adhoc

completed
2026-09-18T03:56:40.158801+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
160.4 s
total steps
134
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see two upright containers in front of the red and blue cups. I’ll approach the left container first, with the gripper open and above its upper body.
move_to
left_x0.4100left_y-0.1900left_z0.2300left_gripper1.0000right_x0.2960right_y0.0010right_z0.1850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3794, -0.0219, -0.0185, 0.9996, -0.0151, 0.7967, 0.6109, -0.3779, -0.0116, -0.025, 0.9995] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.5949, -1.6479, 9.2786, 1.7607, -0.0415, 0.0073, -0.0562, -0.8, -1.3197, 9.9624, 1.7558, -0.1197, 0.1148, -0.0659] 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":0.41,"left_y":-0.19,"left_z":0.23,"left_gripper":1,"right_x":0.296,"right_y":0.001,"right_z":0.185},"note":"I see two upright containers in front of the red and blue cups. I’ll approach the left container first, with the gripper open and above its upper body."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe left container appears to the left of the jaw center in the wrist view. I’ll shift toward it and lower toward its upper body, staying clear of the cups behind it.
move_to
left_x0.3850left_y-0.1450left_z0.1550
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]: [-0.6437, 1.557, 1.2472, -0.4065, -0.5247, -0.4015, 0.9996, -0.0189, 0.7986, 0.6094, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4042 left_y=-0.1882 left_z=0.2122 left_yaw=-0.0035 left_pitch=-0.0436 left_roll=0.0116 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1801 right_yaw=-0.0042 right_pitch=-0.0107 right_roll=-0.0014 right_gripper=0.9995 state[joint_eff]: [-0.2393, -7.5145, 9.5658, 1.7216, -0.3932, 0.0562, -0.0611, 0.0068, -1.265, 7.9658, 1.7021, -0.0562, -0.0171, -0.0122] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.145,"left_z":0.155},"note":"The left container appears to the left of the jaw center in the wrist view. I’ll shift toward it and lower toward its upper body, staying clear of the cups behind it."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe container’s upper body is still left and forward of the fingertips. I’ll make a small alignment correction before closing around it.
move_to
left_x0.4100left_y-0.1200left_z0.1400
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5598, 1.4601, 0.9039, -0.1795, -0.4706, -0.3553, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995] state[eef_state]: left_x=0.3828 left_y=-0.1412 left_z=0.1434 left_yaw=0.0142 left_pitch=-0.0809 left_roll=0.0307 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0056 right_pitch=-0.0118 right_roll=-0.0016 right_gripper=0.9995 state[joint_eff]: [-0.4308, -7.9932, 6.694, 1.7265, -0.1587, 0.0708, -0.0171, -0.0889, -1.3333, 7.1179, 1.7118, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.12,"left_z":0.14},"note":"The container’s upper body is still left and forward of the fingertips. I’ll make a small alignment correction before closing around it."})
tool
executing move_to over 3 steps (0.3s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe last adjustment did not fully track, and the jaws appear beside the wide body rather than around the handle. I’ll back upward to approach the narrower handle safely.
move_to
left_x0.4000left_y-0.1400left_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]: [-0.5171, 1.4734, 0.9039, -0.1631, -0.448, -0.3405, 0.9996, -0.02, 0.7994, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.3904 left_y=-0.1299 left_z=0.14 left_yaw=0.031 left_pitch=-0.0867 left_roll=0.0282 left_gripper=0.9996 right_x=0.295 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0122 right_roll=-0.0014 right_gripper=0.9995 state[joint_eff]: [-0.2803, -5.8872, 7.2821, 1.5995, -0.1441, 0.0562, -0.0171, -0.1573, -1.1692, 7.0632, 1.7021, -0.0269, -0.0122, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.14,"left_z":0.26},"note":"The last adjustment did not fully track, and the jaws appear beside the wide body rather than around the handle. I’ll back upward to approach the narrower handle safely."})
tool
executing move_to over 8 steps (0.8s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe arm did not rise to the requested height. I’ll retract away from the container while raising, rather than continue pressing toward an untracked target.
move_to
left_x0.3400left_y-0.1700left_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]: [-0.5213, 1.4734, 0.9039, -0.1631, -0.445, -0.3401, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.3898 left_y=-0.132 left_z=0.1398 left_yaw=0.0242 left_pitch=-0.0877 left_roll=0.0267 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0118 right_roll=-0.0014 right_gripper=0.9995 state[joint_eff]: [-0.1709, -6.0376, 7.4735, 1.6044, -0.1636, 0.0806, -0.0171, -0.0342, -1.306, 7.0359, 1.7411, -0.0122, -0.0513, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.17,"left_z":0.22},"note":"The arm did not rise to the requested height. I’ll retract away from the container while raising, rather than continue pressing toward an untracked target."})
tool
executing move_to over 6 steps (0.6s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe retraction cleared the obstruction. I’ll now approach the left container’s narrow neck from above instead of trying to span its broad body.
move_to
left_x0.4150left_y-0.0900left_z0.2700
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]: [-0.7399, 1.388, 1.1282, -0.5808, -0.5777, -0.5137, 0.9995, -0.02, 0.8024, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.3405 left_y=-0.1754 left_z=0.2043 left_yaw=0.0066 left_pitch=-0.1137 left_roll=0.0298 left_gripper=0.9995 right_x=0.2952 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0014 right_gripper=0.9995 state[joint_eff]: [0.1846, -7.2684, 8.9778, 1.3504, -0.4957, 0.0562, -0.0171, -0.0615, -1.4838, 7.0769, 1.7118, 0.0024, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.09,"left_z":0.27},"note":"The retraction cleared the obstruction. I’ll now approach the left container’s narrow neck from above instead of trying to span its broad body."})
tool
executing move_to over 8 steps (0.8s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe open neck is now centered in the wrist view. I’ll advance slightly and lower the jaws around the neck, keeping them outside the opening.
move_to
left_x0.4400left_y-0.0900left_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]: [-0.3389, 1.4673, 1.3956, -0.6956, -0.305, -0.2413, 0.9995, -0.02, 0.8051, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4085 left_y=-0.084 left_z=0.2514 left_yaw=0.0422 left_pitch=-0.1636 left_roll=0.0333 left_gripper=0.9995 right_x=0.2954 right_y=-0.0005 right_z=0.178 right_yaw=-0.0053 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9995 state[joint_eff]: [-0.5538, -6.4342, 9.5248, 1.7363, -0.0122, 0.3492, -0.0122, -0.2393, -1.4017, 7.1453, 1.746, -0.0513, -0.0562, -0.0171] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.44,"left_y":-0.09,"left_z":0.21},"note":"The open neck is now centered in the wrist view. I’ll advance slightly and lower the jaws around the neck, keeping them outside the opening."})
tool
executing move_to over 3 steps (0.3s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe neck remains centered but is still ahead of the fingertips. I’ll take one more short forward-and-down step to bring the jaws to the neck’s sides.
move_to
left_x0.4550left_y-0.0850left_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]: [-0.329, 1.5486, 1.3487, -0.5961, -0.3054, -0.2424, 0.9995, -0.02, 0.8074, 0.6086, -0.3851, -0.0101, -0.0261, 0.9995] state[eef_state]: left_x=0.4282 left_y=-0.0863 left_z=0.2158 left_yaw=0.055 left_pitch=-0.19 left_roll=0.0436 left_gripper=0.9995 right_x=0.2955 right_y=-0.0005 right_z=0.1773 right_yaw=-0.0056 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9995 state[joint_eff]: [0.4581, -7.665, 6.6393, 1.5653, -0.0317, 0.1001, -0.0073, -0.0615, -1.0325, 7.0359, 1.7753, -0.0415, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.455,"left_y":-0.085,"left_z":0.175},"note":"The neck remains centered but is still ahead of the fingertips. I’ll take one more short forward-and-down step to bring the jaws to the neck’s sides."})
tool
executing move_to over 3 steps (0.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe jaws now flank the neck, and the descent has slowed near the container. I’ll close the gripper, then check the opening and test a small lift before transporting it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3206, 1.5974, 1.3254, -0.5568, -0.3058, -0.2436, 0.9995, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4358 left_y=-0.0849 left_z=0.1922 left_yaw=0.0669 left_pitch=-0.2202 left_roll=0.0556 left_gripper=0.9995 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995 state[joint_eff]: [0.1026, -9.2376, 6.7487, 1.6435, -0.1197, 0.0171, -0.0122, -0.0889, -1.306, 7.0496, 1.7411, -0.0269, -0.0513, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now flank the neck, and the descent has slowed near the container. I’ll close the gripper, then check the opening and test a small lift before transporting it."})
tool
executing move_to over 10 steps (1.0s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe gripper stopped at roughly 5.5 cm, consistent with holding the neck. I’ll lift a few centimeters and check that the container rises with it.
move_to
left_x0.4150left_y-0.0850left_z0.2650
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]: [-0.3199, 1.5959, 1.3251, -0.5526, -0.3061, -0.2508, 0.58, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4364 left_y=-0.0847 left_z=0.1934 left_yaw=0.0714 left_pitch=-0.2149 left_roll=0.0485 left_gripper=0.58 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995 state[joint_eff]: [-0.1846, -7.4735, 7.0222, 1.3944, -0.1441, 0.0562, 0.779, -0.1846, -1.306, 7.5009, 1.7216, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.085,"left_z":0.265},"note":"The gripper stopped at roughly 5.5 cm, consistent with holding the neck. I’ll lift a few centimeters and check that the container rises with it."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe neck remains firmly held during the initial lift. I’ll raise the container farther and slightly shorten the reach so its base clears the table before moving toward the red cup.
move_to
left_x0.3850left_y-0.0950left_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]: [-0.3374, 1.589, 1.5085, -0.8082, -0.3115, -0.2844, 0.549, -0.02, 0.8097, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995] state[eef_state]: left_x=0.4193 left_y=-0.0859 left_z=0.2313 left_yaw=0.0831 left_pitch=-0.2722 left_roll=0.0549 left_gripper=0.549 right_x=0.2957 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0056 right_pitch=-0.0221 right_roll=-0.0015 right_gripper=0.9995 state[joint_eff]: [-0.6632, -10.3453, 9.6889, 1.6288, -0.2466, 0.2125, 1.033, -0.0889, -1.4154, 7.0632, 1.7314, -0.0122, -0.0708, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.095,"left_z":0.33},"note":"The neck remains firmly held during the initial lift. I’ll raise the container farther and slightly shorten the reach so its base clears the table before moving toward the red cup."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe left container is visibly lifted clear of the table. I’ll carry its neck toward the red cup while keeping it upright; the blue cup is not the target.
move_to
left_x0.5200left_y-0.1750left_z0.3300left_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]: [-0.4, 1.6276, 1.9244, -1.2129, -0.329, -0.3527, 0.5486, -0.02, 0.8097, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.3886 left_y=-0.0984 left_z=0.3165 left_yaw=0.0761 left_pitch=-0.289 left_roll=0.0328 left_gripper=0.5486 right_x=0.2957 right_y=-0.0005 right_z=0.1767 right_yaw=-0.0053 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9995 state[joint_eff]: [-0.3897, -6.653, 7.8017, 1.4725, -0.3297, 0.1343, 0.6716, -0.0615, -1.3333, 7.3504, 1.7167, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.52,"left_y":-0.175,"left_z":0.33,"left_pitch":0.15},"note":"The left container is visibly lifted clear of the table. I’ll carry its neck toward the red cup while keeping it upright; the blue cup is not the target."})
tool
executing move_to over 15 steps (1.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe red cup is centered just beyond the held container in the wrist view. I’ll bring the mouth farther over it and begin a controlled sideways tilt.
