left_z=0.2092 left_yaw=0.0758 left_pitch=0.1559 left_roll=0.2226 left_gripper=0.9967 right_x=0.2972 right_y=-0.0028 right_z=0.1916 right_yaw=0.0133 right_pitch=-0.0994 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.1983, -11.2615, 6.3521, 1.7216, -0.3053, 0.0952, 0.1587, -0.2256, -1.7846, 6.9675, 1.6386, -0.0415, -0.0366, -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": "gAAAAABqrMpSoqBr5K-VZdn8Jjpkp25bO630iP0Kz7rVUMpfdBOzE9GBMRB3bNLrwemW2ExSAM6BPDrGJBXtTohKiXLNUnxXwJUbsFlnpman9TQHdtTkV_3rKQj8nEfoMmiHQZi6YWjNEa6hIypLGkyIUcKlyk1Elzkny_yDi1O6XuRXfIOq5qPnBXehHiLrehXzBek8DzXGyrRVAYJAz3gHieZZfhszIvvm7-gJblweUohNK8TAL7Tsv78B3sIqIoa2oWIiJHJCvalzmVa4hZHjD2GcCuXB4OADCxc9YjYGMTAGf14LbuyxZfN9PLhUpkfS0SoHnOmu2H2EIDlfopsrH7yUqtarEtFg4fhuv_8hUjNU1-0W-QZVHsKgT5jkv8ycEOi66GJkqoXlMeQm7e9K68rcnnXt4pSDrhHlmnSrZCoC045d72GMDD87Q0_54BzUBGuY71pom2ZsO13aZj6kKfUTj2d7j4uGvPiIz4xA8jvJt5vEFUIikW0qN-8jmQTOcZG9M4N8u8FcmfaTgsUr6iTWmci-_MqoC_DLtwyojYiMs3537KzRZm9fERyJpcdwGhklbtDbnhIg7sjjUiDPm_A2cD1KLBgIhp24SmdRYElcvOcbgoJmkeePipg6H55NGmDgfQgA8N5kswCUh_NCPBG28odhst8tkJ39ZzSIliJYIFtRLOFfHS5uzWNNxnVTqV7DD4h_ybYaaMdVattZZHR6A6gLngwxEurlC4s0c_6AOyWHbdcswHkm7awoYJ1FSezmG9E6LajOor4VOmIvewhlYgOGjhkPch_eyIVgqtFowGXHPilvvL0wv0F5SIXzthTvq1b_kMGGlCmCwCYWEUuiLU0q5W834zkptGOK2TNZDxDhw_3NtQ8HjFioboFroJXv-qa9qNSBcgZt8AKAIFwP5lzUgu7A5SAj-ybbCU_T7Kgfg_M3JorHDjGgcCeuqVFCVCH8fHhNm5IthfjYnPiBsYX1RM0fwntiv_DOdWVDIEzvgw_xXu1dks8EUVz-HgZa9s1N6-2buVFXfJZuRdbAGsSvTI-ewOmassZmmepudbPuJfFDls4SnBY2lGOdALl85z_dMhOvBziYo9PGtNIwta2M49skoJiCSg8vhSy9mqMEiPFNmUNpWlKeHzA5O6_smr_xbjXLUqNXx8aXJoij997pb_5KLe7QsP97gksS2no8ZNXHJTSaLDvdfM0lfLFtip8WA0Igz8MrbqL4yeH4PWiNyu0kwHIXoP3QUKwILkuHSzknzwChuc5S4Nf6mmpD-5yKFL8r0RkzyAfbvNnRxDw6GagcDriSxnvtevY7LNxm4gDBzvZhj0a-bctJZar0JpzHR5IdxWaPv2zDWo6UBjLzFRxNImvA3kB_3IyhAyFAze9SjouIWABrx9UQ6k9pSGVqD1Z03UXo8FAvPuDaJYFvef-u2f2h37nTnsiHZwvOG6AJRDKPfvKUvkgrwjHMUzuV-40PHe_f2XFcL1ePj98ZLJcmsI1I8M6m8j_8vE67Dfszz6ErdSCrZzVJBRLwGhdmjORyho4dMTSU9vUOzdlL-Q==",
  "id": "rs_02417f333c826114016aacca4f90f487d0a20f2b5f8ba1a9cb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The lower part of the handle now lies between the jaw tips. I’m closing on it and checking the resulting jaw spacing.\"}",
  "call_id": "call_cDXJkPq2OKS9xqBIp8IwL4cF",
  "id": "fc_02417f333c826114016aacca51664c87d097404f3e9141e076",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cDXJkPq2OKS9xqBIp8IwL4cF",
  "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]: [-0.7689, 2.2009, 1.882, -0.313, -0.8818, -0.3073, 0.1211, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.5101 left_y=-0.2988 left_z=0.1979 left_yaw=0.0962 left_pitch=0.1647 left_roll=0.1977 left_gripper=0.1211 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -14.8855, 6.5299, 1.4628, -0.2955, 0.105, 1.0134, -0.212, -1.8667, 6.9265, 1.6239, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8234e162bdb9ec4dd9278f687f54f056ed21a22722a8b4c7b68ce0329a1054f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ba4384b4f30131d321e455a797477096446abce718faabd8ac6475eaddbcc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 391):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:422f620f943fb914a76d4c8de44208f41bc6871a1d1778d696e8ee92065d6953",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 40 attempt 0 · /responses · status 200 · 4.132 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 152 changed as sent

message 152 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]: [-0.7689, 2.175, 1.8782, -0.3145, -0.8814, -0.2932, 0.9968, -0.0002, 0.8795, 0.7448, -0.5259, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.5079 left_y=-0.2967 left_z=0.2104 left_yaw=0.0911 left_pitch=0.1764 left_roll=0.1949 left_gripper=0.9968 right_x=0.2974 right_y=-0.0029 right_z=0.1908 right_yaw=0.013 right_pitch=-0.1025 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -12.6291, 8.5128, 1.1502, -0.3101, 0.0952, 0.0024, -0.1846, -1.388, 6.9812, 1.6581, -0.0024, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMpX9DWIB9eOe9aw2nbfEchZe-eRrH0YWsIZSu2BBjacAuliRsnq6TadL8QEDfbzNKUK81dljuOZhqBWHOLgMVfGnmU-lou_r6-ry4m6H3l4ZdfazoPBQFFzay7PT0BJS6HCYoS7wFls5kOA70nHJq4_HNJFP-vpuyZcdFSPNxqtS-7HV-2K-Jkt4TboB22izItrjn3qleQ78C9_90kPH_keQHHPTXovkDIv6Vy2mQRtip8I4aJDcmQWbPNN_B4qYK49EwAmUmySk1vGwml_EVrxugPQddaPzqcgbEbwzwHe_zdzSAcztr9fnjBrBuaXwywbRRn6hPqFKep7g5o-wxxz3vvZo1G8kAT1uG41K-f6-E1fp_o17xtkeidYLAEqcU_nyK5-icHEzFQHXTNK-JC6bpkrRpiyvqu2YXRHv9cPjtT2wJcRLQdvE4DkLo91wEO7gzFBb7PYMw1xtTAXiGglC5BV5ke6UpguPwN0CTqoPRH_7grUz8CGA6oTJCNIGnMMwfixd7Nln-TJE_B1aUh641v55xm8bNGKpZLuxY3Zr8XV1h_xG-L4kYLD1ztXy-IN-JUzg0M6yL-my2jvB0gcs4RQ0g4RFMbaf4ppIkdvfBtitn33rKrBBIcDql_OIgKzVZ8A2b2837BLArKdeMCHhPJyhonS10zTGT2V6yteTgks_fpzHZOcFgUxx4kNuR9-5sQRyfZZRkPA5QleAbAC2XXuHYwxNjPDS-aqlVBh5WaBUYebnFRgNyrn0hIx80Gn2ZhF15hTxuehGoc60nYS_JHrgiJVIKv69qvvk26SA0GTiJMrDJzPrzyRH3sWbXbS2-AzWdlgjvThWCqozbGntqrWRYJAjS4-OsrnVNOUc1lIdZNIhL4yvckGNkpr5hWzeICG3ZhzHXKTc1Tf_RMAfspbHybfM6_sTYQP8I6KFkLxwOdT-fwp8dW50cesUY0QGmaP6Qs8YvsZlTBoNaID8AbN3zn1e9UYEFGJX6lPl2e65ju03oUegdI_sHXVc5dlHZb1fK8Prny6n2WiJ9Wslja7Nts2YDfqC4UkGnbQq7jvkGKx7mRY15TG3ZYTAjsyUHKthU4sgfKGs6BcHEw8bYN1aSmeLOhBLNo2wanB6jAs2CZF4gZHACInMEkAvKfYfeCJLmDf5P7SGo04y9IDK8UEweRJ_nkag6D1o2f0Gomr4bZOF6bVpfG4dF3zyK6fC60IwyhHifZLJIe6buCWXqnBe7eXMIwZxW7aK_qLUh1SRGFE-goCNaIiQ5walglwTHx8adjyDdsLx2baxLVNBw==",
  "id": "rs_02417f333c826114016aacca55ad2087d0997557fb62a4b882",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.28,\"left_z\":0.28},\"note\":\"The jaws have stopped around a roughly 1.1 cm section of the handle rather than closing empty. I’m lifting and drawing the bottle slightly inward to verify the grasp and improve clearance.\"}",
  "call_id": "call_ZS4qhZIlqAlM9UjtgHZpjFIT",
  "id": "fc_02417f333c826114016aacca563da887d08e7c53ea14d67456",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZS4qhZIlqAlM9UjtgHZpjFIT",
  "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]: [-0.7689, 2.1811, 1.9831, -0.5449, -0.8814, -0.3271, 0.1216, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4981 left_y=-0.2873 left_z=0.2157 left_yaw=0.0952 left_pitch=0.095 left_roll=0.2646 left_gripper=0.1216 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -19.0154, 10.6325, 1.5995, -0.3004, 0.1343, 1.033, -0.1436, -1.6479, 7.0632, 1.6239, -0.0464, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1506d56ca2236f86676768fa7298a995a920eaef0ee5877dd8a529c79a861fca",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:efc4c67798b569e8b3021d2d837de73278bf87b1c1613d5c2d9ac9acb82ef106",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 397):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0902678a2920023ec5564bc09af44324b1d0f0eeb23c6bc840c715f51777bd39",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 41 attempt 0 · /responses · status 200 · 13.98 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 156 changed as sent