move_to
left_x0.5650left_y-0.1600left_z0.2900left_roll0.8000left_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]: [-0.4946, 1.8709, 1.8992, -0.6342, -0.5282, -0.2905, 0.5513, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995] state[eef_state]: left_x=0.5055 left_y=-0.1674 left_z=0.3044 left_yaw=0.0893 left_pitch=0.0456 left_roll=0.044 left_gripper=0.5513 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995 state[joint_eff]: [-0.5949, -9.2239, 9.1692, 2.0537, -0.2369, 0.3541, 0.2711, -0.1299, -1.306, 7.0359, 1.7216, -0.0073, -0.0806, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.565,"left_y":-0.16,"left_z":0.29,"left_roll":0.8,"left_pitch":0.1},"note":"The red cup is centered just beyond the held container in the wrist view. I’ll bring the mouth farther over it and begin a controlled sideways tilt."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe red cup appears to have shifted and tipped near the container, so I’m stopping the pour approach. I’ll lift back and return the container upright to check the cup’s position before proceeding.
move_to
left_x0.4300left_y-0.0950left_z0.3600left_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]: [-0.5289, 2.1796, 2.0815, -0.5652, -0.9188, 0.252, 0.5544, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995] state[eef_state]: left_x=0.5565 left_y=-0.1585 left_z=0.2553 left_yaw=0.0989 left_pitch=0.0185 left_roll=0.7391 left_gripper=0.5544 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995 state[joint_eff]: [-0.5812, -12.4923, 11.3573, 1.8779, -0.4274, 0.442, 0.3199, -0.0752, -1.3197, 7.0632, 1.746, -0.0317, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.095,"left_z":0.36,"left_roll":0,"left_pitch":0.1},"note":"The red cup appears to have shifted and tipped near the container, so I’m stopping the pour approach. I’ll lift back and return the container upright to check the cup’s position before proceeding."})
tool
executing move_to over 10 steps (1.0s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe wrist view confirms the red cup is lying on its side. I’ll set the left container back down, then right the cup before attempting either pour.
move_to
left_x0.4250left_y-0.0900left_z0.2050left_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]: [-0.4084, 1.5566, 1.6627, -0.6769, -0.5083, -0.1967, 0.5558, -0.02, 0.8139, 0.6083, -0.3847, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4417 left_y=-0.0935 left_z=0.3405 left_yaw=0.1108 left_pitch=0.0656 left_roll=0.0985 left_gripper=0.5558 right_x=0.296 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9995 state[joint_eff]: [0.1846, -9.5658, 7.0222, 1.9072, -0.0952, -0.0513, 0.1392, -0.0752, -1.6479, 7.1043, 1.746, -0.0513, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.09,"left_z":0.205,"left_pitch":0.15},"note":"The wrist view confirms the red cup is lying on its side. I’ll set the left container back down, then right the cup before attempting either pour."})
tool
executing move_to over 9 steps (0.9s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe left container is back at table height. I’ll release it; the tipped red cup is now near the far-left edge, beyond the area where this arm can safely make table-level grasps.
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]: [-0.429, 1.4586, 0.9516, -0.0868, -0.5331, -0.1791, 0.5563, -0.02, 0.8165, 0.6083, -0.3847, -0.0109, -0.0261, 0.9995] state[eef_state]: left_x=0.419 left_y=-0.089 left_z=0.1837 left_yaw=0.1003 left_pitch=0.0515 left_roll=0.1372 left_gripper=0.5563 right_x=0.2961 right_y=-0.0004 right_z=0.1747 right_yaw=-0.005 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9995 state[joint_eff]: [-0.294, -8.1026, 7.5009, 2.044, -0.2955, 0.1148, 0.0366, -0.3077, -1.5795, 7.2684, 1.7705, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The left container is back at table height. I’ll release it; the tipped red cup is now near the far-left edge, beyond the area where this arm can safely make table-level grasps."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe container has been released. I’ll withdraw the gripper and park both arms clear, leaving the tipped red cup for the operator to reposition.
move_to
left_x0.3000left_y0.0000left_z0.2800left_pitch0.0000left_roll0.0000right_x0.2960right_y0.0010right_z0.1850
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.429, 1.4586, 0.9272, -0.0856, -0.5385, -0.1806, 0.9954, -0.02, 0.8165, 0.6083, -0.3851, -0.0105, -0.0261, 0.9995] state[eef_state]: left_x=0.4148 left_y=-0.0862 left_z=0.1738 left_yaw=0.1048 left_pitch=0.0331 left_roll=0.1503 left_gripper=0.9954 right_x=0.2961 right_y=-0.0005 right_z=0.1746 right_yaw=-0.0053 right_pitch=-0.0298 right_roll=-0.0011 right_gripper=0.9995 state[joint_eff]: [-0.335, -6.4752, 8.7726, 1.6679, -0.1832, -0.0269, -0.1392, -0.1162, -1.2103, 7.1863, 1.7118, -0.0415, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":0,"left_z":0.28,"left_pitch":0,"left_roll":0,"right_x":0.296,"right_y":0.001,"right_z":0.185},"note":"The container has been released. I’ll withdraw the gripper and park both arms clear, leaving the tipped red cup for the operator to reposition."})
tool
executing move_to over 9 steps (0.9s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteI did not complete either pour. During the left-container approach, the red cup was knocked onto its side near the far-left edge, outside the safe table-level grasp area. The left container is released but is also lying on its side; both arms are withdrawn. Operator assistance is needed to stand up and reposition the cup and left container.
give_up
hindsightFor these tall containers, carrying the grasp point at 0.30–0.33 m did not provide enough clearance over the cup: the hanging container body can strike it before the mouth reaches the target. Raise the entire container above the cup rim before translating, and verify its upright orientation before release. The left neck grasp held at a normalized gripper reading around 0.55, near left x=0.436, y=-0.085, z=0.193.
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]: [-0.1551, 0.936, 0.9962, -0.6235, -0.268, -0.1627, 0.9968, -0.0189, 0.8196, 0.6109, -0.4122, -0.0097, -0.0261, 0.9995] state[eef_state]: left_x=0.3119 left_y=0.0022 left_z=0.271 left_yaw=0.1482 left_pitch=0.0199 left_roll=0.0067 left_gripper=0.9968 right_x=0.2928 right_y=-0.0002 right_z=0.1695 right_yaw=-0.0048 right_pitch=-0.0572 right_roll=-0.0012 right_gripper=0.9995 state[joint_eff]: [0.1709, -2.1402, 8.9915, 1.6874, -0.0659, 0.188, 0.1245, 0.6359, -1.2239, 10.6051, 1.5458, 0.022, 0.0073, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I did not complete either pour. During the left-container approach, the red cup was knocked onto its side near the far-left edge, outside the safe table-level grasp area. The left container is released but is also lying on its side; both arms are withdrawn. Operator assistance is needed to stand up and reposition the cup and left container.","hindsight":"For these tall containers, carrying the grasp point at 0.30–0.33 m did not provide enough clearance over the cup: the hanging container body can strike it before the mouth reaches the target. Raise the entire container above the cup rim before translating, and verify its upright orientation before release. The left neck grasp held at a normalized gripper reading around 0.55, near left x=0.436, y=-0.085, z=0.193."})
tool