message 156 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]: [-0.7689, 2.2009, 1.882, -0.313, -0.8818, -0.3073, 0.1211, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.5101 left_y=-0.2988 left_z=0.1979 left_yaw=0.0962 left_pitch=0.1647 left_roll=0.1977 left_gripper=0.1211 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -14.8855, 6.5299, 1.4628, -0.2955, 0.105, 1.0134, -0.212, -1.8667, 6.9265, 1.6239, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMpcbmagV2pFL2XUC1AibxtQbvMWXuoZlgPEVi-djz6jG0SVAwFrERy_JfQUGwSOpILd95m_mWkzBRo7S7fbDIRvzYy3mxC1WyrPzmYPVoneFSSslIBVnwoHiHFmPMlNakpNNTCltLl-Cj8PWGNZ5-RQIbYMC7DJWkpS23R18uh8oIyS7A4Ln2amOL-AQIMM7yVn6d-7cXMO696elnL_8-5wHXQfRxfA2vpZGk1xNuCoiHnBxOcmkqv85t78aIXxa_Ez_VF70GFyt6jz7CC6dzeF2ZZLM31IZLoAvbEbYUTns3xz909-FudcsADE0QVsxjnGxV947XR6R3cOuVJME05HG-YglMrlUtVdJYRQk093-VMqkgvk_BZBeAWDzKaNyKoairdMsEkh1l6dfau5Up9ZgnLcxvuxCWm0dcUuMU3SfaXl2QQDQrtky6ZfpH5G6aE-hRi4R_cN6uz0jUCMLpMmAHF_jGgyTXMFa8VPjgDE-pvhw8gtQmyNme3eoep5MYxfssTVJH3Iyqro9RAL0ALTtxeaSNEyI2M9PiJScW6n99MbrRSQO5zydpFY-Lhs3-pcWMoc5E51-lYT1xYT9Z8X6CDcFlw5g_JPwJEkE0h53-I2Q-bS81XZ3Hk6tmdrNG1HWtnhYmb2-BukDk5RK9rW9djA5P3yfXsEbQaX9SbrfM8aZqo11uLz1oMFy-TqR45uSriuwOBX9W2CemgccHLQkdd1ruXmXdcmOg5smXsAKv_9qDnT7f76ukNNVJS-59bR1CHpjjCAovsi3n_qihv99DuIMPnianXQ3Lwijuw-4c9m2uOLLwPMLIISsYaG-ivVLXRgFWntuNc0XFYtYZfO9K7AdCYHy4jLMqcRSzcxneDmbu_FkmARMPp3JEk8MGK-n02Qpm3dtGNeNGRyRsKoAMNuOovBfdLtuQxUIn-gFTFMMfvkFzm4vy-c3CIQh6hgp0yHDeK4cND648iADrOvwgOb0cwMeA1hLrz7XzD9CcUHlA5z3EXbW4AEHKibyEnV_FNNhmFeSzIoZOPNTsdA2Tc4S0x75Z5O1jB5ueSSGG9-WyYfHp_K9HvUk1BACTFG4CT3JFIBZ0H1lNfkAPZARoviln1N4UTj3ZFqJnICgKz4kSgsLH0y0AaYQ5h8Sf9Nf3nQj86Sc547AHJwrRujyPjYSQH7tRiXr2v_wgOADH4hj4ZXYZ8NKJNvvvfv5F0Q11KQUZCUZHAG8k2f2_gaAmfXDz27tTInNXZT26ZEGXGp6chRHUb_-XCUIT1SAldgLkTFQmMtzPNXsFGXxQBSOQBM12DEX-GWwknn_xCLZ7g=",
  "id": "rs_02417f333c826114016aacca5a174487d0a87d7ac39055eee4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.22,\"left_z\":0.34,\"left_pitch\":0.1,\"left_roll\":0},\"note\":\"The white bottle follows the gripper, but its weight is causing substantial sag at the long reach. I’m drawing it closer and raising it before positioning its mouth over the red cup.\"}",
  "call_id": "call_V0gQ7Wc2RR3EHD2GF18QlHp0",
  "id": "fc_02417f333c826114016aacca5acf5887d0ba3fbacf21c04b5f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_V0gQ7Wc2RR3EHD2GF18QlHp0",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7277, 1.7889, 1.8561, -0.717, -0.7341, -0.4343, 0.1229, -0.0002, 0.8822, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.438 left_y=-0.2268 left_z=0.3244 left_yaw=0.0926 left_pitch=0.0955 left_roll=0.0357 left_gripper=0.1229 right_x=0.2977 right_y=-0.0029 right_z=0.1901 right_yaw=0.013 right_pitch=-0.1047 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.4991, -11.0701, 7.9658, 1.6288, -0.2613, -0.1245, 0.8669, -0.1299, -1.6205, 6.9402, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6654526143203764089361d4c18afc3e235f8b4ce940811fd0294c582aa8254f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dc273eee776e0216174c50d3835720e5a7d67898710c526f9c2a41b877212d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 406):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4e0c84c5dd96c4da104e7da8bf2a600699c3645c749085ebc977d3d228295bb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 42 attempt 0 · /responses · status 200 · 8.775 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 160 changed as sent

message 160 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]: [-0.7689, 2.1811, 1.9831, -0.5449, -0.8814, -0.3271, 0.1216, -0.0002, 0.881, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4981 left_y=-0.2873 left_z=0.2157 left_yaw=0.0952 left_pitch=0.095 left_roll=0.2646 left_gripper=0.1216 right_x=0.2975 right_y=-0.0028 right_z=0.1903 right_yaw=0.0133 right_pitch=-0.104 right_roll=-0.0851 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -19.0154, 10.6325, 1.5995, -0.3004, 0.1343, 1.033, -0.1436, -1.6479, 7.0632, 1.6239, -0.0464, -0.0415, -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": "gAAAAABqrMpqU6YN6QVq1ik5MJXjVJu2m4_e24ofLIm3rw8xKClxv0hKaHJS046OYOT1nEGCcDc096hn-xUoemcwuGB0X-66t5llx-nvIhij-DTCRGHwGPvgJxvU4eRgCKT4X2PV5V0XQnv-_6YsyRj2NxVlNTgCJrJ6xH5Nhh2diXheZYrhihN7o3uoBCu7AYy5i7WK8ZxLPKtevxbwuGud2p4S0ZbEgwYR6RdIyOsOI5G9xkXOmibvM5Fbg3IVK5rulR6-CbCQuXnqRxYKbzSk0YW_qTZItKbl46aegwu075qD4V_SkECSnXLwmQgwm29-OFwSGEpXsCeJX0sbLb3eR7ulJd5TEGcGhileJHWZ2VC8vk0n5f7-V2VFRr3m8G5IG6l-3imcE3A5CleVV_iZusmLXb3jV8oU2zfVRbqFsw-q4G5mdNTU3b4b-U10vdjwXQEKPUjhvNdC8f4IixcbweQhWXH6acK29vG60T45Kkl63C0j7jFCYRXHijORqn5WTVIfy3lz64E8cPEtyOwDALWMRJMqP8H0sWUmXX-ff1KX_36JeBUhka8PXGnP-JEzpGwgP_A55wIZ8FzM_AdSRmv-vxz0b2C3MnD1KgyhvCdw4zSl2ANrApLRuEjB6xhiFoJPmO1Bj0E2NwbRFHGZCjY5a1vLDxjwS8vxeftyXQQCyvD7cpUOMNO41A_OPjzxpTy01d6hiMH_NktKUoIayQ77bWMNrEYnPkGJtr9NfDQV4-_8EoluErOZ6ZxGZUiscIEPT7ecTMSrz9MYs6L7ymg8MyDcqR0B1GeYn44v4VYj8wURNvU0u31oKbUlFVAJWm4J7Apz_d51vwIK2nYSiAjqCKgtkGEcQ9jI5vPXx91vN3paJ3xRPeVRf05cOv71qaAsQNfH4V17JQokDIBTo5D9MXgQsPXoehZFoNV0mQh5e7RBtdlGj4wOoXy_V78tkRbYLfBnSSE7zSKly_wAN1tkepNicXzFuXQlRKurGVh-91DnImPDZFu9dGhHVVAe3dR1-gd01SbbX2giRVtUASjSYNwUvS9pRP7Yw2H6KhJtBY0FaTOX7PbzJHIMY_9cHkrPUG7scA3FWW80T_CgPEH_kcjigG7gq67q-FknyiqAtc9zbALzHb-WqRbtpFT3P8YLsJHw2AVe4tfflRCt96OZuvqEbnvDra7fw1oUWtM72LEw9Oa_-azqhHyDNf-nFl7BlW_ELCQD4A2VgPioDEwyioBYrV1T-ov0Wq6nvDkKy8Fv-XTS54AjDpiZ8mZ6biaRuN9DojhHNwEC8bqi6LHImv6gNxkhNPMs0Kh5UpZvflN4dd1ISpC3TD9dyl7w4pWjbr9KzI88pBs7gtBY5dS5x_zgWZjZJITiwucRDFfK0lbDsKrIUqlDffpDx2WvF-9dOQfn8vMImPUPTQc39BWbsP-OlRj1tw7zZ_rZ74FsqjcJb8OSwpjIADLV3rYcI-MW-pSTuooFc3q9BX6ebIBjazLtNdnLJUGpZGfMQpoWVLzwgIyU7oI2KZBcM1EaNwMcNR2SIPc33-Weovie5QZa-dWkJE9Ka1dhNJM8EBRN1s2qjrSsU88OJwbdekEJYfbtsDGGotvpOpuuZFzUqHTwv9geCGi541GsRh5Xmeb9hXbxt4FDUiHqNTtb8eUMBJBXdRG_GLfL28WxnVBzK5KZ9MpXyu2cVo71wzKNEiiPuNv5AuUdy1oAm9Gzx-fGg18ZsAptAp8uVLVy_D_djuuZhIuyvC034ab6AvoUmHY4G2KE2wUkTorAHmfrYR4VE65rVhuuFiyRRmLeaIe_2EY3cc-vbEJoohDJqm2u7eMiejkmxD32cJDhTYZ_E7an2DMxiXZrs7zrGRO9DtVsTSlW3cyQkhc1SA3SQP-IY6gz4AGBug_diVvGmdzd6wGBsg6HKEXDsQRF7HmerrmcYWHGxpqbolyh5q3skwrupev8tOi6_eSSGx8d3dKZiyf2hX-EKOnnhkS_iDnb_ljDAJF5_d3QKrFC2furhcABrocG2SpU31bgmG1WZUuEJmv4Qok_Hy3xC8uWQ5Tm5ewEaxctTeaxNqGzbOKUwTRuMb-V-yDzqaxD88WLFECTfv1bjJetKzrwXVrcR6McBVTRwzNXVtwfTELmh_DJDfvRjieRDSxiGnmCc-oYZDUqiweKm_R7aWzq9BXCVcIrwiThFKIrOjhVF-JE080L_StzebImICI4r57GlxL3bW3gM9fKUPE2oPS9KRqB7Lh6-Jr5NuYLbqVbhANxvAJuo6Jf53mlcWH7IzTQLs8Eh5xFoosfuAqFXsDq9Q3bvRpjRUZTOwF7JlvLa9-JXtL9M1iNkP7u83lJxjVrCgAC3yXZYvdng10VRbjkImKJ9n_QF-niM2oNh_ciJWQzdRFuJwUl0TOQ0YvPNh3ur-kZ9ib19Y5-3pR5l_Mbj9EoRibDzS_FVtBkjsD3I3v2bsp9Vj3zZ9pTOdprf-lQMXc_XzS3PBfSl1d0u1c2E-yRXuRr3fOiJUvG3EE8JLiY2tBHcpbL2w2P9m9babqMKJgb7YcKtMmvfpHbQHy8",