give_up: I did not complete either pour. During the left-container approach, the red cup was knocked onto its side near the far-left edge, outside the safe table-level grasp area. The left container is released but is also lying on its side; both arms are withdrawn. Operator assistance is needed to stand up and reposition the cup and left container.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.736 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, 0.617, -0.3794, -0.0219, -0.0185, 0.9996, -0.0151, 0.7967, 0.6109, -0.3779, -0.0116, -0.025, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -1.6479, 9.2786, 1.7607, -0.0415, 0.0073, -0.0562, -0.8, -1.3197, 9.9624, 1.7558, -0.1197, 0.1148, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f17c9d848d86771a063a30eb8bc9a02e8dedf7dadf1d872137d6757dea72e2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7341d6706c8543e1df62a2b83b5a91cdf0e32fbdecf4fb91b3695219ba5899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c13459cb6a718fa29a88c26d3fe731b0dfc9ab11f62313fbf260fa34901b8df6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f17c9d848d86
wire blob 7d7341d6706c
wire blob c13459cb6a71
call 1 attempt 0 · /responses · status 200 · 7.979 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrLaMjw0kw_8PmcBp1MPr28Mb8-A-EpK4LTITxjUJTSlbSbDzW9-OQkBuCMhlhrOnByKdNJyzCAXgmekX6sdlzSna12h_6dScer-3NcAJNI_GT29_7cHqDWo0LAWe-UuUX6ky_1QQ2zrk6dCK9-wZqqr53I0Ad_YgqWb6Eiaphr6ezTI2IjCeWkicIekvuV_TkQz1dZMJqSe_DqmgSjWFGS299fdm25uO8S3VaoHILsfKcUrg8wQIq6YsVG7yKEXNdHfnSgaot4HMizaDGlh5j34ugYYUN9ZqX8HOdWaFX2xyf3Blc905u--udlCd4WXris8P9coA7Dtz9m6nY6bqDPXfHEXYEBMMrWn79Weg3J9AiSiudUGU14VOum-Lm97FvAHio2JAP50Z8BzZ_xYiYEu3clbI9gCgyMsUI7p7ShGEPejG3zuyrPTmFU26AIwFjKGrhg3tS4scnRlnpuvdJnZid51rNJfWDswEvCiALw7d0H1-M51RAykoI1EW5GVP_I4iS1vfXbSHdEBGwrYTkKwn6JEB0gl1f7SGn0MCbtwUKMgl8KuTtR3PmmMIlnf99OWN2lAG4Bcrv4kGdbw9mbMls3sLtXi8Zn-NwLbJ-9k9bM2dtXPaUs4W_q8Swh_DgHLjYxL0YazUYclShlbBZlKqw_DcZOua3NKXWrZ2_8gu1ViXkzEHZwG99J7tN6_rJu53PLvHoBbZw7Qeyt_7lqQn_s3dC3tTK5I9bfyUzQzFzrmHx3sCbYqWzKWvnL9FdUhvsb_7vLxTvSghhr5Y6LMokxtTkVKuiSqyqlVDUZFlTHmvQsPXhdEwsCOSmvy4VuKaWaz1UTv9rfNE-V7V4tvcD2TmgP5xTlXS4cgrc7EpdYxL3c6lFNCoadvQIuDvqfFFdaCJgchfEI0VMA7Hpvi_pl2HqdbBRcFyQ5EMB2mIdNbASDXKh0ET7XPDuCtmXEDWpWTQrx1m-QwvUEVIvNPdiCBVzDss8-Sn1GZz4JSVAv5jcAKzCCrjfvyPZHbEoyR6ulyp67NKNSR9lxcim31qxIlT0-ARyfAQcTjXRZ9bopeu52LHx0a2nM2oMCp4gfMeornsEbq9985WBZGLXG6Gl9hVydXaEaFOqthfw4gGF-_4IE31DnoCgQTlr3fDAfQ3BbGBQfJR-lKyI-pJdBIa8Mbo0mbyVlG4lxnJ-ITURqsvcBJC08PbF8qYBUgJQK_BPMQK6mWWP-4V_vgidCcruF57s8A7MBCje4nCEzn167P-nKfrwUtkrZnDT49oJeVQeqzVg2bY0EEU4yvEr9IeYUqpJiNBeWx-l2nhzE2rs6cZj1QFATXGDVb7NXBOWjUc_6Xk2zsD2YTpKNAuyrqtpKOe1Ap6ZNYjlKGdqnV7DU6pcf0QWHRTQFfBxG8CbdCKoezLRRHfeG1s3KrIew7Oac736nggtfZevpxI-XzSVOSmYkH9tES3HsJYpIoEbEIn9tHBcaqUudDxQFolW4SASEX-2c8a93_cEU6sKu69hLtRWSUwIE18Ys8w39P1aYkxY3hsGCYVMPveyBZQ_2k7WVmgzTfDYbgumIZ2kGCC15YWbEanTEv6gfw3drgBHNYwZaST_eXbjs6DWy2LkWcyeWdI63u75X6xzS3SS7wu2mjYQ7NbcuCR9m30xTU6lNvWLTw7sUEwBzRCMBGMxc8Pcce4IOrWfwZQ_TWgkLP-hF0fERx5iwcZdJczhC5l0UFhmXljBK1TVc_xNoNZx39WgGtXgtM6gs539rUd0NSJv70ISDSSaN2sK6MF_fcjn5QSyHiSmv99GajSi2prDe_U5uBbbmpZn3f0AU38YxLz95QEFUaeMKI3jWMxqU6YQ9lFEB2eEB08IQ0Y3Bdn4aiePA==",
  "id": "rs_07c18b13c54e8830016aacb68747b487d0b7733c70128914b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.19,\"left_z\":0.23,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.185},\"note\":\"I see two upright containers in front of the red and blue cups. I’ll approach the left container first, with the gripper open and above its upper body.\"}",
  "call_id": "call_fI9ukVVhHbobybBfavX5AHoX",
  "id": "fc_07c18b13c54e8830016aacb68b368887d08712ed132ea2e5e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fI9ukVVhHbobybBfavX5AHoX",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6437, 1.557, 1.2472, -0.4065, -0.5247, -0.4015, 0.9996, -0.0189, 0.7986, 0.6094, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4042 left_y=-0.1882 left_z=0.2122 left_yaw=-0.0035 left_pitch=-0.0436 left_roll=0.0116 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1801 right_yaw=-0.0042 right_pitch=-0.0107 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -7.5145, 9.5658, 1.7216, -0.3932, 0.0562, -0.0611, 0.0068, -1.265, 7.9658, 1.7021, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6fa40b896a4a58876c22df8f6e858027a638f55f685625d19cccd70019b9eb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e6759e2701486da6edd4700d0345f8091359a38e0504ba2df6295d4c57c20c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5987f31a2ba6083597c4f88be249ea10ff744effb864c12c9030f58e79f88c82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e6fa40b896a4
wire blob 9e6759e27014
wire blob 5987f31a2ba6
call 2 attempt 0 · /responses · status 200 · 5.334 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, 0.617, -0.3794, -0.0219, -0.0185, 0.9996, -0.0151, 0.7967, 0.6109, -0.3779, -0.0116, -0.025, 0.9995]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1848 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=0.0012 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -1.6479, 9.2786, 1.7607, -0.0415, 0.0073, -0.0562, -0.8, -1.3197, 9.9624, 1.7558, -0.1197, 0.1148, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLaipZ6KaychlZSbhX_ggQeJI_aqLVnEWR3gbiskVe3ovWPQXpG4y_6juocQC2XF_giskWCIL6NYdj0bFra-wAMey6IEVLGLgzqh9JYuUt_2xZ45Eawt0hR4zb6vbXXLfZUf0fDbWpZuJ-Tgy3Zu4__lbOjp_sLixmoP-DanGWcyCNgtRkRpbgKumnPj_keRXAHsu_GL6W_Ao-u3kVEbyQdg7YDzINjLTF2TH4anJGKBA2LB3YGiLjezTQanJkluXCc3ISr5HflpslsfoPon0xhSwU2J3g5Bw9qXzkrt08pJCJXaYDDM79rMdWBE9jUA1y_mCEk2ZP8euSFNPwC5Ue-x1ojA6tVy3NOf_Hgzb6v8huEUn94-AFwtLffJA0a3sXcinDR1pLZcp60XdeE8clnI4Z6-N2RkZOR0057tDsZAEZLw2xJkS0uiuB5ASXblIe-SC4SR7mKz_Qicn5LkQkYz4ksGoD_z9lpH8wB56HtgVPW_FBoNmSYOrzsbX9yW2AWQH_CGDxrhIxBnxfFgYM2__stksWAh_WKe0CG43zryWBLg3FpvVop2SUbPuAsDdaxjWjQI4uX8DpdYGkA4DYrceFNynQkrPQQV85_aCjf_JEB1-hRW5U4ESJY9hRtmUiPHUqFgYee1eLQ6_Omk6Vk4KiyMN5F5ZKDxyPAAbT4uPWjrQRhl3gi7GZEbPjzj7jCFZG1IR_sDueA-Zn6B11lNMzOzYgg9p7Ceo65nyl-fi_5iSr15sVE01TWCuvsNrT-QAg_66C1J7R56qx851Bqy5x0F6mrryYPb-XjdeNpzmHIPUBzqWSKf54R1-HuJ64vjyFCyhNc8WZ6XtEgn6j1DsOyB5hVoVhFhtqe3DcxpthqVRP7CcTgIIaSCvfxTts2m9OYVbgMfxtGhYkpp2T0pZW95faiQZu9tqTYXVx98LKvBNghfpcUnup-iKwyP0ALUNpGqyFmjB0z28rm_arRMM05lQ4VJDt20S5xWdXP5NgPgCjHSBuZUkgIOVqN7vJTtSC5ZK6u2iy7n82YkbVs0UsyIvAPfAgSZdcPrVNwKFvIZVAI5_Ym0KN-yTiueHR9ECPcF-d3p9OtJ3DhYMISVZnt4O9SuojCenz_c_L-W55mMn9iaKuL56d059XN6oAEzcaex3-GIr0W7A2KyRwqMEYQ5Y1VV-qaWJR1i3H0Qm8HcUC9EAaUH6DoL16mAC690dggpSxVZZ0NH7old9W7XG5Rbtqsh4hJBZtZ7EMhuq8tixWAdBhRT1xfHWftf1WZPh23hyioiVS5NaYDcVAaCOYElLky2jPtTpCoV5HVcM6-pu0vmaCYYVeaLgwFzVgjegqZLUMNEANHyWZa2rMj4PISug95Rb4HzSG_e2v_9Wa7UjGWCrhOLAxSIM_-TnAR31tzKwKkupn1v1gApgPZ5toea2sYlyvX0Qb_Sh40iJTNn_OOh7FRi87u-iii5WJPCeNqcy5c_4qrA14FR3F1tKKM3H1A_m0XCe6JZiS0xttpmNUA4gEHCtYV8zTIYq2J8lm9ooSjKeQ8HkukZCpOtUn4kFj2eH7q3-cWChwc1Dk7jUuVGKD3-xNgGHg2EnY7X_7OptuiWHaG9lxF86Bys3KX-2iAaTGRJbOyrcMe4nZWBEb_O5xeiMZ-nEjIc7daI5B4AMIp0IQcHOsNpF47ThxETzs50q3PEdN5VFmqMn4TDhjWYCUqQ0CwM_eEZqdhYlQ-nnF11j9FiHb92rWDmcMoPFzL2oVwNLKtzoVWFd_89HMlznZxp5GJn0NOvtTIpwZpVAo1S5R-Tqw7bs-MdhA0whPYByQ7iAeh3IWMGVPJyXz3-q8p_lS5qlEe_xLGc9PN8fTJrSVj5orsg5f-15g==",
  "id": "rs_07c18b13c54e8830016aacb69b71dc87d0a318278809ff904c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.145,\"left_z\":0.155},\"note\":\"The left container appears to the left of the jaw center in the wrist view. I’ll shift toward it and lower toward its upper body, staying clear of the cups behind it.\"}",
  "call_id": "call_L9l2g4btHrhdudQbWVuA2XgU",
  "id": "fc_07c18b13c54e8830016aacb6a144a487d0a50f5f147a324a4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L9l2g4btHrhdudQbWVuA2XgU",