  "id": "rs_02417f333c826114016aacca5f8f2c87d095ae9aadef356bc5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.10,\"left_z\":0.34,\"left_pitch\":-0.3,\"left_roll\":0.7},\"note\":\"The white bottle is now securely lifted in the left arm. I’m bringing it to the left of the red cup and starting a controlled rightward tilt, keeping it above the gray bottle.\"}",
  "call_id": "call_15DZo0bTZNwBCuiy0b2AXKKq",
  "id": "fc_02417f333c826114016aacca67213887d08a1dbbb6d973eb79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_15DZo0bTZNwBCuiy0b2AXKKq",
  "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]: [-0.4683, 2.2189, 2.7636, -1.5505, -0.6952, 0.038, 0.1252, -0.0002, 0.8848, 0.7444, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4703 left_y=-0.107 left_z=0.3271 left_yaw=0.1045 left_pitch=-0.2829 left_roll=0.623 left_gripper=0.1252 right_x=0.2978 right_y=-0.0029 right_z=0.1892 right_yaw=0.013 right_pitch=-0.1078 right_roll=-0.0853 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -11.1795, 6.2291, 1.3455, -0.5739, 0.2173, 0.9451, -0.1162, -1.4701, 7.1179, 1.6825, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e23725f1a385c9b2836c01cda4e82ef602b0407a5751ad930fa7a6648d08bb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e2e478b6c37e0753e976eeaaae0d3c3f2b7ea99d55d70efa8133e63c7f6bc78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 420):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19cdef8f041cec257080a93e0ac772edd04e1b7c1d2ce55413ab11a9d436eae3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 43 attempt 0 · /responses · status 200 · 5.721 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 164 changed as sent

message 164 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]: [-0.7277, 1.7889, 1.8561, -0.717, -0.7341, -0.4343, 0.1229, -0.0002, 0.8822, 0.7448, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.438 left_y=-0.2268 left_z=0.3244 left_yaw=0.0926 left_pitch=0.0955 left_roll=0.0357 left_gripper=0.1229 right_x=0.2977 right_y=-0.0029 right_z=0.1901 right_yaw=0.013 right_pitch=-0.1047 right_roll=-0.0854 right_gripper=0.9964\nstate[joint_eff]: [0.4991, -11.0701, 7.9658, 1.6288, -0.2613, -0.1245, 0.8669, -0.1299, -1.6205, 6.9402, 1.6239, -0.022, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMp18RopmZLpqOnuinuXfgDV7eDiebFvBBENpmXWXsLNFJbouoUubkn4EuOwi-qg7cZ5h2JaUcrupMkGY4v4PEabJDNe8AwWTWOOz9G4r_FAyguZKfbhwAIogCtx99VMZNb8T7oRo8sYJ3quTTTERjLdTC7QWQsWko2KUK1AqR-zu386puJVvn9mxqHXkBlrmgd46wFD8FiH5Qq6NNCPAtJotNx3L7BA6BTJfof697tbJl8Jz73viambsZV8siKzHE6rkerJgzkMQQyM1oQMFPUPvAQgCls1dCUY7Sl1JDajr2HgX1b9jILFwdxRvgy5e876RhV7MF3YZBzFekgAsncnM2X1CXss6s5mosTjJ0bC_CShdV_gInjyj8-kJXDGdv-YQNTY9fXJMD-MfwlbgIo_Kqkc5YMXHYvdaWd0XENuIjce-aFiSMc1-7f2aoxF8YYaV6sicY5wu5FIJNeD0IuJvZxLlQ6b5PxgKm31U0zDo-RJmH4VjjHH7nnT9V4OkK0ffjuu8ADkT3h1Tq4RWnBlAwhi-Ai8XLmSfa4IgDTylofMbTuJLGCK6H-O3HRWmt8lMd_5zz009u_vjdHK247u0DZYhlQkYpME0RfxaCHdVe-Z13q77a9mdj4zjvGw7OCwBTtGdiCx3wcdkC4VJKvWgu4AanO1yUWdUhUA8R_nZQfMi_tfyhxW1KxPdeukDjXBgUPkzmftk5K5YnxlPdL7A-rm9qSV6N0PR1XD8WOB6i_M99V4JlEdFx4fqGUOkTMKp1dNCqhv1lP8suDq9FW460PoG6aoHituDeWzKffPKfl0CaqU7Y2GXXCq-uPTrhFGge4epyfGvgIDu_p9567PoV4h3HDohowtDV_FgSZ4Z86Z4iTwijMjyVOSKYVW9-k87nRD9XDNDDfIbbtyG76jJKb7MZdUUKnsYsvVaUUqjTXNHFUGPbQWLP62r9TldMAh1pzyfSOWsAddhm3rp22yHN31oKvlcnIsVr4btsNno7D9NcxbIWLEJmG6wakuCtIYFOnC6diHrkgLUAhca6uhgEovGqItzVMO_ZGvA2sNQrxcTMf8jtQGfmRgWjL-0PMVntQ6Lq-i-5ENcZxIPJaTW8-S8BYzVMIOhTqzFjlX-QHAW-ZeJpbVbsD1z3gljK4gomRuVvVY9qT_yQv_Y2m7ZmqI_BC-zzeWvHSwwYY_qHnkD3s3I6nzAQuLNFUVCy_QCekaSInKnJfNDBLB5Px5yhUgggpDfQIISF8zn_XPtZaLdVEgbCIYi8TQecWs5lS4S3ysPrVHBSYgPnAsFxPkmw6C8czThanwlEOTBmgBGRHg3y46HK1rQnCtzGUZyb7vGtL76JgE8SOLgb_r4MBnPHwmkJXAyy9E0bz6twUh3wDcelSKKGEEbXEoOWPfrGDfqPFZq0OsLfL9wHVq7HiljoPVh1THy9jHsqTZIMKwl6QGGsg7Uud3iMPk8dBx0EBs9GNTAZ97xG9ilfvgDETft6kMmCfGEJRT-6vjSsp0frUZ4uRzx97dnnxj-BwkPw9tSXp7xsxxr9n3Tly50GsRsQ==",
  "id": "rs_02417f333c826114016aacca713d3887d094ea0687db4da8ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.1,\"left_z\":0.3,\"left_pitch\":-0.35,\"left_roll\":1.25},\"note\":\"The white bottle’s mouth is approaching the red cup, which is visible beyond its rim. I’m increasing the tilt in a measured step and lowering slightly to reduce the pouring distance.\"}",
  "call_id": "call_TdBQ0muzKFxloMLGFAJ6fJRH",
  "id": "fc_02417f333c826114016aacca738f7487d0b6168fb5d5c60e82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TdBQ0muzKFxloMLGFAJ6fJRH",
  "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]: [-0.5152, 2.0895, 2.1616, -1.1831, -0.9363, 0.4873, 0.1273, -0.0002, 0.8864, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4795 left_y=-0.1039 left_z=0.2623 left_yaw=0.1105 left_pitch=-0.4416 left_roll=1.2006 left_gripper=0.1273 right_x=0.298 right_y=-0.0029 right_z=0.1889 right_yaw=0.013 right_pitch=-0.1089 right_roll=-0.0853 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -15.2821, 6.8991, 1.3602, -0.652, 0.2125, 0.525, -0.0889, -1.9214, 7.1726, 1.6874, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec676a5b4ae6fa263bf84532232c78205e72188d889d8f3f30b6de7ed8d8f571",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c433acd23c14731f97ac3cc1827f12f4cbfd8e440ce4022288e2437f68132862",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 428):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ea6ca570fd28b939c4841cd75217eb47e374ef627acda80a7628a3799ed75b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 44 attempt 0 · /responses · status 200 · 18.9 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 168 changed as sent