  "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]: [-0.5598, 1.4601, 0.9039, -0.1795, -0.4706, -0.3553, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3828 left_y=-0.1412 left_z=0.1434 left_yaw=0.0142 left_pitch=-0.0809 left_roll=0.0307 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0056 right_pitch=-0.0118 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -7.9932, 6.694, 1.7265, -0.1587, 0.0708, -0.0171, -0.0889, -1.3333, 7.1179, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abdb074cdf96ac179f06496f97fe0bc8b32f27a11a82f4962b6c5e0db0acd10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f914df695b1f65406a86fa385865e8a59e50f5acfdde44911095c1f1e59ecaf2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c334fd9d5ca7cba63dfc56ff921ab24bf7b70fd47932228b058b8bb53e148531",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5abdb074cdf9
wire blob f914df695b1f
wire blob c334fd9d5ca7
call 3 attempt 0 · /responses · status 200 · 6.33 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]: [-0.6437, 1.557, 1.2472, -0.4065, -0.5247, -0.4015, 0.9996, -0.0189, 0.7986, 0.6094, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4042 left_y=-0.1882 left_z=0.2122 left_yaw=-0.0035 left_pitch=-0.0436 left_roll=0.0116 left_gripper=0.9996 right_x=0.2951 right_y=-0.0001 right_z=0.1801 right_yaw=-0.0042 right_pitch=-0.0107 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.2393, -7.5145, 9.5658, 1.7216, -0.3932, 0.0562, -0.0611, 0.0068, -1.265, 7.9658, 1.7021, -0.0562, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLapIxFqnH-gaJD9VZ7qBAbbhGJ4Y5rHTXUmQh875Z67pOiUgb13gH2LEr_0bMOo0YeHG0EzMKMF4WBAOfmd3LRiQZLxIcr5Oigq9rxrduENxG6BYfHr3avCz2JGYYBMMrFa6fNpOy1-pOZ3cVl7mhKaxyB8iwEFZjtNFwm6sfrQlKXYywNFymjgYTGwLUnUuos3CfMFfzhQJHfVG99goQ4WiA0LNGUxvTi9REak1TbOIYKfbhxOUpgSU3DhfWECn2vMO0S7FQYLVYbphI3598HqBryXxwn9eYfkgU6K6zB7tzzbinGKcnkT0m7xf2YAqKkBRrP_hF3H7lb8GjwZ1nTq13UUPvO68cdmCkQEb98moQH8IERZ9maQQwO5CfRXdPGpb4OdGC9YUwgMlSqyjJJ-3OI4QG0V--GNzjfPSE3ma92oUuDDE7THdOdb8EtydaO4Axqb7bBRFRSvRQBuD2TD2rdMqvCWEKVUj_femaL1YfD4Nkt2u9wg4b4qE2CPwHNKzWW9-lV2Uwws5xn5tzyGjprc_xRZeY-0N7p51APoMaK4yAFQZosG8QrWxf0X_NhQsYsfCwvl81B-tq1-r-VBQow6KtcN5AnYOHrMfxP7pMUNYLT071u0_53P1NKu_FVHOzwyP9r9IV5ATq1INmRVWoAprnI2iYHPwcEGXgFGYpUghZ_5coBN3av-rp33XI4mtID-C_PYGEL4FAn0Dl1H_aHxFKPT-oN3wxgIB3slaJrI2JjDm-InDuRK5NiOFbEdpV5pMZER4gSgrv3EKpeL55gNHz8aoj7b6kso-uMYGO_M-f8KJ9ycP7tFzdwPjXN9ROvVwtnsS6e259pylMv1VtzAth3NNmlXYKPVGcPJSb4HUNyaJyLn4LXWpfE8yb07ar_nPvGmqTaej1E-hm8lzmEs7bZIxXXdwqwQJFBvvpqWHVoL8EYcb809DkEAkPToRDoI-OJpdFfBnMHmnUimZvHm6lbENKZZoCwT67fG93JrsBAL2Nv21VMMPeCHPwx9FSQbpidqLfP41fVqBeWRJodN_HymlwtTIX-XBqoy-w-yUX3q8_T4GfENLSfPlLaUmQrxmOrG1Xa139fkzy3a3GWhN6FovfxPu48S2lbjdGLOLfyxwArutciZT6rRIlits4Kq-YmPqY8gHcvb8PoaFJwJM6o_RdMBPFFkebvZ6dqURlLXz3YC7sd5fzl8Y5KzWhI_ReTsd9NQMZ34asu86NbEicxWXCpbsreySxQO92aLvinOcCH2pNOKqbdRdqaJ3GtRyHdKivA5X6HA1yc0_XWoWPyqJ_ZJrMISuTMcPghpgMfnC2NtZzC1r1egqH72Il6lySsLouG1NUvmTBihXWruCig2l6C5DdmtkAh_aLsjLW2GqRx8UNKS1n8WFi9bYnnPL0mSX9ci1IyRa2zuZgqePkLGzYMLd0JEvzNLOhZeYvaLUFcD_aMD6SMy2W9184gJMRdYVBwxrfXV9_NVPIGN3mwQDNh1vtfbah27S7qaHSZHxfQwoi2HzRn_siC8aMb3KP_ZLO2Kx-y5Lv5gaMUu7YAscu3Kj3n8DdbOk3HMeKf1LM3SEfnNE9omFGANxOO8wChtbj-uCCkk2OdOCzqRJDlhOm9WVij91NqrwPr7TnXlCQ_xCq1AXS7P1UilxnBHHBSIPwcJEt5kE_7LS22qZ1h3MEsEeGV_NIoDN2VzaEfnTJgKhxZOV-_FH4JJ",
  "id": "rs_07c18b13c54e8830016aacb6a5589887d0b11a047af56ff5e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.12,\"left_z\":0.14},\"note\":\"The container’s upper body is still left and forward of the fingertips. I’ll make a small alignment correction before closing around it.\"}",
  "call_id": "call_O2EQnir4srKstgWIjbmaq88K",
  "id": "fc_07c18b13c54e8830016aacb6a80fb087d0987e7853b62788c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2EQnir4srKstgWIjbmaq88K",
  "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]: [-0.5171, 1.4734, 0.9039, -0.1631, -0.448, -0.3405, 0.9996, -0.02, 0.7994, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3904 left_y=-0.1299 left_z=0.14 left_yaw=0.031 left_pitch=-0.0867 left_roll=0.0282 left_gripper=0.9996 right_x=0.295 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0122 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.8872, 7.2821, 1.5995, -0.1441, 0.0562, -0.0171, -0.1573, -1.1692, 7.0632, 1.7021, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fc0ccd0bbefaefcf8e8e12c93a9d98eef5eb628a40760d9a62fa2ead3582596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc6cf9cd790f78b9cfab7ba27bb5a10ed559d07bcd00b9526800322e4e096802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1421a903a1d6a932ec0c84a755736bef56dd9e5927b89f8c8024a2166153e58c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6fc0ccd0bbef
wire blob fc6cf9cd790f
wire blob 1421a903a1d6
call 4 attempt 0 · /responses · status 200 · 3.848 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]: [-0.5598, 1.4601, 0.9039, -0.1795, -0.4706, -0.3553, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3828 left_y=-0.1412 left_z=0.1434 left_yaw=0.0142 left_pitch=-0.0809 left_roll=0.0307 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0056 right_pitch=-0.0118 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.4308, -7.9932, 6.694, 1.7265, -0.1587, 0.0708, -0.0171, -0.0889, -1.3333, 7.1179, 1.7118, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLavWbSo6X--XRKVbersstXvwbuI-OTj5A3cjTPJJOJzUVAihbPSWydpkd08F0eUKnarq9lWd0ve8aRLq_ZI6aTgX7qWHmhMWQRNE83UvolqEtQO34-L6PntbfUD5Qcq8ZFYbS2DraMMg1G3W-0VAbGWn76XSZydp2QEIKwliB0bwrGG3_QGk6NAjNHHz3xf8lzDD3mNgzdGykLfqdGqYd9sD4Q8cOM_r5vaZ0frUE7LB5zjV51dTc-PgYNZ4drz3pGlaZey7akJCFaGyqf7hoN5QVWRqckI3TSCLiwZYwKnHiCDgC44SA2ZLdPCJjHF0iVobJU7zZ9BGuq0J5IuaLvIotccBwD79-My9yIoSM2oSgYO8l1SwaT_cTJ_dUa1pYtVecZ6POmZdmvfr0mNLvgtDVNzPDRZk1TVbP_o3XG4QOODgDMdywntZrIEpq52c99TzvcguDKvms0VnM-x5Kpr_fPFJkMc77w84rAHg2JVMVtHTjWn6vIoFp6K8BiT2NZll5TeJGq4FDF6zI6jFV8DjEseX8-72kNeQjeeOGSo3xwoW2QmFn3OTPPRiydhYFsn3d57pNO4KtlPZdr1wik7nGG5iV8bfy6EWyxIaU_eLT8rWVsRujaTydG9-JlXPQS2HS8ySeT_xd85z0Fxm8-nKq4xcUV-zB-jOlotttH7B-qiu-VUgFGIhrsb1RE270n-etdyiKv1qF9YFcTffGQavHkTmUrctz_JqrM5F79AtvCXYJWduse5A-j_qwTTD1id5ITyV9hPuDU0fLActCQtPp6tuLvZyVFxDVCXFgpolg6ur79gC7pY8Ri0rkLcQe-nS4MGkoHqr2iGFIp-wdciFvDTJCv36uc7mj0VxUV2VKDen_QsYInJYDYz8Xlr01irN2HfbwvIzOHq4SM27X9_Of_rnjnsv9Nm8Q9xGrCAVVlfn22AyzzMMgPOpzaBbAw5nuCYzMCxxpXeZ8ARZU9612vbuMKQZIIwwmDw1dTjhGlICy27SNE_I_c9KujoD0QzxWBjPDDKuumhwOgnRP5U7xgoJ5vh_TdvTJRDeJCQoF1mxigLFrExS5j6AQWLEXH1asgf8gDB48RM0a0Mu00gjUDU1UWA0RgwyldC3UrO320AIBnhZI3JpwffBtarHfXAfHfJtS9ctTYeW1FeJB4MmpvugobcAREAcARGmTo5h7JZYuLd5CX5a1gWMdGnpdoTeG1ndib-zWnBev-W6m4EJTE_JhNIrx7WK58geEFIcjUv1DfBA_XCsDGBPLa3TqBKNS-0mAaEXc088HUv6TP4oUIyP67gj3DU1vTOxJVbAWtOB8l__IDu9Lqk9lP0uOMeqoy6kCiJzTx3lbMzd7PSbT0zrfzJMcB7KAVEesMO7ayWj9SPJ8TssrfHCz4KgmaBWzZrSaC0AAXB8BHGsIA6vmHarYWDmOBkG6S5tDQTtOzP93xXRK31SHnSBATeKAu_TewAAuMdduIHDNmsYYRCJqg-Kd7rUszSVY_zdb9OSVLFx8hpJ8_XYL7onTouBtOleHtbbEuLbcLRn5gbtJnohnN-GzTSGdT8K33DhNszKaAm2HD3AiZmA4kHDRdkc1RWacmCecSBoDidfGukXDV6kIHSsSSpljq5xlBF92EOilh698vhcJgkFPBG6yeJfX7kRKGohsb7M8TF3kkd7MLkg00oHgVruDrFNGTR3ksnIKN1UUwGCTgKrC-XwPePAtzX",
  "id": "rs_07c18b13c54e8830016aacb6ab43c087d0841d957def4c85c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.14,\"left_z\":0.26},\"note\":\"The last adjustment did not fully track, and the jaws appear beside the wide body rather than around the handle. I’ll back upward to approach the narrower handle safely.\"}",
  "call_id": "call_LEPmWTUcJtHiyG597qFSfFZD",
  "id": "fc_07c18b13c54e8830016aacb6ae980c87d094953348eff96e04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LEPmWTUcJtHiyG597qFSfFZD",
  "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]: [-0.5213, 1.4734, 0.9039, -0.1631, -0.445, -0.3401, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.132 left_z=0.1398 left_yaw=0.0242 left_pitch=-0.0877 left_roll=0.0267 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0118 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -6.0376, 7.4735, 1.6044, -0.1636, 0.0806, -0.0171, -0.0342, -1.306, 7.0359, 1.7411, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5accf9dbc647f650e9b8f19d45c01d52f89826b40582d7a5c0b11a0630f74b21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95404fc5988325e59f46a26c1ef4c7f6a378126db4c4ba57a2aff0a54791185c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b360a3b97e1bee8f5864ea7ef62fbfdf8df2094177e9cd910a4828cb755574d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5accf9dbc647