message 168 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]: [-0.4683, 2.2189, 2.7636, -1.5505, -0.6952, 0.038, 0.1252, -0.0002, 0.8848, 0.7444, -0.5255, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4703 left_y=-0.107 left_z=0.3271 left_yaw=0.1045 left_pitch=-0.2829 left_roll=0.623 left_gripper=0.1252 right_x=0.2978 right_y=-0.0029 right_z=0.1892 right_yaw=0.013 right_pitch=-0.1078 right_roll=-0.0853 right_gripper=0.9964\nstate[joint_eff]: [0.1846, -11.1795, 6.2291, 1.3455, -0.5739, 0.2173, 0.9451, -0.1162, -1.4701, 7.1179, 1.6825, -0.022, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMp7zATV5sQHdarnkNm_it2LS_qSeZ228SD44BbgnSMc8HklRRAj93A9J7uvIOqU5QEH0coUOs-MggUXtTCZUNuDoJupGguJeyOjHJLUjael2IzsQ8bDBfPMxUyLfEW6c05HbFXNsshZax46BJSxfXROUbIOuSCCvJGVQirybehVZPLTRzmok2j4yUmX44m5tczMId3K36QmaYFCxrJaFG9kc3ipHylw738BzB0GUc-GoFGC1ZI78MVvT1JojQ4y0PfWVnENxP8JMudI_0uMi-Z6HePGKaK5r6tD7WJY4fZxGtzBdZusRL3tAqRWL8cNaJCmyrHymGP6Zj_8I4mHqn4zU33kbmOoiCBioWn8Cuz7kXmj5d_F2ruvbs8fWxAUm9TkqkFZ6hL9O_GhNHlrvt-X6QtlzgQ6TZakcedH5PXyyRz2kIRatylEGTFMkckX7mPnQ3tBt788ieDaJ_8liyWqbsM13TKKWE5u3Rsrux3gHcUjYN-tDp4a5gjCbr6ipTXaRBdPwVnNghmfW4WY_8pkDjmDu2Vv_SDdaD4aS2t54p6mcfimo3QcU_5pFEveqhlvXMxgnS3dPi9q4gtOiZCLnk7MvlEUCvxqhcI6mLmQIRcTjfbOjPfDGN0l_qhUSc8YsXwAoTZl7G-qeSjdLnDzDzs-9Z6IIqbqyrjIVPeMlq4jbf6oOAczSNGi7IbSI5aQ4g7kCFS-OvRfyO2Dv1pJHIq60e22pIT7VohsI2lLa1myP9WMJIues17hzw7GAoPxSeFh8MFYooJwbq8IHobn3OXE9nvkjO7vf435QpERYhWl0lOzqnWVyNHVYcXk89C7xdhTlx5Uh9KNjwG9bsFQA3y60z3RlI3zC4N4xIKVCdTHfMdyqNM0FmvC18XaKxCZpfMOLmyM78MzJoigGfDvou6QYG_EPDL5cTuqKDN3zIsuVo70zLYwFGPBnoKmi6TB08w8BAXrA2B19AmUbfD5vhrsAfSw95eweBmTCjvjozvQ2e23qYESYOF6EZXeaN3Tvc3bCliNLe-vtPj_g0SfzhlaENT_qjO0q83wT1Shl2Dl67NCuPzpQJdeqQvS9xz2YvPOa3WXSLLpMPI4BrqA8lB_kyl8pCLL5RTD9g9Ce47OShDOrBT4bsaKcsOrNFuTUyqv7r-6hJlapPzTGURmHx9Qc1FjLIIu62BsDORHdvHtsYpNjAiEOLud382typrimwC7UdvYVPANDH9pBo1Xq5PDuYGWBH3T4ri0-viI4g3bCkAy_-MIwNTqa4aCwl1k6LuEWL0D4W2Np4QH5QG8hwPIfew4GiWpQYln7PDguOwkDKzwGGIxXkLNHj5RR8mGjxpfraaoIgc1DJVwpTmd6cng2AaVRBjWiVDOyteyxeaez843dOe5sZYmntBAUUTs6WxY5gqP-poAfuwYOgWMvuUCwjJTTVwSBQwgHAnq27pgRUqfItI1eiqvoh6BGDh2FmLCsoMxjMBWHG5SwgY8Fw==",
  "id": "rs_02417f333c826114016aacca78496c87d09e27a025a92c0bca",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_roll\":1.57,\"left_pitch\":-0.3,\"left_z\":0.3},\"note\":\"The white bottle is nearly sideways with its opening directed toward the red cup. I’m completing the pouring tilt while keeping the mouth above the cup rim.\"}",
  "call_id": "call_c0CbhPLrvrjeHpswvGtSGS5x",
  "id": "fc_02417f333c826114016aacca7a482c87d0a6edf83be24a5e5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c0CbhPLrvrjeHpswvGtSGS5x",
  "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]: [-0.5591, 1.9675, 1.7622, -0.7322, -1.0912, 0.9184, 0.1282, -0.0002, 0.8883, 0.7444, -0.5247, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4782 left_y=-0.1101 left_z=0.2423 left_yaw=0.1017 left_pitch=-0.4481 left_roll=1.5492 left_gripper=0.1282 right_x=0.2982 right_y=-0.0028 right_z=0.1884 right_yaw=0.0133 right_pitch=-0.1105 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -15.5419, 8.1436, 1.7167, -0.906, 0.2271, 0.6716, -0.0615, -1.9624, 7.1179, 1.7265, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d57bd640d5bd456b2a8f5668735ad8b11e0816391f8a560a35364230655d8a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bdd8e2d1199a0dd9383c5da35396ccce9bd043a82fb837b0130103918b31c5a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 433):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24407b220cc0c0421613175620f7281ab73d0116458cc67af8c9df16c11a06ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 45 attempt 0 · /responses · status 200 · 7.342 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 172 changed as sent

message 172 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]: [-0.5152, 2.0895, 2.1616, -1.1831, -0.9363, 0.4873, 0.1273, -0.0002, 0.8864, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4795 left_y=-0.1039 left_z=0.2623 left_yaw=0.1105 left_pitch=-0.4416 left_roll=1.2006 left_gripper=0.1273 right_x=0.298 right_y=-0.0029 right_z=0.1889 right_yaw=0.013 right_pitch=-0.1089 right_roll=-0.0853 right_gripper=0.9964\nstate[joint_eff]: [-0.7726, -15.2821, 6.8991, 1.3602, -0.652, 0.2125, 0.525, -0.0889, -1.9214, 7.1726, 1.6874, -0.0073, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMqOsGEzEuVwMAMJgMm4GxUjfsSpfMOPqOr9A7sybfZ-eI7dkyl-ss_x44IwVtXJ1FkPO2b5yvoVJd33ctZT4ZYqp4q6a7r2x3LT6re4K143QZSypZ0vfI3fFRShcZA2yAPHjmaCRuhFKL-9q2sD8q9XXwaOwJqViEW8lciKv-EjFR2piob1-7fsONUIIPJRXgCSrZe1qRqO7e4SZvOBbL0tvWOiNZxKOINKxcZ06bpdqI3NG_74fVIFuoD6pm7955uK2T_f0xf3eUjx3b-8q7JJnCDCUC8FrxAzK1L9G_GzZUWphdpzY2w7R8wZQOb4dI29shEi3PFDsBek8UmtA_WK7VUSUDzmNWEVYAnM7PAHCkr7-XcERZsk5ivXY2Z5xIcbCKp-eFD88TQGIw5F6P3suUgxr3ZtMvs6wawMVpDsn_Sy2g9rhG1awg3KUIkyhoAKVYUyQXawBUMvlLRaTAu5PgMPyvWr4cfvRxzkC6iiOU47Ku0nuB3TxuYhWtwU2blEd-owHntOxS9UyUG_EJSzj4G8vSDMzYtfhppvGRXSzm9_RJc7K0EmXEot1j6S1FvO5PDQcHl9faI0JFoJUc6EpZjZPuKoSVBNWgzzQO8LUSWYSi0fHvOpWf6UqsNoWSunA6Zu85VuIWq0RbinlAISs8fS6e98R9S221utIP57vkKZaptnY9I9qUjfq3gUnAw7QbANgSpcnHoTgd3eZzvhuirw248lca72kUSQczDKRkQ05tjxT0hTBxQL4yWmrHqQ_COZ52AGfu4TXIHKpEDU-Gb45LzqUXZQd8TKleKpnYsZdTLAewFjbFxpu2KjXy8RlED_1Px0IAs6RYf7ns38OhSCrogmqNqK5fZx2mvTrYOwpDOyeeUs25OxnR2w6MffOJBBQ7G4p7MeilENJ-tU9Z4a89u6LWLvF2MU0nLnZHcPuJJEyVz3IOIhJklcjWRmdzAD6d49gotUWwsMWRKwWv3fsBOJxrGq3wHC31bGOB7xe-SALszrh5FPqkWm1FPlP90KycaZAguw7hxf_k-fDgH5W3tK5gNI3z0uMFfiOLb_sLk7VMQaOHDchXbFNXW2IYR9NHk9bpUVbwsBmGFnIvrOxVwrbql3eq-h9ohzbsEUMWDIVRmMt27WzpKy1SYHsk_Fk2ak2HX6sy5fLPY43ekuYnlb6Lfpv6hMR-YXxfeWIFZG4x5R6bARpUNj8zdTTkvgJkX5J9AOkq-al_WIFhqhqKg3ceryx5i8RcecAWSU9ZoDHstqEY1dtvJuOthLIgDvGcpLKPNUIhWIx54kKz4pk8MTRg9A9eESrX58WIHM3iWWctiDh9-TL_fiDW9tBcyOw_LIUbkwE8pyf8EfqJqwDIP8Llgj3fkxmZixMXgxV-WbC9QP4fgrjef4ygW_0xPbHreGbmVqXIAalP87UdYqa8nm-4xw9ZSzntWut37Q8aPeYLneTOaKAke0m8q1Sw1SZR6SdqQV3SEtNl3CYUgW6gkJ3xEq01W7UAZb_IWmxDnplqc4R89jkZ8GchVxrpnhxwC8rN2XLfPEyYPwehft115B80fQZIYjzmMJpfJreQS0Jbz0GJng-OZ9Qp3JEMnYqSb2TuKpZ0c-3PxMeZ_YaUNr_Iz1uoZss2HeevxCOJ5RgTAxVg2m_BDJajEogykP9q412sLAtywhyx7kgJKoCuo8nQH-w5IeGqtuR__xJwcFFr2OkVmBXDlPplEHKInIO82_M6Cvlfir3uhOIgVaH22L01SLKrlpRGFaCgEOPll4XFU3nQILMNSzAbuhFq326Lb1YrRmVY7kk1ei5Zo-k_1wV4jwUnJZZS2jN-i4PFEkp-TmGM4tunXGZtZClMVASVAeGvT0exwXQAvPjOLheJxhtvQXOVaHHO1CHui7Um4g2HMhSbHl0Hj4nnCqaOkR6-s7IB4kS3BuQRXlYxjuVhVYlzkoMcUQkQgmNEDfNIMYWR68FRTfkzxKRK1lKY8qV72TfpGYLaIEF0e86CB0kyQTBa7kg03S__zgNEPsPcNiXInAgr90ai0y4M3uYYoA3nCrTYuXDpWWLJudLC0E3r88xJHlvscHWBUlU_iy2RTzGSf8KXuSmXWAge55CAxbjI8-3UGOnqBAAtTFGuTM_GMuTjsPEfCdpovjNJpBEnmvaVG8XWePDRO5-AWSkjnCH2FsIPSrwRqmvM7LwZ_FO4LrtxfWDG5GXsEgdJArmg69CNX0FMUIcnlk2xMbc57SCzyd6Mw-BTTRYbeNiVnll2l5al2NpYCAYdQ2ixiBISsPTzWsTGdPqbJsm4MyxWoHVqeqyMOCj0kpQN7Bkom7rpSx3oGHXDfM-acsavWz8sIzYZtRa1ken6vVypa_akQrcOOlRUwk0bAWp_xob8uFfjVw8lw8S_Vlle6UN12Jf6SN4B4frXqkuBgxTKW2F5B0BfHEovXhxBus2P3TYAL9tN1pcje8X5G54Y-9PJkXg3QMKDsbIH4Js3gM45zrlMHLmNf3_logd2eP_DnvW0jTPQqtCWp7gqLq_qTyXXbe7yl1KGBNmnsck9JGz0GjrF8YWFnGFvGhYRLGUh3dhACtfx1zSazsr_DaI3u66cQvZ1g1jehSRASLcyd9kZ_Lxs_YtPiuNa0-30vfehPOmWZUlCToZpZ7P4S-ExbB7S-QkAXiRFZl7WRRs9Y7gcDfGhL2Xahn7A-5iMgLKmgksevNtL0fitVeaxGUpTj-mVhiZEthvSYy5GpxUToFGx9Ywoi2ddUAebwquNzJ61FAGGgdMNl2npX3H9gttrDm88NkBTSAkrQ8rviatC-f1OsP99RW1bnqnf5thayrvQ2EvXqjpyNnFM18xuEmdOg-eJk6MlI8wqVraQkjzVcCN4t58GfNIPbwXQ4_qbEj5ilrq5Egkif4Ncy-GD8MbaOQNTlOx0Ca1yI7Mm8B6dOchHi6TVtXEta49ysyfCDjbro9op3AH-qcYD2TKdFMJLC_0W_SQry22t3ewiJQRs1gdd-DxXxe0F_DrlgXawOVPiKIpdnkOnHRbCcpNs4unbhqDcaU1A8rEYcVescu7IF0Kxt_-u_EJ0ZFo4Lhb6e4MkJgIo5Pg4gf-cJ5nz0lewb4TZ2B5E5JgWL8SayZHHNE0Vl1LERC6IKYuqGh4pPFHD7z6DzyaWQvAt0iXroBHwsmH_YxMB1DgWRh0jYCc_iKstyQqsozfVWhgF0Pf-2Sus5zoxOceX3QheKH4fMka3xtDtg706uqCOnyDa15b9wVTAcB5H4lhmC5MtE1IGP3P9XWKPDISPlm1TNkg6jL7bAzB0-ej8K1ZW2AhnAPndMz0mw8TOetY7j2dniz43zOz1Ja4FbBoyuHUVlkzki9ofMjNVdJxJMWCRqwgGTtnCPd1wDV3hYKbEBZW6HW-pMrJkXHVtb5PMzjoCxVv1i8jWqeJstalndRyIHfNP-A6Iqv05D6HKTcjSwO6JLF5Ru6TWPd3CMjYndQ_MH21Tq_fn0yb8SYumJiozroqy-Xk2gCEGab9NAnro3IDpvIuKrBg9Kn7imK9PFPOlWVVmv93HbZ03-7h6Ior9EfYSIPSgmie0BVwCFX4usucd7uTZHcQL8WYyxfW43c7Y_9BZ18qVKCvgOBSByf7H20VSGqlU6z5PQKJ-p2SMVwD5dm86fKd4OhGc92hgS1H7sXmS-wheI0b5DeIKVtdAeNeFA98VClSYuZPK-CGnT-3UGgG-uQqoGGO4n26w8ScrA4vAped7qOvVznSM6AsBmfsmJzejEFXs62rwRMoc85nMyIra45PNo3_SbuNnugj9DslqAgJecwS8uke_YYyiUPVxM-h0EJH3hsslNoMNKeRsQ95R7wYdKmApHSm38v-Ag6WL2DrsAuQ9TW-k2rk_mnGtoaSV1B1UzggeIo3qG3yY0WpiEIBEsz9JCz0GCs9cyJfobiZcoYNXs=",