wire blob 95404fc59883
wire blob 0b360a3b97e1
call 5 attempt 0 · /responses · status 200 · 8.453 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]: [-0.5171, 1.4734, 0.9039, -0.1631, -0.448, -0.3405, 0.9996, -0.02, 0.7994, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3904 left_y=-0.1299 left_z=0.14 left_yaw=0.031 left_pitch=-0.0867 left_roll=0.0282 left_gripper=0.9996 right_x=0.295 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0122 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.2803, -5.8872, 7.2821, 1.5995, -0.1441, 0.0562, -0.0171, -0.1573, -1.1692, 7.0632, 1.7021, -0.0269, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLa0MBRiZ90uJzqYwZ3asAAZWfvboel25f3RbVnN1h04tYk05_p_W24C3HEkNWoLOr3OOvAcXc3rctUijqlwbrCddlg4FgjyNTRv8eZSy4hXA7sDMTL2nXx-STYP3kiqUd4ujiHLFdwmkkj58Sc1rhOMWlIRWaIrzVCMRF5cAH_Fhzh1g7UCR4JmfX8-BvBDJFQ7DyG9qwJC5RCyLdLL4C7eMynh45V7HgJQ-3gLT_WedDRyZGXt1VcuE0IoTiDvp6Dk66hZ9vGsx7v9Sd3-WuDjY2wkR7mFxSUAd2tskDesascvRy_fc3VjKq58JjEl9SitmggVTN9GMRkM5P7Qu1w8t24ZlSZWVdcFgMq_2Dei9-OAw1FhK6CRRzt0q0fvVxfH1mjAkDW8999W3BLG7lGDWJVxSsi-MAYvFoGI4gulSll8LK0pDiEFHUKbycA96EVqFDB9Thrx-FwGeiVsmV542NCWwDOv_pH7g-GXBGcN-ANLGT3A0QV3l1wG5yLpbUnvfoATxEenENVZ4x1zLdyCulcEfS8ZMcHlmC5iZIKN3Q_udGmj0t4RSTFKPVC2Wd6ITqMklBVJV5NBRNPOiBY8qImD2iV-Sq3-d6RtuIISrLfEpJcoajHJ4sqqd03W-NqOHc1Ek5EdHV522id1FjpyZRQNPD9lW5D4TiNkZFx_i7V0LfBh8EX7Mq0XgEMxzwpvlknzZN8kmfBLahMMLgJnvhjZlz2FOagkm1tVK1O2AEsaTvgBjmz0OmCDU24Ql2hr4QAfq_kVH0QXsNuyFzvwOh0WU3ugUgfZx3zr8vS5bODuYU5Q8cNx72urqFVc1WwOTZ5CnBcQNLTZCUgRnfAC3blE3g2P3IfmBld6bX62jowoHRG1biLejatiHwv2sdK_Iwg3tBIAM6YufgqI6M_UzsvI2Nnr8R3o6JArjvVmTHxzYQgn7UDgl15bAfjT2c0OeALVB6QGksdAu9wID6TF_IeKyyE-xPaGxaxpwxTqE99UtUGK413bHe7O22mb92ExCrDtlBL-oufdc9hgvrcm0Qrh9TuxbAbjXoqINE1bXFFFGyFVYI7RRyoQSFqAO-qMdl0ramr2__PAXvR-z1bgpGoTpPVrqe0ybUZYSU28TA7drB6BnKGi2WN1aMcpN6tKl-SDNvOSNj-2y-Ob-6gRGxte2lX63Dpbwf-YB4nMik2cH6-3HiK3VcmuadCnx_4HawGPoklu7OvC7g13jKesIoYyy1Hm5VXz1sclPhBRTrKE3lxphrHiwMDKoEOwHoScFcesxmZEuJdcmpnm8FQ0dA==",
  "id": "rs_07c18b13c54e8830016aacb6b2744887d0b6a3cf05f9eb84c8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.17,\"left_z\":0.22},\"note\":\"The arm did not rise to the requested height. I’ll retract away from the container while raising, rather than continue pressing toward an untracked target.\"}",
  "call_id": "call_UIhylq40SUP8UfWALAC2HvJp",
  "id": "fc_07c18b13c54e8830016aacb6b2f71487d087e9e465f1cee8e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UIhylq40SUP8UfWALAC2HvJp",
  "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]: [-0.7399, 1.388, 1.1282, -0.5808, -0.5777, -0.5137, 0.9995, -0.02, 0.8024, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3405 left_y=-0.1754 left_z=0.2043 left_yaw=0.0066 left_pitch=-0.1137 left_roll=0.0298 left_gripper=0.9995 right_x=0.2952 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -7.2684, 8.9778, 1.3504, -0.4957, 0.0562, -0.0171, -0.0615, -1.4838, 7.0769, 1.7118, 0.0024, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82ca9cf47b7d3a1ff79517649e3707c3ccee9d09ca8ad297f70658ed47ad5767",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bdf649149d41350fc2a037aefb6d9336961a4031bc41ee3591239482bf7d759",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0279d9a2f1f359ed78bc829d13f7b38bb38249e0baf620b1e6f85b38c84f7579",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 82ca9cf47b7d
wire blob 7bdf649149d4
wire blob 0279d9a2f1f3
call 6 attempt 0 · /responses · status 200 · 4.309 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]: [-0.5213, 1.4734, 0.9039, -0.1631, -0.445, -0.3401, 0.9996, -0.02, 0.7994, 0.6086, -0.3847, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3898 left_y=-0.132 left_z=0.1398 left_yaw=0.0242 left_pitch=-0.0877 left_roll=0.0267 left_gripper=0.9996 right_x=0.2951 right_y=-0.0005 right_z=0.1796 right_yaw=-0.0053 right_pitch=-0.0118 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [-0.1709, -6.0376, 7.4735, 1.6044, -0.1636, 0.0806, -0.0171, -0.0342, -1.306, 7.0359, 1.7411, -0.0122, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLa-olWla5xWp7mV6KgfpJouxyY4lGr0etTA1xkpz5TDJnbF7aB26YBxuGM1Y3rksR-jwEE1afUGcEWEZhafaK32DTOJiHHt0HGQu6S4eYOYp4SSrvCs8svRy1YyIz3pHEMWfWb4-KhKK8hGWZAh65XArPsjGHTmDRTGEOEh4eJTNGl5YVAUXTtWk_YGjm4kGrg8FXjauDndJCWmC-cbHZk9RJNw3DL9-J1DYYMcHG7Lxg-KCMJbKDL03BXHuHYJjpoCYxbT09QhGDwTQYf31-Is2ozKoE_Zb5NzLQChkZBzh96n8GPRVHqpIbM-TpFA4yn58dayQstGnddNqXbITQIYbSGid4Ix-JR0wXHTFxg_oONiTqnlDL2S-7nJxjJQYAJI0pYEpPryOiEacMdi8ap4JqtktPk-pCpZbAVHbva0UslbXsjNXlG3nyMynEMr4uCzCvl-gHElyeNUTwMAfp1DlhGNn_gUPx_hD_EddAQoq6EMwUL83XspRvKKczuu6s7uCTXnWiz7_OdKf6qmcoMLBqFBPEncLEJ-ohUaTYwh1lypuyoh7apu1RUQY_mXZv9bn7imncOwkdkQ2eKJ6bca-vOO-S6uRAVvUwVyExQv7w-qzwfMdgXJtBIFC55y9KdUqxBlrmesaHZ5Uca_qfur8u1wDrZo3LTbCdUEvww_WPi29_-Vh8Wp5epoko-b7bjjky6A2-F6r7bGBSX40tYh-d7M4g_cMqh2Muajv0WZEJS83LbsLBlg_07x3GXnWFk0rctsbejIE3qZre9mDmmA2I8mMeBVP3rDBDFiAdXyRXoy70U_goHrDXsDe7kGbPKMWvNMhgGyIIxda7YdzejPfbIk83gGQyBSuMGsy9DEXQXZkKu4R5g1QsbvZNxbedM5zcCBaLlwJj6MP3BK8xEwT4YjErZEZXjnP32mNSS8psZo8mr59thkjFUL1DMnvdqx_vrIP3Pf-esnwpBVAkGBZiWBgLYq7sY1b3XWTboQpOAnPCxK8IryFK4EWd4U9rKTVML5wQFkNJq0zm2GML03JSETTGxON9mUhQ2YrulbT8bj-Fc0yoPqCWMHMXKnk7PXow-gvwO0rsPE9fDJLPslsBWmoThSQG3UBO4tkt1RfCoOe6-Ujnj1TMXOrLfEZKhadoBxRLzcW9JDRep-JMO3mwGzQGNkep9GbceJayFnZW5Ra9H3SOJ0FMo0sUY3H-Gxb50wwbgwzBxBynIfXzjdm-yOk_hc8tzTz90urAepvaYTuV96RYz7wiDvgP0vXXTYR4rM0elLZb9OqWzdkOdrHwrqABUZAeTpMQD8hPh7Q-n4YPxsZMFNxXsIW90QdrLqzJnkB1B50s0pV1WJ0xeyz6jIAl0uswdg9E7a_EoVd1RsOx5KZwBsvsTBJmxSSu0Vx3_2HgYI6Jqc6Usb2D7qDBR2M-gNhDcdUZMRaWIlRN4k1Pcd4VcfiE-omYbSf6wWnDrSJwnCrUAds-KcKeyUa4Ev_KZuxmHkjxWzrv9ZNTdcWza4D-SpDOidBo5f2kQHG4srefg086htndEdid1WsoMMNyWbJNl5oSa2OaJM06PSfBMPfqlRX2dMi63NXI-2e0IMkFX0DNm9jYls4oI1yo50CFpVUJ66x503zMSU03egxjKQ7TPjvR4lC-ulgRHZ_l0CTKwt2731ZqcM8g_dreE9Id9OzHTf3PjGLfjfrLLiOE337as2zWfadQJz7oJSswvmEvXTq_X93dJ8AtqEQ04gK1917TzulwQ7sgxplxsPjxxjqc-QV3aOm8DkT22WkvNDQ727s9vyCE-xA3vbo-3IprSyNnwzOqjsurAL8fubO3K3Hnx4F8kdmHARyuU9h6mkOo0vxQKsRyfTd0ckEn4sopcvgF5Yyr8-st8k5REzPtJRM-e7zCQFLBI_kSx7IVBPJOPys_yL3eflO_RGto_JAx3X7CF0jl2Y3trzxn9ikODnaSPlhJPz8hKetHZM4WkJD6nN8cykyy1fGxxruvLGrBlKRJb99byh5OTEpI0LgM1jN5l9wBykRvaKFJgSX2wM5Sc0FN8tuEp4zVHXBT1E0--hV4Glg7IRR-aSNSg=",
  "id": "rs_07c18b13c54e8830016aacb6b8439887d0aa8235fa9925c9a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.09,\"left_z\":0.27},\"note\":\"The retraction cleared the obstruction. I’ll now approach the left container’s narrow neck from above instead of trying to span its broad body.\"}",
  "call_id": "call_hktugFRwq5aMxQo9Lq7Uv4gO",
  "id": "fc_07c18b13c54e8830016aacb6bdac1887d0827471cb6d93f703",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hktugFRwq5aMxQo9Lq7Uv4gO",
  "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]: [-0.3389, 1.4673, 1.3956, -0.6956, -0.305, -0.2413, 0.9995, -0.02, 0.8051, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4085 left_y=-0.084 left_z=0.2514 left_yaw=0.0422 left_pitch=-0.1636 left_roll=0.0333 left_gripper=0.9995 right_x=0.2954 right_y=-0.0005 right_z=0.178 right_yaw=-0.0053 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -6.4342, 9.5248, 1.7363, -0.0122, 0.3492, -0.0122, -0.2393, -1.4017, 7.1453, 1.746, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2128ea92d780ae74ae19243d8d2581aeb7ed51224156ccda5264d1cd81dbbf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc2893980891e478a2ffb6bfb1f7207cd74b86fa162fb38d9bd72f6375cdcb0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a9f9e0418465b1ac35be1d54bfe3996a538623cc0f72c0b7fa158eb00a357f3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob fa2128ea92d7
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 3.141 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]: [-0.7399, 1.388, 1.1282, -0.5808, -0.5777, -0.5137, 0.9995, -0.02, 0.8024, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3405 left_y=-0.1754 left_z=0.2043 left_yaw=0.0066 left_pitch=-0.1137 left_roll=0.0298 left_gripper=0.9995 right_x=0.2952 right_y=-0.0005 right_z=0.1787 right_yaw=-0.0053 right_pitch=-0.0153 right_roll=-0.0014 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -7.2684, 8.9778, 1.3504, -0.4957, 0.0562, -0.0171, -0.0615, -1.4838, 7.0769, 1.7118, 0.0024, -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": "gAAAAABqrLbJ7ahe_ppDcOLkGw7dDaFOxV7MmPZXzP5E7m_u6cRytNyPU1O_cBwoRARJUQspTcIO79Jdl3MX_KOoceNIwsuBNDTyI9nNdoP7mLGWE78dS0FlPqULiNMQTsIFHqLASv9oqVVGUJPqXe7eATviAcKV-gurLhX7awq0vWT4wVZK4oAgRE09oJm5QDU3Gef2l_uz9IY1Sy_3-wYI7YP0vTVGMntx8zJGlubpBCQ0Iy9cLrtKOb1kVE3yO_Q4twD6Yyy3i6f6bGlkKCut8csfluMYuNuMtx7pR5OxdMgeH3cnZJZboY37YGpS0q8fdCWCoSxeT35naRVd9BJ3OoWWbEZe3D8glpfo2oVHt3pGu5IPnwbinr-u0W_NrezPLWEJg3KsuxOBBwxxZgTSqd2OVWXdLlQda3j87GFFV1hC51DmeUCpJGRPKdPTxQjUgUSLtawLwxeI1ynzwUrUSnJB1sZsqYVMr01--Jp9oJnb4f7tlAIfJ6px-m8zbFOqjyzknjIc-LgiQXC2N8CXmGpwAfZipMa5f0OiZ6FDTAX2p8N72RvBPmo3sqWNF8JigliLuFpGVaDrtg_ITtSZG8cCIqSPn1-bNGn8TpzzfbUrLuHGJ9HK3ZV9lJytToAqJISi9ezjyrvpdxEKek4t93obHOrPhMumBeJSD3ro2XvSeSWFExxzm4_5vmFKthX5-iEYs6StyR0IKBUtxRslrez8Me0RlJvkPo_8yucwecVtpQnngkU5NH7hhpiekreMOZuZ1ADEPnFJNjHFkCYHX6tf8ckjF6IeIn1obtX5bLe8zm1ALcEmTcfKp0T_OIh7Pu1sBYjFAuOsj4t8IrzfXJTU_fapCDAVin_fNKvwVLpXiKYTMOJHYc7YPphrXypDUiYP7jV7y8lsiXK0Wv7YhzIWC3Q5dbIKqKratiMjhYmM8EmrUg1Qgp5UVaTnHG9q2gLXTq4fCW2fjHHfKdEoKwtxll1JwqeY7fQNQS8jZJjRhaKd2JOduC8LWh91OTJY3Uv8g9CEa_HuIdLgaftJ0mDCZbRw2XaqeRnzdpybiyYtPlocsa-BVu-M44Hf-d4ky1opGYaQFdRt8I50vDHgC8rFLpSLx-z42-3zEtRHU9ngWbicIxZ9JFHNNQw73rLV9DQ1MRHOHfF7PUbpq0yWiMpTE-acq_a2C9cAGy0hKi-V6jcdakpzdcPzlQpjgX80EJ3GQwnBmjFcFyNhv6r-uP7fPxFNZH0GPnyhLKz6uHdO-u_eTqkQX8OUuKSyHKw-RR-MIay1i2uUp77-UBeXWzm6R-K13D6LjXRvjKeI3_eUxn-_fL_z4p3xPokyCCVD0Jh5mesZY1FsL58-dVVB_nDT3DcQ-wg8FvfWyBBRdELC5ibISThhCeZ9NtAxiqowmGn-saxpWN82wixokvXrDNEYvlCIJ1PHPhYqyxb5glA339-oFqAoxCM1gp9-AMNACpbVrx2q",
  "id": "rs_07c18b13c54e8830016aacb6c5ff4c87d088ef655bf2320e33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.44,\"left_y\":-0.09,\"left_z\":0.21},\"note\":\"The open neck is now centered in the wrist view. I’ll advance slightly and lower the jaws around the neck, keeping them outside the opening.\"}",
  "call_id": "call_6JoP3c4OYGZdkCBCnwB5RtAx",
  "id": "fc_07c18b13c54e8830016aacb6c7bfe887d087e1efbe977c7bae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6JoP3c4OYGZdkCBCnwB5RtAx",
  "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]: [-0.329, 1.5486, 1.3487, -0.5961, -0.3054, -0.2424, 0.9995, -0.02, 0.8074, 0.6086, -0.3851, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4282 left_y=-0.0863 left_z=0.2158 left_yaw=0.055 left_pitch=-0.19 left_roll=0.0436 left_gripper=0.9995 right_x=0.2955 right_y=-0.0005 right_z=0.1773 right_yaw=-0.0056 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -7.665, 6.6393, 1.5653, -0.0317, 0.1001, -0.0073, -0.0615, -1.0325, 7.0359, 1.7753, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45ce3f26402f0b1807195885d1436cf7db98884822a0ee0237c7e146dcbb310a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f471418121bd1b275607c2db69fb355bc871344f988595d108f4bbbc38267ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e349a031b095ae54199f84478493c338dc99b5caf7cfdc5085edf263d7c41ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.093 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]: [-0.3389, 1.4673, 1.3956, -0.6956, -0.305, -0.2413, 0.9995, -0.02, 0.8051, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4085 left_y=-0.084 left_z=0.2514 left_yaw=0.0422 left_pitch=-0.1636 left_roll=0.0333 left_gripper=0.9995 right_x=0.2954 right_y=-0.0005 right_z=0.178 right_yaw=-0.0053 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.5538, -6.4342, 9.5248, 1.7363, -0.0122, 0.3492, -0.0122, -0.2393, -1.4017, 7.1453, 1.746, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbMOVgEMXxxhzMpI5ldfMPooYK8iaOSIkqKwql1ZWFtEAya0dWag-6D0090xey6QGAq9RftF0Nwo2pTo08qhnOrxHdX9SJumRQqrrULIG_00ojShG_StRkDDcGYaigj04qeN3ci_Hu0_5aaiP5ETwF1MeLZixyp0Lr7WBVPCRpf13Fb9pm1Azrj4DM4h5Gl9w4dKyo7wXgMegJgmDM0onmzUxYrmB6epf0X8svCzdEoIWupP0d_oiMR6y1PNBU4T1R-RBrvPOpnSse2pcXpDWCjRHSfheYFWRfNtNKysaggMbOiODdd6l_51dEq7ZL7MnBWdCGmKWZDbE9BfTznaYGzevgz-cfYoT7cXJjG-qgv5hcQGTl6Yc5vkn7JsybKSZJI-BHZ0uF25Xp-2c3upWemLUky7rMuQECp40-h_jmvydHDPJG15xAgbRuzToJRMV_Pv8OtnrLB4kfrc9Ldi1HEANZVi2Rcok4UyFfyPowceNxXev8joW7NDrwJBVXwL4fX_kHM0dIqTuWa3Ap5Mkj60rnVc3tSiwXxVlcwMysxAgGCBMUqBus9bgmbq-j68inhhMI4lAYdW7w-5TeFKKBiFlrl5GpuYCI94aN686jiGt7QJ4xizMwcBeW6K88Uz9stWA5qMRmBGJO_5ESxROsuIqCyDbOvum2hC7BxUfNvCwDNYaSk1FRCZDDL-nrsgl0eEwJ-Ohrp-pZI_Zqhd8iDuq_KLAMAyvF2v7IgpB_P69p2_3hEz0-ErCIjzH7sBwOvGJaCy7_nDjqUtIQMYyI-R2Bx6eN5gvUYTMXQ-BCLSTaSHx5SHyhG3u4ACkKMS735Y_SS7k0JD1Yq-jeDlfZlLh-3JB0vT7YRXJzCLD3iUB0prwFCf6HgQfHPZ2MLc8oFFb5TTCt9I-esr3xC-UIGvmAazZroeLrcrmPn1eaSd6mWQypu0G6P36NsPeA5U2rlYm7K0QUzJNcASw8bDVGNjwJ1_59MyQ1t7b_LYM6_mVQbCAa-lOKs45k1nGwtLYtRb8PQhST9GCKs8I_YtMHXeDRaIa4ZJXpY7-VNErRKsSA-jlHy8inkrVq9yFD1M3tz8XBesPmeM1CqtKOLGx54rPxsZQwRMOw-Obh3X--xBzdnQkJgrOvOObn1nwrvZRqrGrsh71mpvUANiLIvW1h_HJxdR5vP12bBa5dM8tQaUV49y9lKs4jXZpeasT7WMZ0Z7EDcdINCSBby8GsEvImYqfmgMkKHODnGnN-G7lRYrk0=",
  "id": "rs_07c18b13c54e8830016aacb6ca888c87d0b5a24e86ddbd5ab2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.455,\"left_y\":-0.085,\"left_z\":0.175},\"note\":\"The neck remains centered but is still ahead of the fingertips. I’ll take one more short forward-and-down step to bring the jaws to the neck’s sides.\"}",
  "call_id": "call_YCamc2cUmOSwltjwmWtWzMN2",
  "id": "fc_07c18b13c54e8830016aacb6cb341887d0af2be8c508f7c0f1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YCamc2cUmOSwltjwmWtWzMN2",
  "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]: [-0.3206, 1.5974, 1.3254, -0.5568, -0.3058, -0.2436, 0.9995, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4358 left_y=-0.0849 left_z=0.1922 left_yaw=0.0669 left_pitch=-0.2202 left_roll=0.0556 left_gripper=0.9995 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -9.2376, 6.7487, 1.6435, -0.1197, 0.0171, -0.0122, -0.0889, -1.306, 7.0496, 1.7411, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aaf7c0778ba3ad9cc04d44eabfa05cf95fee6250495207c9fd23c1dcde813d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cd16c356276bb80f0c31c8fd2090ccb38ef4e6a6115f320ffc1f2ae7d3271af",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7fe22697f47ed305bbb7d8666596e8a1a4b8d0c388cd06c7df05c39da70b312",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.463 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]: [-0.329, 1.5486, 1.3487, -0.5961, -0.3054, -0.2424, 0.9995, -0.02, 0.8074, 0.6086, -0.3851, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4282 left_y=-0.0863 left_z=0.2158 left_yaw=0.055 left_pitch=-0.19 left_roll=0.0436 left_gripper=0.9995 right_x=0.2955 right_y=-0.0005 right_z=0.1773 right_yaw=-0.0056 right_pitch=-0.0202 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [0.4581, -7.665, 6.6393, 1.5653, -0.0317, 0.1001, -0.0073, -0.0615, -1.0325, 7.0359, 