  "id": "rs_02417f333c826114016aacca7ef17c87d0ba77117aea98d37c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.32,\"left_roll\":1.57},\"note\":\"The white bottle is in its full pouring position over the red cup. I’m maintaining the tilt briefly and raising it slightly to compensate for the load sag; the flow itself is obscured by the bottle and gripper.\"}",
  "call_id": "call_5EhYiKGpZfDhRgBJDXeXrXs2",
  "id": "fc_02417f333c826114016aacca8d6cc887d0ba4e28efb5c60990",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5EhYiKGpZfDhRgBJDXeXrXs2",
  "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]: [-0.5587, 1.9224, 1.7359, -0.5594, -1.1496, 1.066, 0.1298, -0.0002, 0.8886, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4837 left_y=-0.108 left_z=0.2769 left_yaw=0.1065 left_pitch=-0.3489 left_roll=1.5838 left_gripper=0.1298 right_x=0.2981 right_y=-0.0028 right_z=0.1882 right_yaw=0.0133 right_pitch=-0.1116 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -13.3812, 7.3915, 1.4969, -0.6276, 0.2271, 0.3541, -0.1846, -1.812, 6.9128, 1.6288, -0.0562, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9dad6d3a24c3db9419f4a946553c02d2bcc1a4d834fefabc752d7b91e0800f2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c67d46a4a37d957d9a66dafbc969caae2251bfbcaa7bb6fb26089971419f31c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 439):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0ed3a672563ce4db2c3453ef0e08c699d7556a798e756352b7f5a7a1fb3c2ad6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 46 attempt 0 · /responses · status 200 · 5.411 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 176 changed as sent

message 176 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]: [-0.5591, 1.9675, 1.7622, -0.7322, -1.0912, 0.9184, 0.1282, -0.0002, 0.8883, 0.7444, -0.5247, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4782 left_y=-0.1101 left_z=0.2423 left_yaw=0.1017 left_pitch=-0.4481 left_roll=1.5492 left_gripper=0.1282 right_x=0.2982 right_y=-0.0028 right_z=0.1884 right_yaw=0.0133 right_pitch=-0.1105 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -15.5419, 8.1436, 1.7167, -0.906, 0.2271, 0.6716, -0.0615, -1.9624, 7.1179, 1.7265, -0.0269, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMqWGz5sSLxCe_auN4cNnm4T-CV7ay82WCGsz4pec4ZU4sjTvhBTfFP39p-SoVGuO3iunTdOfZhwoOLB7itWhIegpPgSVhEhc12_XcMm4BxmCEpHhpAeBqcOXm1lhs2wKcEbE9nrBJjUMIYtOGlGmOeocwM5dtp7Po-j_Vln-hTnCwrqliHg38jx9-SXZCRcOTdH9-I8wSO843dHSDqKuG1cQrmpidQlXqP6uiVTkGqV46PdOR_LPZ0GwyHvZO1TXY2TmdyjAZeONcfX1xbSPCimjaxPBjIm0TjEhoAsDkSmi88e_4KWQFRp0lTUCZQhq7re8re0gCuYng1HnoYVMjK0YhTua_bFh5CKFFbrb-F0m5_rwgSOJuT2OL46TdLJkEJNWyMZbiHUaoeBHqn5oCnyp_hqQDiiE5wqYpM_z5NaGID2gYLDsa0pU--lt2aPZfcugHFV29mhGDop2RXCKw5IjqKSi16NxmEo157ZWHwAV1E_sdYizoa6InrmlSgFOWi5gx2i-2o5CCL2F52gt1jwJCZSs22Z0Us2YIALqtm1Wp6WSmgl_uK-JjGni_2ckco5VrzexiqkkfTyS2NVKc9j7UB7KQa9IH5F8iiOoottzX4CyCIx78wbsEmYrL3Gfk5mdoKkCuQYHZ_LpJ6lANmv9CcJRQzrH490lB9Uz79xb7VEDh_q2-Agd4e9OzXFhYwYf343rhdwuzOkZZ_aEh0UI5hv4UPzzoN4V7rrhE0GsrLseD1UHVdBgEI4CIzrwjES7UagC9eiZ9IOiSy5oN8BGxtbERmyWJCjllOs0_XAiSN8mxbN881nas9LNVo9vj-hxPmQr08mdjvAcHVba0i6tteyY-4k7pmWVZ1qTslIZ3n09AhU41y74HhmiO0Ec0YfJyv6bMYXsghlnuP1DEa7NQBfFyGssAm9FhsAMHnf8BDIVedHUkYgTG0VI9urn5Hh54f3_4hWdQ3rZmbzuTLMkWAdEKs_6ImUbwV6MVCpEUiS8W54rqvfG0-AASvykGxMlwFyb77SovQBRCytY6qwkgKjN6cgX_JiO5IsKri57ykEIZO7PoDO_XzieT60ctrUEIZeq4oDFvouCNRjJc9Imu-5-mN1nalV7K3r3KdkoFepP-fTOjLGyLeaI3I8UgfBhBEl_cCRJ39TWsLaoyOlQ1nTO9Op5hZvP05m7QK5yEpTWy8A9l4ks_ZYYLXO6v98r9osrBDHNjxshRMokEsVGNWstQBwHKQIwk3abmhvCTzPqqttVsAZxuyTzp4Rorw_bHPKKaHT4XZcWHG9jzgc59L8vL9CtbCzNJeSlyilRBK6ZM4dy2FijmMtYR6CvuWR6NLaZZPUIJ5q0UdwpiO-goxxnuvl7gcvbUmHBDwKoGxvxeDhGu0F1kP9GUOVsTJcTepuZfeY0nJiAzrJZOKFFlUxmuvWnDooV6uANjHz_yDWobXa8REIwdMruMNrelUGBG9AOx9GMCWPbVljavJpbLaUcxMsVVYAEhL8Qed0xwJ4GkcQr--JsKcDuLvQKYg9OqNunVOFgY0ZQoNjVFWhq6hJ_wC945TUZZYyeNTbo0-nh0x2nXOngOCM_2jKFEFUzvG-7k-7gS9wDs1ALxofzzjjZyAf7NP3CDWiwzGZU0dqolagabqdODGsQQQdM4MHAequ-T5SXyZsjaKDLzA02srMKfZgUcLAnKV_rEDUCyLWLFjQPBEyDhzEWAHqWOtJfyw_DMsznCHGG59j2Fa01Z8otiYyAf85lcfBnkMBICFS2FIgygMRcFIeWqvEzB4e1LopqnLmlzfFbst3o8JVksE2hD9OAGQU0uq4q_drzslqS6Qa-H3j5vLxoPNfDxSv1V6ZZL5VIeVGc5Qe83z_Z8BcNuiDuzK6hkTM-5iONBeidqx7EVKu4_6C8wyWfx_S-y7IpVDWeVUFaP15F8bI9A==",
  "id": "rs_02417f333c826114016aacca920fc487d0a99af4df2820ef88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.2,\"left_z\":0.35,\"left_roll\":0.7,\"left_pitch\":0},\"note\":\"The second container has completed its pouring tilt over the red cup. I’m slowly turning the white bottle upright and drawing it away from the cup before setting it down.\"}",
  "call_id": "call_UYmCIY3Cxstb4MRYc0CWXgNc",
  "id": "fc_02417f333c826114016aacca957ba087d09abadaebdbb01d20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UYmCIY3Cxstb4MRYc0CWXgNc",
  "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]: [-0.7418, 2.1311, 2.4275, -1.2762, -1.0561, 0.0303, 0.129, -0.0002, 0.8928, 0.7444, -0.5251, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4488 left_y=-0.1979 left_z=0.3343 left_yaw=0.0712 left_pitch=-0.0668 left_roll=0.8359 left_gripper=0.129 right_x=0.2985 right_y=-0.0028 right_z=0.1871 right_yaw=0.0133 right_pitch=-0.1154 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.8684, -12.3829, 8.7179, 0.9939, -0.5641, -0.1001, 0.2955, -0.1436, -2.0718, 6.9265, 1.6679, -0.0464, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b38e492892ed42cd3903b80669a32e708e0d3254292b7cd8906c88b1b7e57539",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0390d7f4eee00c69a524c5861be11040be8d16cb16789799b113e1e1fcc164e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 451):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95012fb6f80f2751b0720ac2738246389adbe93771f4570d74da92763d0f059a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 47 attempt 0 · /responses · status 200 · 6.122 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 180 changed as sent

message 180 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]: [-0.5587, 1.9224, 1.7359, -0.5594, -1.1496, 1.066, 0.1298, -0.0002, 0.8886, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4837 left_y=-0.108 left_z=0.2769 left_yaw=0.1065 left_pitch=-0.3489 left_roll=1.5838 left_gripper=0.1298 right_x=0.2981 right_y=-0.0028 right_z=0.1882 right_yaw=0.0133 right_pitch=-0.1116 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.253, -13.3812, 7.3915, 1.4969, -0.6276, 0.2271, 0.3541, -0.1846, -1.812, 6.9128, 1.6288, -0.0562, -0.0562, -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": "gAAAAABqrMqdyp8kUyR4Ol98-7bWeTg_vQNXxGvEGcRaU9_Sh2jqZO2PbSmttl3U5nDKtNABS7pS0Iw06z5Wbf4838xiHNCD1RHcs4-KCKiyjAmroCczF7EnmheQ2FJpTlVv_dUQJjGO9VQZSwHPZWORmyIW7b3VO3qwheezNB0MVRaSh74qZBLfYfQni8GUsdD276r1SsNyQN5-LQUy7ipJqks7O_l6Zp5TAEqqA5K2fqO8WhsaVv3qPVHwZYHfLaxpXvkkMNqDKwQp7HQVmPE2vr6Z9WpMx0I1YMgncAa5B2_rTK_YHOEcKW9Z9zZWSEztpvRClC5uIOkYCeYiOURXiUhXUUoqbdfEOljhqlFUSdc0zPnwFUphsB28xGvPBhnIo2boWThfL9j3FkREqdSYtgaXd9MORsOGFX3Z-sCvvLmyZyEa-WukJBjHzVOcbqvIOpqIW3Fq7pRKM1c6m2tVMBDaLG0gTI6wb54dlyN3RmoC0R7DQ8HWY82gxd5eqJb0JmOkx16DfD_hFWbjpXg81VK2bR9omOTnrqzPDfWsS5t1TT0w7AzplKZaOwG_tK0DTCwBQZo8DZygHBz0BdAEUl-ARq1RghNZo87OqmP6NLc8l7mmzP0DTktQs2w6jbuebKb_awCATH911b_StHQygx12jGGLPixtTMueRFk_ZV42Iru4pIsCjRvZZYfa9F9Iimi7J2zvuIjuE_velfM1sTX2xlgt6RUCTfXHpFF0z6aHgkc-9CAY4X2l5t-x_4Ytsl1OgLgQRFvysxDyg333LzHqg_5LmVmsKMRBtLf636ev6xlDXOA96Uma7GozhakRyHRBEE5mbq8JVcLOrMCmWzC3lyXw1Zfv4Qov77eoFUKlndgV1bSGPBg7ngHvGNFd69DYb8DFxaGMm-Zfv9anrTkbYaACO4PmTcQ6g7dXREyBBG4fuFP2mRo7JeOtbwA9zSq8vIDWkUnZtWqFFKq2SYRymceKTrCkFHbpt9vs5PHCGq13JPOiXyB9KMys_BvYQUnQjOVikt3_8vOUShz5BGEaGt_P1PZby4ZTQR6f0ut7qWV4DFVVP1J4_HiKNMwuCOdVSTwDztlYttNfZIvWUTwUr7IWLZabEyLJF7uiswKORA765uih4e8LVZHorLIR_cT_wwZnRexz21dFe5rVRPAbaBKwiFgnEs0NyVtf50-vKZot3Cx5Q8OnxfRuPNj6OcQmebeZs2XxAaCdfh7kt3zXOnEruHTtYmxQD3nHzqLy_CO5jKVgCydgQIl-IVwk0P0d9sK0tUwHpWGiv-qANCymKKVy68QVuOVKuq7CJX5FpFzEHiYRJK7zIfdIkRBRjzYayb1a53jKX5f_9OaVYL-k0Pm4F4p0eMBT8xQ5ALNtM1DbhRiV6hGykGlgAdWr1M0YStFfpaW3kJf3w4VjALoQXgCLomRm6wdqhjM_N1EYM4YwNKm37V6aIz6OLEuguKT7v-mbus4tNJxCMgCYfbsPao-8VVYGcmwd_hnXMApc36EWTME=",
  "id": "rs_02417f333c826114016aacca9a079887d0878b5b844ff2f848",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.3,\"left_z\":0.33,\"left_roll\":0,\"left_pitch\":0.1},\"note\":\"The white bottle is clear of the cup and still held securely. I’m finishing the return to upright over an open area on the right side of the table.\"}",
  "call_id": "call_ylq8gUUOlzy0XPUJSJQt01Xm",
  "id": "fc_02417f333c826114016aacca9b96c087d0b7c132926eb18da2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ylq8gUUOlzy0XPUJSJQt01Xm",
  "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]: [-0.8936, 2.0022, 2.1159, -0.9798, -0.844, -0.5289, 0.131, -0.0002, 0.894, 0.7444, -0.5251, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4118 left_y=-0.2957 left_z=0.2965 left_yaw=0.0449 left_pitch=0.0214 left_roll=0.1677 left_gripper=0.131 right_x=0.2986 right_y=-0.0028 right_z=0.1868 right_yaw=0.0133 right_pitch=-0.1166 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -13.9829, 6.8308, 1.6532, -0.359, -0.2808, 0.5885, -0.0479, -1.935, 6.9128, 1.6484, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 462):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2346aab6c1d425a646213977ff6f605dbb7872192c304a269982440e44f24a9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 462):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d988a19f6d16e3ecdf976bc67302c0824b87f0fdd6cdab47d5d22384e3de581",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 462):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a68fafa41487c2f7d72280e9feab00281a270e3d663b0c8eb6eb6d8e68b9c61",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 48 attempt 0 · /responses · status 200 · 4.888 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 184 changed as sent

message 184 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]: [-0.7418, 2.1311, 2.4275, -1.2762, -1.0561, 0.0303, 0.129, -0.0002, 0.8928, 0.7444, -0.5251, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4488 left_y=-0.1979 left_z=0.3343 left_yaw=0.0712 left_pitch=-0.0668 left_roll=0.8359 left_gripper=0.129 right_x=0.2985 right_y=-0.0028 right_z=0.1871 right_yaw=0.0133 right_pitch=-0.1154 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.8684, -12.3829, 8.7179, 0.9939, -0.5641, -0.1001, 0.2955, -0.1436, -2.0718, 6.9265, 1.6679, -0.0464, -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": "gAAAAABqrMqkhz8WneE5xVbHlydGQT3Zxici2eqF8ie0doUJ9snOhJD6W1wBgcl393M2QzDn2YbAWjw9A75ZIG7BdF26GqC6v0gPeWEcCy9GilQyQJJrGbntil6xqdO42KQgT0esl-E7URboT9G3cxCO5h5Zo61xj0gsmKX4eOmcbfLkASwvbC9LVjig7KpWN9HqxT_NubvkqRfEVOmlmLRZiAgkNx8igdu7GI9zHSF4t7l6e1YTJd6QgJ0X0_zzknftcsjgXX01zvD8CeySzKzkB7fCzbmVAs4X5HOa1YSleOK4KKDtQ6Na5YRFfjkvJ5ofCRUvlKCMKkT5qJEtdpT0_i7sIYqchkdP3FUpAJvIrYJ_kd7fPNppr32TwLX7gBD0WLapx-nKvpKpMrKrywL5DwZ3AdAmuWrfwviNAki_8YvJfGyTCkJ-ffSjlx_w87qqNwJWNqFU7oFjI2ueE3RdgFxi9cNfsRwoQVGsvNWTfBOEf0AzH1kHDw4LG5J4s7xymi0AM2zkND5RLVhIk9FpBOBuynHDGmZkwxbJgUA_vKB9jBxnc7F7Lv_qCqFyuftjZJzZHqKcIGBWLgARwIoo4Y-rYKUW-Pn6VFGF4fKT_XtXJVjVLKUiwh8Q6iXsMDQopy_H_SxuuzgFdvh44gTpXTd9wa8YRkQm5ESbKVFDRgs7KRVX9vW0fR8GHTQ7Ml25XE6b8wMYjP2Z0K4aTVXx0_RTUyPzV_wb4oc0m7_faeM0z5wc3R-o6RhHLv_r6YwjoL5dxBjHM8xGv72PZ656RTekYegxeTuasgpxZVxrqneN6LjWPgRXU-b9zTLmFLaCk8IK9Eldm8EPHZzcZYOBsJ_fsaMDxTadIaoZVGoBGhnrDKeDIfHLdO_C0OGf2XWkragvMIhLXY8IO6I__kBAGdf1JwTwcdfzhKeY5N4Fv5vmK1bALgs7KVHV9rTSsXQVD8ihFKp4Y3YgVfkt8bQQ7y-AN3tLP_FVD6lIzOcG8HRdZU17mxqOTMH8ayel5FdALzgPbwOt9pvP1HTvto6zYmhmsKiRemI8bS0J-dPGVvpNwL_NDJmeyEYes6076knaOwPSdESm9tHezskpPmJDezf4cTTticsIMjkL4aUr2HjwRun46hNXk1daVz74Fg23ToJx5zCApgwikzeAKS8kT1HdO4sTIH1tCVq8yVnxhpky6hsptm3W8-GbJbl8p55XgEdzEHWtNP0XFc8frRK8vPJL7xduEKYBiShCd_-zsGcqu6xdL4qP_Z4BaCv6TBgYMvfA4pV25bORYPzUfDdcrCTJZS-OFSJlWyp5kLhbm_PHI-XyY2WiSbmZV2PGxn64FOYmcMX8gXP5KySFNZ6sC9gYd-cn__-CstSEjIHuL-rS9h3Qpvx_92uF-xgzJXCg-xqtyeoh8RC4Ttci2yyEhr9crkZAhaxdLPVbxvRZO6iWhaBglzmm6nEqj7vvEyN0l26yQTWzPKkooV9Er5xQPlroJ8ERyYtoAaIpDGb43B2SroRdUseX5qfcnMydTd6xc-rBOijg0Fn4m2Pwc0qJ0vIOESZnRzx5iPAl81fp8zxx_5m2ke691KwDBFDASn8h6vmCgxEf",
  "id": "rs_02417f333c826114016aaccaa12ebc87d0a46909a4add0e579",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.2,\"left_pitch\":0.2,\"left_roll\":0},\"note\":\"The red cup is upright, and the white bottle is positioned over clear tabletop. I’m lowering the bottle gently until its base is supported.\"}",
  "call_id": "call_FqgJJC0VYIFgBiMvfqAGbjAW",
  "id": "fc_02417f333c826114016aaccaa34c3c87d0a2151c5b9e87b1e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FqgJJC0VYIFgBiMvfqAGbjAW",