1.7753, -0.0415, -0.0171, -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": "gAAAAABqrLbR4NMy0nQd5BLR-jbNDi6q14RzS0Y7IphA5UVMH-cxKWsM5V3FLvb88h-ZtjdRkCWQByYODfsX5fnge_X5MKAHmN6RPzwv2IHRKmhEw8DzBditocW4ymumMizHBxDccE3UUMn6oQFX-Xh_5JBJoMr2iqGG6o5P0k_8TWTxLjHnon-Gjrj7Z_5n0bpNErfzq94Zi8OGk1fnmdRS9GFHzwgzhEFQBpkMHFFYVF36A9MgoOL5rpUr3Kn10a_YduRa9e9CSf60N1TmlBO8eZJfe3PzublxFX-YyPSS9u_AqG8Fyk8zfEqVxEC_YhYM51jwyxHwSQ_VkX5yt5lH7BdsqNHITWp7-vCt6t0P50nCL-PFXMaTLvHBojnCWhkdn0X4pbF00sxeMcvw5qav9_1R3XRKpL20dgh-csGw1Ixu84mCEd5wZsWTB3eYUKTNi0mW1GSx3hmKsuVRh24Bh7S4Ad1NxlpHPfT47RR3IsbkUT2Iuh_-sdhRNWT9wQR-WOfqZWGMnirCeUlia19c9lwjymzsQaMzKnKxHftuUJ9FwGMlwA_Msc57SKTTp3WcvIYwS_YderuWA_Cz_2PH4GLyS9nhrCC663U30Tqa7xCS5PajKVmxsidNj_XuTmBUTwpFBg7nJumxh2qonMwOu-tGU27pRdpOFYUYgP5mI-IgVhvLJZFPU92Y_iWKorw1ORydfQaFuBSv32tkZv8bN4rn63MaLmh24uDo-2kSYfAy8j0eDi2DVLzz_CRMKr-x2K-jX2jKi5dPrIRxMQup8ksMzLkl6KTyuth9Hu7V6RUX1Uc-OezY_aEDnZI6Ig9M2lZATwSP0cPM2rCZwGmTQkuNZPSqxhOWIwqURFBbdq8tX3ohvROijTSOBGT10yUCboD7CmVHlT8BxuuR0yBi6MLM8fxFt9HCzhJi0QdMZDIjeBuF_fuwJubwV9gmrd047pkRLRmuwGy_Mvwb8Aq2O_8pPRp46O4skcNfi6kq-cYq3BHF0svSYB_HshGAiXKL6ngaWzoRY8AInFqqr5Jwaz2RnbE_JqF16JwOJ8ncrsYDhRCUdPaJwEZClYMha-yZvPraqO3B7WdddgFe3yR2NgB4rF8RaLlMWMSq4uorh5r7Ywuv-QAqwGJUa02PDpVs1m9CnfQ3S0JZOWlxwgNAyAY2cfhhCTfaBkF7H2vNfITd2cHcd3SX14L_Wie_wia_xIWezZHswv0uz2wpzhXmmDg1vl5hcIXn6HJudV98FFYgZ8dP4_dYKU9-t8jh9VmPJyM7KQY50s9ZqviMohzYkbtQPCU8cSMG74cbzeHSnXEcSkAW860=",
  "id": "rs_07c18b13c54e8830016aacb6cf7cb087d086adeb3cdc12f7ce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now flank the neck, and the descent has slowed near the container. I’ll close the gripper, then check the opening and test a small lift before transporting it.\"}",
  "call_id": "call_MEqfjhjfQ7t6N8zpMmyd7Fkp",
  "id": "fc_07c18b13c54e8830016aacb6d0d6bc87d0b44494ecdbe715b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MEqfjhjfQ7t6N8zpMmyd7Fkp",
  "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]: [-0.3199, 1.5959, 1.3251, -0.5526, -0.3061, -0.2508, 0.58, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4364 left_y=-0.0847 left_z=0.1934 left_yaw=0.0714 left_pitch=-0.2149 left_roll=0.0485 left_gripper=0.58 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -7.4735, 7.0222, 1.3944, -0.1441, 0.0562, 0.779, -0.1846, -1.306, 7.5009, 1.7216, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39382289ff667936915a89288c78bf9622be149ae23fee8e94eec911fedbc4a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25beb08bac2c8ca820b9e7f631a9d69cef55ac87f928780cc307f26f5113162d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fab1ec2d8baa8f542c2f992af35de340b8bdf31d1d38eceb94bf343f773bb34",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.782 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]: [-0.3206, 1.5974, 1.3254, -0.5568, -0.3058, -0.2436, 0.9995, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4358 left_y=-0.0849 left_z=0.1922 left_yaw=0.0669 left_pitch=-0.2202 left_roll=0.0556 left_gripper=0.9995 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [0.1026, -9.2376, 6.7487, 1.6435, -0.1197, 0.0171, -0.0122, -0.0889, -1.306, 7.0496, 1.7411, -0.0269, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.085,\"left_z\":0.265},\"note\":\"The gripper stopped at roughly 5.5 cm, consistent with holding the neck. I’ll lift a few centimeters and check that the container rises with it.\"}",
  "call_id": "call_2HYC8ePpVl45Sq00I6rw1Fn6",
  "id": "fc_07c18b13c54e8830016aacb6d3f3d487d0816ac0dd6ea97a36",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2HYC8ePpVl45Sq00I6rw1Fn6",
  "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]: [-0.3374, 1.589, 1.5085, -0.8082, -0.3115, -0.2844, 0.549, -0.02, 0.8097, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4193 left_y=-0.0859 left_z=0.2313 left_yaw=0.0831 left_pitch=-0.2722 left_roll=0.0549 left_gripper=0.549 right_x=0.2957 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0056 right_pitch=-0.0221 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -10.3453, 9.6889, 1.6288, -0.2466, 0.2125, 1.033, -0.0889, -1.4154, 7.0632, 1.7314, -0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8f58e22c05bffb970d7725397aafdf17b5055c05324bd1a0c3d9db59346eca7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f25feeb119891b572b68d0b8e139dd23c5172130a7262871dc6233c9c7c65fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c8c7ee6f84de455699d6eca02f971f5a3346407a889460a54502d0ca717c4d5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 16.64 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]: [-0.3199, 1.5959, 1.3251, -0.5526, -0.3061, -0.2508, 0.58, -0.02, 0.8082, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4364 left_y=-0.0847 left_z=0.1934 left_yaw=0.0714 left_pitch=-0.2149 left_roll=0.0485 left_gripper=0.58 right_x=0.2956 right_y=-0.0005 right_z=0.1771 right_yaw=-0.0053 right_pitch=-0.021 right_roll=-0.0013 right_gripper=0.9995\nstate[joint_eff]: [-0.1846, -7.4735, 7.0222, 1.3944, -0.1441, 0.0562, 0.779, -0.1846, -1.306, 7.5009, 1.7216, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbZcF0VlRZpUvjjD9zZ0Pt0DK3d8QwmWhi8axd_aVBbI7F_zbWTOB95J_lf0-SHat5b44iA-a540OyubNjyXwQA-2fS0_oRAbfiFbVI5TyxOUb_Uie56ttXf_RpqYP9ZePRF1pfxf0YKPi2fCbyvbkpMN3kk0yR8T95cUPley5eNL3NYIy5e5-4WLIvxADckTz_f_7dbIQ_0TTsqfq9gP8IPY5yBvg9qxsBQduVJVlmF_wKVlnAzwyoq_PUmSPGALDaub-fi2Dhz4v8utnNTJOcMYa7dLyjISfWXamvdirSa_M-HnzYerF5uLBRxzeNm47lU_aRk1mx-2UJDDHVO5pOmYagiMzbSWbzs01KiLHQCNyE9wjEo93zq_As6zyjZ7ROhDx0T6L8DlX0aB1VMaaWzGxBlLPUvOPvsx0lVAsJv2KRuQH8NKoC5dNwL5EkUs_Io_x_rX_2ueP7Av9C8FZ3Km5YF68s8pgFmlasq-agP48bZkjw3109js8TXp1kLNztB-4pgD8N4VE3hGjj7896vNm4YQKDLx1NUWxZ01X5qM0y4mIYWtyl6pnWEJVEe7xfS71KHugmyj5ts8QApz4X4r-G948YJeblPtFUFXkD9ITVET3xPM48dbHPrn-Dm-rqzVty_xFNpf824mjq2XKEt8jrznDtphmtO2UGu5nGlwnRlG_kQQBEv_778ZbXzv_kk8_3Z7bJiTUdtD1e9hlIZ3aVTOuRa6jgLY_hn1y9KGHVgkoj3eLMA1Ju1Lt_igQ5xCX6INMhnXs9lzw_EaNXs71Ta_SCoAlRo-Y-4dfky2tdZZwoUTaH6fpdNur6aKvgDIpgygLTnb6qES8QYYkpknR6d_4SsA6DecpdSWslhG3ZGfbc2w3pXpWwV1hIuoZrhvG6Xfj0SdPoL1MVI5EVQJi-DusQ1emQySrQiwLFTxJUsyBFFXKT9C4Rl4EzeA9eattvxWie8onE_tpvO4_8nvNa1dQ6flJCHlYNwmmy05-NAxsw9bZ3-GPa9Fhxw0oOWZV-TEWe-ikkyfPyjjwWPHC3E6f46NnBdLgrMlZC9iZKg3mjPeAMKu2n4v10dTZV8SjFfikU2UEF0oW3OHKBNPRjnbTsBrRVjJxoGgCTFnkclNA20VT3HojRk1yW-1V6YcTh0IKr-Asx3guMxKULKuFN7DOTMJax2epRR6R5ENoaLUyIHHne4GFBe2SEE2kNTBeN7NKse0mR_3D45hKjUiaBezl0qz6DBKWCOWhhpZrWl0RlB8RsUdTc3aP95m4sen5IFatNAN9ZOuOVitEhzpu91q1kccoVoLwx9FkexyQ=",
  "id": "rs_07c18b13c54e8830016aacb6d712e487d0a100bf4af607d029",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.095,\"left_z\":0.33},\"note\":\"The neck remains firmly held during the initial lift. I’ll raise the container farther and slightly shorten the reach so its base clears the table before moving toward the red cup.\"}",
  "call_id": "call_fiUTQ0hIGQZOAQa822g162by",
  "id": "fc_07c18b13c54e8830016aacb6d7fe4087d08e3a632f4b18504e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fiUTQ0hIGQZOAQa822g162by",