  "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]: [-0.902, 1.8519, 1.3708, -0.2081, -0.8692, -0.482, 0.1325, -0.0002, 0.8967, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4065 left_y=-0.291 left_z=0.1886 left_yaw=0.0401 left_pitch=0.1369 left_roll=0.0765 left_gripper=0.1325 right_x=0.2988 right_y=-0.0029 right_z=0.186 right_yaw=0.013 right_pitch=-0.1192 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.1573, -10.3726, 6.3385, 1.2967, -0.1245, 0.105, 0.149, -0.0889, -1.9761, 6.9128, 1.7216, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec040afa8c026d28acdbfef6f6e397c1b6b26f3b484472dbe2b9b9b924e10404",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edaa5b0dc9f59983e4ceea05254336ac2e382ce1302f6ba33bcfd954550c8dcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 469):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9467bcfbccfaacdfa336b1acb7521314ae0c6745c751aefe1b045e751a4c1252",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 49 attempt 0 · /responses · status 200 · 5.266 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 188 changed as sent

message 188 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]: [-0.8936, 2.0022, 2.1159, -0.9798, -0.844, -0.5289, 0.131, -0.0002, 0.894, 0.7444, -0.5251, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4118 left_y=-0.2957 left_z=0.2965 left_yaw=0.0449 left_pitch=0.0214 left_roll=0.1677 left_gripper=0.131 right_x=0.2986 right_y=-0.0028 right_z=0.1868 right_yaw=0.0133 right_pitch=-0.1166 right_roll=-0.085 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -13.9829, 6.8308, 1.6532, -0.359, -0.2808, 0.5885, -0.0479, -1.935, 6.9128, 1.6484, -0.0317, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMqpxbC5Y5rWpmcV4sOEU068GR5ZW5RVGJ-AZ_AZAo2i1_mnVw6BrmKXr7_2filyaVFgvYqxc3jX4-SskubXjNnnTO18P18gBMzlKldeoXidreu9AViy1bO9QtdX38sDiG8kHPou8LjTc42kvL9qgU5_FbLspvhKWzwxOAjc6gogbK2kPErGocEKJ_d6NBZLmJtrJ4_4Q9J4TtLvPiuguxtimA57SDLVf0ypA3Euh7VkquzFKTD8SBj-WgizUpSc9bx1jgO2c7pZc7C7YIkj1YnUpx_aYla8AxY6tI3x5A_6Rfh0eJBGvkhUe4I3qDs1ThCpLZm-5hlhX4NyVbJPbzBRCa2EgMlwpqL4fgFK69UCkGXrtfD1KTpFAMj4taWsCc8WWYk9dnJBiK3I9B_jeU8VCwyo_1K_ArLZ3XaCC-ialWiLE891mnDGkMRm5JrrZOtlRGA_c7_vXbj4K5aNNVzTp666vEJI8Pape26tQnxcpW79_YN8bY_X97-LvW6P00P1KEAeZVIdmmrBOgsSWRRF920mgHQotTmYvzdNHuawRi3BxGMcbBQBDWZEuPvnxnBaLjS9SEWMc4CGf2c0_eP9O9YqlBxDB5euRY9GWrjHBvrcnVwFA_PCbAmHEFCc3oX9zu-ApdfP6xdvJfFhS_mEq7YrKWbzwpyUlxxMYGDhXVFWeUnWBxAtkgej1NIhqQsHO58BKvdbocf66sResVF0FtJj5RjYk7W2bMdcjxqAUSFC0RCAErVtgUMMfGosARBQDJqB1xXGGW9RjPlDaVN5jHWS7Z3yZXY5Pef0c_86DMs50voOt7SY1wrsgGRMl2o7iYU5iLp26C8aUkuZfpGo9HxhN9Oh0sA0A9Uht3QAf3olQR6HSjXxcwcNHOw9lReS1nZIq-pvz3ZW0IrV3oLAwOi6NZ_KYrZqHWIwePRkeAd-78mkqVkH8j7iMWA7mvQ_i9qhnoENLnF6cOkNc5_vdGZ2FtFLcPD5sx8dgkCDW93PZea3bDBJbVvffDRjPxNMX55TZk_j7rxPlUaS67RzsdcekNzvLwqd__K0F2Wwe73mpI0Tl6ie7xUH1xyZmXbVMw0VBGGXyxCCvjKEtQfnNIxlhWTh3U22ElwFJcFwUBUcgfH8qJ3NmiaIkL3autmcl3B3GiE5-VtDIZYnAvE50CqoJPYuYizOUpWkoRnXC2VHhCFS82FaUxTpoQnG0cuTtrwDPb85lM1Vqw4trgKDBcNQ3X-g9bmdErcXB-8bOYV2i4X-Tr0OMJUTOE1Vbv5bvQexx4zOm_TVZFuNbU5hpbw48YYo7XiPnRqVojqm7ohczNzOb4YpT5JwTv5_1fqE9vquCN1ua8WFTPk8lJcTgzM-KC4qjcXCwme_KBuri8FmlBT2r2MUzVEq10QlF5K5Uh2FRm0ydGflkbN9AE_w18fVnUP-Id0Y4x6aZGUTj7k=",
  "id": "rs_02417f333c826114016aaccaa7577887d090000a3c69db0601",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.175},\"note\":\"The bottle is close to the table, but I want its base fully supported before releasing. I’m making one final small descent.\"}",
  "call_id": "call_7BaU7VAIwNAAGdiVw9hIVl9y",
  "id": "fc_02417f333c826114016aaccaa8855087d09f20ed93de4cfe95",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7BaU7VAIwNAAGdiVw9hIVl9y",
  "output": "executing move_to over 1 steps (0.1s)",
  "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]: [-0.902, 1.8473, 1.3384, -0.1017, -0.8593, -0.4679, 0.1325, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.2972 left_z=0.1929 left_yaw=0.0352 left_pitch=0.178 left_roll=0.0218 left_gripper=0.1325 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -10.8376, 6.147, 1.79, -0.3394, -0.0073, 0.1441, -0.1709, -2.0444, 6.9812, 1.6142, -0.0122, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:970228f508848d7ae11088cb56989aee7eb002ba292874098ae7399612068612",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe8829eb89c6dc0455c0fdedb382a152277dc63e307b55577fcd86348e32c745",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 470):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bbe4f88e603ef92ecce2fad7bc452c45a77228f823fc7b85b48f7c6af1e8409",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 50 attempt 0 · /responses · status 200 · 9.232 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 192 changed as sent

message 192 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]: [-0.902, 1.8519, 1.3708, -0.2081, -0.8692, -0.482, 0.1325, -0.0002, 0.8967, 0.7444, -0.5251, 0.0364, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4065 left_y=-0.291 left_z=0.1886 left_yaw=0.0401 left_pitch=0.1369 left_roll=0.0765 left_gripper=0.1325 right_x=0.2988 right_y=-0.0029 right_z=0.186 right_yaw=0.013 right_pitch=-0.1192 right_roll=-0.0852 right_gripper=0.9964\nstate[joint_eff]: [0.1573, -10.3726, 6.3385, 1.2967, -0.1245, 0.105, 0.149, -0.0889, -1.9761, 6.9128, 1.7216, -0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMqv5L1lKbOzqDo9ldD-kKf4_p7e37x45D-q3M11iM48lzn6D17aBzN0h4spTpMGFXeBiJeTH2E4VT22f_2xecth3D8gOzMsMejnJLZrKV-PLR4ooPu4a0pque8J5XXvK0re5zLv_n5B2TrdQT45PQjm4kRso9jFHHhLF9gSmM1yJjjADMgOkxRJ4VSmZxdXoM67cbBKDgz5mgy-L6k3ik4hirJwOXaU82GSfdKvTIyT-z1zVPrL_KBwPwQhz6nE62dq0wHmZu9kTJVWY2Mc8tk-fZpH8_Fi3wAy-QTq-TP-wws5BGbRWwBA4rPVhGqFkl4Jjk6DqHZ6duMCLVYYovnKSbI9rRmcJb5bBomi9yH59iyscOt-KaaIgtCWRdWMaEWFcFbHUsyGJ_8j7X7Mj_8RNcf02OP06Q1nIUzAWIGSNyIbTRwUkNLe3Bj9WS-np2k2jmGeN8jinrlsDI2S62_vLWk-ABTfU1Pyf-cmw8Iu-LzxmLiq4QOHEnv2mn8S1jXnxu1yPh7vSJnwy7MGbc0k_6faZ1EXMIMxQgrTR_Si38Ws804WtaZFpEPrg6qLsIALh3p2S9yWD6noV7L5-TqZ8ijXk8H-CWWKHJlQSohtS2VBP9xO9T8d1IO9R6de2Y6ymHDIRMj8u6jZQYnq7DpEBgKKNtiwUc8extF3h-o1gO1dVnuk90hZeiqJcuGlSIRBr3rrRDV9Whce_VRrazlov0olmdczdO3a6rHhJ1YOtDynxs2YKdIH7Zsa12wAZ1PeAEgN_Asds3qRVK9b5jVtwJZFHmlEz-4luSl3HD8MuO2wgj7ma38BHoZ0XmjUHhBYfPMZidRl224D4WQ2i4wnJjxCSs5MGWkjuuAABAit5Sr3CtRtr7pFsBktlou4rZxGqYSiMpeZEFLDGYxdA1nmtxL0PYC1p0kSXV-0yxlW1LEaicJbVgqZCX4M-zN32r27_g-h_9U0jqwsGc01pKS1WjDYeQ_LvMldNYGfBS1qIdF1NfuJiy4_eut-0dq0JX1-SrPpe1gUl2oWyTnhk3B5bW-pvPF9HXSZ9JFbj3yaRZvrKqzC2TICcpCEXoQ_C8uOicuoZkTZsox_8NkwhdGwPUcVNrOdzST6S1nTOf1abaoDALJ9yF-R9OhYgiT2jE8fI6Cs5qgQUpFZ-V0qYNrBXhFekn03ST7KsksOen7N9Yq4_v3Rn3yF8Y9G3XxVBec1X0AZ5i-wVfYiiRXahVzQ1g==",
  "id": "rs_02417f333c826114016aaccaadd51c87d0b12583dd2e129ac7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has stopped at contact, indicating the bottle is resting on the table. I’m opening the jaws to release the handle.\"}",
  "call_id": "call_3G1ZBTWyD4AdtC3Jy8DMBja8",
  "id": "fc_02417f333c826114016aaccaae208087d0b29f7ffe90c2baee",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3G1ZBTWyD4AdtC3Jy8DMBja8",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9024, 1.8496, 1.3384, -0.1108, -0.8593, -0.4717, 0.9956, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4093 left_y=-0.2967 left_z=0.1904 left_yaw=0.0352 left_pitch=0.1713 left_roll=0.0276 left_gripper=0.9956 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -10.0718, 6.7077, 1.5849, -0.315, -0.0122, -0.149, -0.0205, -1.6479, 7.0359, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8b0829d94446aa6221c59876b66788a9dd2a0301581a57a6c218495efaa2bc0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e128028848f9be7f23718157eb3396e59fe697183edc5e57278a8a92e6a3257e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 479):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:397268d989418a7f444641d62f7cafecbdf1ce070b2c2ae75081d7b7975525a0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 51 attempt 0 · /responses · status 200 · 4.225 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 196 changed as sent

message 196 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]: [-0.902, 1.8473, 1.3384, -0.1017, -0.8593, -0.4679, 0.1325, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4099 left_y=-0.2972 left_z=0.1929 left_yaw=0.0352 left_pitch=0.178 left_roll=0.0218 left_gripper=0.1325 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [0.1162, -10.8376, 6.147, 1.79, -0.3394, -0.0073, 0.1441, -0.1709, -2.0444, 6.9812, 1.6142, -0.0122, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMq5OFrCH5uxEoByvkReuQTkEDWGPy5tdVcrTMCz2uXYHmBq-D_4i9HpVYcAW0ROQOuBvL3gJAHRcRlDurwstrSHOcIC2S0lD5R5JrHraEmsHJQBq0KrbsO1AZDV2BUyQzWCtpzgMw95pYO3nFaBbKzVqo_u1_CHNapTvl3NHSKfSz7mZly-WnB7TuIQNgvY_dC9IFuw2iTXbWTL4yNP6tRRfPFDQ_Li_UKNPPsoM_xUcBf6LXXYgSRaZo0fzQv3vEYvGr3sYmuC3nKlAXuIMawT5IDnO5OmMNyXQfgrdoGGCuTvDMUfLYQ166MxGzJknT6WtScA9MTnuGq2A1m-bvFhhLxQ14lL2Gfs0zVFfF9GOUeL-azC-zkty90dxJS65akjFwSQgcmPUfE9rlFDAd5HxbOa9SMVUeS4TYoKQZhQ5rFC8Id-BMNZ555bH7VeCQkftDSsqDGRYTtKDy8TZdF9lmwEo27sSilI7bMn3wKyWvI0vO2eC5Djrb4HBgPbVRST3GtGqWkWL07tJdg8wslqMM3V6oRLsGpi92hFPIo8qDkK_fqIFXTng6pRUQgSZQwTgryJKv1YmhNaUOJIFDVyuyxbGPLLW0zlklytNm16C0xAYL9dkNvkDoA1_ZCPly47HOcIvu9SmKTk8M4JkO7zgmfTBEFg_XHOO0BW-YL1w41bNJmn4cmpCWJeP2MI1pyk7tsfOpLSwHv0yihUuZ_6dqr_UdpIj3Rat7s0WXU-MO3mlpcdvd81JMH5f_KY4TebDIm5fsALddC8ecLvxqK1vooyEbLQq1HID85e7N3J0NCwf8NVe9JFrarfA1cdGkNw3W50_Wqt1PhC2_lnw-M6puT1BtBmdY4xxDL1zhF2G9C18bZQemv5aQlKoRFAV3zaXou0rFSF0uCcZrzjnVS8iyl9nO380x4m2IpMAhJTrsh1E-5La3nIFLsooNgxjyjihZlPsV6Bt_YNCZrTXNSYfxlTg9xVIkO3otFMrYcPsN2sSn8eC5PdLc6_ZItAHL4OyvWTxZCuQdv_KblPSQyT4OXBbvYl4sId6PSFDsYslbnVCJJGTO3xKkTu0agnU9hany36AdMMbRwba7WksBunGGLJz_wWnkx3zwfk9kWeCupt02br0-uQntNeCDEmBz-JQVcwlj4goGW50oekhKHfP2I1m8jQCodbTXMZ3ksODfXNKZldCz21Bb7b6LvEbe8hylnsccFKkQyZNAiiOnk72iCCZ_meGdAGV-CiGSR-KQo=",
  "id": "rs_02417f333c826114016aaccab7ba5c87d093c61ee38f74d94f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.33},\"note\":\"The white bottle is released on the tabletop. I’m lifting the empty left gripper straight clear before parking it and checking the final arrangement.\"}",
  "call_id": "call_kuEiBESYjE5UUf3QN9SzjFdy",
  "id": "fc_02417f333c826114016aaccab832cc87d0842091a5f0a63242",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kuEiBESYjE5UUf3QN9SzjFdy",
  "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]: [-0.902, 1.85, 1.8568, -0.6075, -0.8562, -0.4831, 0.9968, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4118 left_y=-0.3001 left_z=0.3226 left_yaw=0.0426 left_pitch=0.1826 left_roll=-0.0018 left_gripper=0.9968 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -8.9504, 8.4171, 1.3797, -0.315, 0.1099, 0.1148, -0.0342, -1.853, 6.9402, 1.6728, -0.0366, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdd678a935547e0da8c80c158202e1a32f7eae8876b304879ce4f41c999b741",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fbee2cb58d0a89ae978e8c9bb6560bf9c9177856c357bbb6efc4b5f3cff2ab0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 489):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ef6b4bd682d0190b84fadf22cd6906d3d2cbcdd33ba5b6b8c2df9f4ba4f746d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 52 attempt 0 · /responses · status 200 · 10.8 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 200 changed as sent

message 200 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]: [-0.9024, 1.8496, 1.3384, -0.1108, -0.8593, -0.4717, 0.9956, -0.0002, 0.897, 0.7444, -0.5255, 0.036, -0.0978, 0.9964]\nstate[eef_state]: left_x=0.4093 left_y=-0.2967 left_z=0.1904 left_yaw=0.0352 left_pitch=0.1713 left_roll=0.0276 left_gripper=0.9956 right_x=0.2987 right_y=-0.0028 right_z=0.1858 right_yaw=0.0133 right_pitch=-0.12 right_roll=-0.0849 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -10.0718, 6.7077, 1.5849, -0.315, -0.0122, -0.149, -0.0205, -1.6479, 7.0359, 1.6532, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.296,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.2},\"note\":\"The white bottle is upright and clear of the gripper, and the red cup remains standing. I’m parking both arms away from the containers to leave the workspace clear.\"}",
  "call_id": "call_iH7x11PyXFw0BFYMGUK5PHsm",
  "id": "fc_02417f333c826114016aaccabcb6e887d08adea4441f3dd389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iH7x11PyXFw0BFYMGUK5PHsm",
  "output": "executing move_to over 27 steps (2.7s)",
  "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]: [-0.1001, 0.8204, 0.6933, -0.4313, -0.1726, -0.1108, 0.9969, 0.0078, 0.8993, 0.767, -0.5869, 0.0414, -0.0975, 0.9964]\nstate[eef_state]: left_x=0.2997 left_y=0.004 left_z=0.2044 left_yaw=0.0968 left_pitch=0.0129 left_roll=-0.0012 left_gripper=0.9969 right_x=0.2921 right_y=-0.0014 right_z=0.1835 right_yaw=0.0166 right_pitch=-0.1612 right_roll=-0.0876 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.7162, 6.8855, 1.6142, 0.1099, 0.0269, -0.0024, 0.6222, -2.3179, 9.9077, 1.5751, 0.0317, 0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 516):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:168ccb923e6ca48f55798a2126897dcf673147a33d6bc03368f81ea3a2db3655",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 516):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9fe4383dcc69edf4d86da25822a3cc6f170b290d39aebebbf8f8ac1b930e77b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 516):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14ad978a5b1b27d6bcfd7e1d33a90623891801aefbbc2e5081b1232cb0c63b6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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