  "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]: [-0.4, 1.6276, 1.9244, -1.2129, -0.329, -0.3527, 0.5486, -0.02, 0.8097, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3886 left_y=-0.0984 left_z=0.3165 left_yaw=0.0761 left_pitch=-0.289 left_roll=0.0328 left_gripper=0.5486 right_x=0.2957 right_y=-0.0005 right_z=0.1767 right_yaw=-0.0053 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -6.653, 7.8017, 1.4725, -0.3297, 0.1343, 0.6716, -0.0615, -1.3333, 7.3504, 1.7167, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46a1c2468e4a6495dc802ac4768fef291831837ac61d22462725ff7821386961",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee711279740bc6359ccc2aaf3ed8f4de727ca673f6d8d244c69d54a55c65797a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e990d0e5017ddede1a9b8f2f27502e1d9911c5f9fbd4a2b6f16b5d1f05282ed",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 9.359 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3374, 1.589, 1.5085, -0.8082, -0.3115, -0.2844, 0.549, -0.02, 0.8097, 0.6086, -0.3847, -0.0101, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4193 left_y=-0.0859 left_z=0.2313 left_yaw=0.0831 left_pitch=-0.2722 left_roll=0.0549 left_gripper=0.549 right_x=0.2957 right_y=-0.0005 right_z=0.1768 right_yaw=-0.0056 right_pitch=-0.0221 right_roll=-0.0015 right_gripper=0.9995\nstate[joint_eff]: [-0.6632, -10.3453, 9.6889, 1.6288, -0.2466, 0.2125, 1.033, -0.0889, -1.4154, 7.0632, 1.7314, -0.0122, -0.0708, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLbqN7_9cTJdaEiUv_LaMYFvkYoMqn5onZQ5MZVlpQnewBj7vspO4Nk5SMrAbY1EyhpZ0L2GqDLoGJ5Arwr2SZmLEcKMmUCxF_3t21J1eZDpl2tmt-7YWfC7oicL3RmuP4pCMzBIUjBgngEuVlKUIbatQv1GX2nwHQl0WYz0Bq-O-ZA1M1iZOew-gwDvSinlLY0uhg7p42n5iL3Wsy26eyoFOrBAdtt4zxs8izA1_OMYkvLfsJJs3xPvaZIKa5h-eWepWchccXuneBV7BhGQBLcJYoioj8V-7ntzc6OjuKL9jlK2IJpTaBZ3OIsh2aqx-Rociv_bHu8uAv231r7knRlc-Luxq3VBSfbdvgHS7uRN1Igk79gEDGq5jGBCffz1iT4PadhZ0PYA9C6LRleQ9-EbNFbkkSim1SgMq1Y9uacWqyQ4BxN5c6LubDayDRI7_4gPkytUu_VNraLG9OcG64EiWXQcrff82FqIJdL60Umx-_MUbCNpPmJWL89q4RRN_h-cH8EVeRBS_oyerfDnStr1JPmd2XpcGC-4m1ZeC4o7Nx0uLs63wY9C7AtBwvWDNaAGwTtYZTdtix5kH7BIff7i809CcDMmhibvMZbjJfQb3WMiL9T585MIkvz6KxlFyTCJfrq3y9ZcSlbub5MarVVgYQriZtAg6nbwWkfrFy2oyCEUCgymvSrqtZtzKncPGcZrQP4zqTgFIeIrE4Ew7lF0DHvdrF7zz0HmqUSuoeQ1m97732PHmCGPZTc3aWNLNUncMnoPCn0fIQSrFDyMhIWVCnYx7D1JlsUxt90pA2Jy49Pgbzcy3gi79n_IeSB2kjbJHDZoMabHRDI-5QGdSs6LJwnkPv0ip0WFlV7D4pgCcu_tthbBaaHwsIKBqd6xBQt417iuP_02H6TRdjkSixWvSjAIwMIhmXRJgNVFG3oGYLjWIPgL6XoU6dCs-uzXPioKrIeW-8iqAdLYNt80JJS7OjcddCCn8tQmPhzYmkxeVD6nF5E9ZwWoASv4DCRt_2wG8FrL4aZCw0MhAqvXSICfrpkJwuzrVpziUOrggalZdMriDFlXP3s3naWa1sNgVdQKFQ6q29jJeYlKp1Y8GIQBuEE1kYJuN-zppg8mCpxZom5YoVQ8iE2SqBvgTjRothoWqfl4kXN2I7FSLtnpqNyL1FfnwZVNGAd-R0urNz6UOerbb8w_IBRWSpE2QArwMGVUw0lWo01mdBqU6XTCKtoopY7ZmI3gQkFGE6ZaHJjlt6VgictddIRVtLjKYEhW_IXsx8OgNNPNyYL3nUubV0htpOVrtxcu2SogTjQwPjZ0u8QDM8he1pFlIw-XZgweqqpJqRd3oTjfF8XXZk-5aOdFvCYXx2hv61GaOSquuFbLBMUbvbLjNYF9wdQIIRBYWPrDHhFqzOd1Lp2kiGXeocSmaqroqdHbxxhwCxcejxjYPcYdMap-31RX6oGsVGUjRjsYXHXMgy8hvbqaAkaxmGYmi_50M-OvLkijSe3zODTwRFcL2l-eSjmgauUyt1HdfwdqSUMZelv2QT1mNU26Uqz2_DhQXY8WpB5sFRdK9qfM27ycXqD_29p4jAfEUdXbRR6T9H_VDjMnj5OzrF7nORe44HUtGLpSYtqpPXPMWYt3E22TANqXatL_hAh08fJQk9ypGiLfu3gAF1j1cuUtganzBFy6Rv8HwdUOhcoRBi8bR4JxKZLIZy0zNXkw06u5A1P4yyKAA-n6vmTuSxeXF93nInyWIwPh1DdfPFnBfEbwNpaPUuPEAe3iIzrYJ0L-4MPYxrZyZVQf_ct8D6_dJSBbgthnn6d2QxuI3pBfXL7qwSqLnEa68ZRsHWrYgg89nKJTSNpXcsWUHSW-FFDd0KBQYN_A3pG3KF0zL7YnYhLXd8dXx25FDkC4towibt4smThsEKH1pKwE8-C5BtKHwd6n5Yh3phsUEtObm4v85iUbMh1bHY5OQ6yUB90OADAkey9CLABKaKxxoJ8lI-3M1qwZMvkHmzrGcu0DkGZn25XhkIgBfLXMVbQFzjEYLBDJAvUTQSg8y3GGZUBGKAwLyq_axF1SrxMPdpbj90xqwHvKndnhbr3QY27CscwtYGfacLU_XIbXk4puJagGX3wIs1vU6OUP8BFUiFbOIxfcBedTLBtqQinXi7fH_R69IiBMyTBFEEA-7MjAAJpwUXYNuLuX7iMIO0OiHiL5fZj7Se6A47E1hw80i3hNMNxSD4b4wx58WYcZd0Xj0ymsGEIlk7KJp7UtGrPX_zxRaYGXsNABPKkoOUVWveUd7tcC1s6HkuIkVxKX6oSb7mdaao_3Xgtqvyymjp3FseSqpNME1N3l7mv1-iC8mJ75U2hDMX1gZAu2Ri8omCmmSUBnPVo-OmjqjaUUR1n1ql881BqXJcrtOHl22WqqL89DDMwWK2kBlyQ2U26sPfzbNhqlDvQ7uSlOjkq9Bb_92qgSL_Yy0eG3Wsv-tDHwoi4uZVHaoR6-B4cak90Xitt2PLUL9GcAG67XxYTU3MAdgJrdRAQYUKur3vqV83Sq4FBsBKRFS4nOw1jiQrfLo9yL7FMHQ0mYu6Y5-eSl2pN9vEXpNWStuq5UUx04FSWKxDBfCKjqFMJOXFj5jSh200Lt88xGkepNuOtLnHCVjq9Lvlkk0jBYix1DG5pv0o8Qmv08OHU4cjEARuL5SghCI3pt4Dn0jF7NNDjC9C6T9qDdk1T4Dy3sHc6vLMB53IvKbNHNh5V-mT9eYTqSGYPFUPKBvGnxiUOPEDYqTtJsRP8l5lYnvlcyO---iBq55t2mWFH_p_SronGRhhdJpdtgnSr2ZnAodUw5F3-eIeK-I9tsuXOHY75M23aIcSj-wDifhGh_lg-kAYOgix75HyHY_nckis2vyJYpID8eVKLhxCNPQLDmSm9Q-H2nw27RPoD0zK5vZQ9Dd8ae5BPA84ihLgk3Ol1lYKY3Wkpd84DF6lsYCfvVXh7TzS4IUqE0s_M6lNzo-sP8TnqVpvPat2PPxI_go8EIIa7ZleZWdnd0eCLqz4VvJJGwPD11GbwIHT7ce9Xh3T4x73YbuIWMql09t5wPIIapIVxuq7vA0qejVSBxWf6eS1CNHOg0IEJZRusBqBiQWaDGpDVS1pSFveJtZzk6ZIzXLI6j2E0zPFgtgmoooEmzMA0p3BZC0Yg041BtVBJdqlS5TCjFQvPgzWSKDb8vgo-SO7aymlu-T-1m7Hf_4DTYpNCJYxdvnlTcChZ4roOTdUK4XK1A8LN3zIvNm_Odm4D2Xh7C54AeLA1ZBzL0h1a0Dudt1ho47PC-l05qFVMNsZh2GYG4BueEXbCfybyDbaAmd8_4Kfz6N0-yW5hzcttzPn3jTUsxty42d23x_JXgNf8reH6r3LHcJ38cT8H9VYgAsjV1A24YIITkrKidwvM0_TWFMBxMoxCx9G6ojcaCvaZDGfkj5qNrWMEfMdI9cGshSMGd6nNV4DrEW8B4OGmyyJ9jTsWpyZw=",
  "id": "rs_07c18b13c54e8830016aacb6dd923887d0b007062844398f6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.52,\"left_y\":-0.175,\"left_z\":0.33,\"left_pitch\":0.15},\"note\":\"The left container is visibly lifted clear of the table. I’ll carry its neck toward the red cup while keeping it upright; the blue cup is not the target.\"}",
  "call_id": "call_RwUdGxVPls8jXlSFYoGgRwsj",
  "id": "fc_07c18b13c54e8830016aacb6e91ab487d08f7df89137e2d5db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RwUdGxVPls8jXlSFYoGgRwsj",
  "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]: [-0.4946, 1.8709, 1.8992, -0.6342, -0.5282, -0.2905, 0.5513, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.5055 left_y=-0.1674 left_z=0.3044 left_yaw=0.0893 left_pitch=0.0456 left_roll=0.044 left_gripper=0.5513 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -9.2239, 9.1692, 2.0537, -0.2369, 0.3541, 0.2711, -0.1299, -1.306, 7.0359, 1.7216, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f11318cfed8520e1174935700d810b1cf3cf7c79450e93c60404c6ba6c37bc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2841f16cd6747f08fc2e7ca69cb54f74e5bdb3db051d571b6abb65c6bb539729",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca1ba36ddccda9ed4717b314ba42842e778b7b3fc66612148a313b62958d0f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 14.45 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]: [-0.4, 1.6276, 1.9244, -1.2129, -0.329, -0.3527, 0.5486, -0.02, 0.8097, 0.6086, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3886 left_y=-0.0984 left_z=0.3165 left_yaw=0.0761 left_pitch=-0.289 left_roll=0.0328 left_gripper=0.5486 right_x=0.2957 right_y=-0.0005 right_z=0.1767 right_yaw=-0.0053 right_pitch=-0.0225 right_roll=-0.0012 right_gripper=0.9995\nstate[joint_eff]: [-0.3897, -6.653, 7.8017, 1.4725, -0.3297, 0.1343, 0.6716, -0.0615, -1.3333, 7.3504, 1.7167, -0.022, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLb13o64Dlty7NhEMbL2lmYGM70Hkli6AlUHdXiulj-b539x14CUm20Zrmkgk7FoQIg9cceEXFCY3gS7UucxFubnXpi-YANQAOz0kuGHpBJDPfpe2Xr9XDcFvIAdG7fnsGREjlSGR4B4d3_Ca80hJqt3wilRjiDhNrE6ujBXZJNrqb2PEJDqrB2HrPLt7_09bumG8QMOMJCnaagQdrTqtcUO2xvuodeWYLa9XqqlJ1kvliFvGnQXqDezP7NaG2IXsC2TIldIxmVVa0xAELoXjpuIlXyNSXSVZ6lJxoQPEIR8EajLQGFzjx9P-rwOROFN4V7Qxf8NPpiyuo6-B6hfSz2dzQ8eiavbcI2ofm34lGr4slGp47TnwEci5RUIeEleuTNw4J4itHfIDywHdZyV1oBHEwjM7Ri3Q9wn1gPfASIiePxSvav7wsPperWG-ziwK5aFf0KQJIjirqCZqTDp7LkXLhPUK5NpHPb5eNGSAgFXXSQDDJBJ89_eOmDHOds3spIKjIhLRw4uVBj5EdjEsKttHYqSSupu6B2QHtCgG4FStQvqOBBaIII-dx5WOtBpUm09tFdTlPMWaPpBaQ_3QXIt-ul0oO6JC5QNnCDYArB_a0yhPjSX2Vw2X6mlBxJ7U56NVVpenN_YyQJLgfuR-AplUp9v9c0fSkx90tY2WjcTt6I4hkjS_nvaWmQqzLY22f1IA2mA24150cMNUbQPD8pDkvKIxOFx3AKEtXlst4OaTlXeFogc5C6hLr7Sufhzw7HXzBJGt3seXPZNQ4qIpcd7alMat2LrZtCz7nPqNitTZDyYi5Pbx30aHD4oM7e4WGScjnRujjsyKya0AWDFN9PiuokB8yMU_R8Qd9jwFlwT94qQysRO7_DYAaU2sv82a_hr4cmRlUSpmkGmbnP7sV8SHARL47Ap9rhrwY1vVCyg9lZp8tklzZ5EWE5R0Lr1QaIhKYh1Iw-SCF_cYAUIww5VdvBVT73JyPfzo-taPjoZY1mFjj2rw7wkGG49EWO1z-aq37x0oi0FPWXtCLob3FAbvn9zPSvzyJs2pDAEYprIBlCEiWLzNXwQ42vBVA90Mbnd-0QxvdenxilGMNFiplMvw-jQ7kZAEe2SvU9mazXQhLoHPiV17qSZp_mw6pgBB3cIGdY9n0PVX6NPmOX03OJtqicxRz5Qrr442HwD7av4uBt4k1h_ML-DQ7cUUXP48EBXydxvag9AKP-fCQMBb3Fv_gMT_BdBP3k7vF79zFXUshSyHvhhgM3H5LjDcFsKmY7VrV4iW5xc5XFuYeW7T3yOg75iedYWzVz6DP9SzPSl_23ib-y2phNtIfoSh1jPBkTxHyAfQC4-9ExZeMOZCX04o8wojIw1Oq4nPV5dhRTX1Gp8HygIHhMZu6pP41Cr6okqGbx3oOCfkn_GXLIUpSaDMeZVhdfTQNhlnlSzMxPwWjmE6q1kwpb9VVguLMOlMShRDJft51YSkwAL0vBlqwgKtuJaEQcUS0hz0499exoZmE4uz0Rkd-4Ykpf5zTWaa6nhKG9GE8hzTtM6PV7JD_jZQpzoFH3hpFlmMi33mLekFq6Ju14idgExgVl_5gMDnwW0ZDcjIECqKhjFnELB9UeFNguzRlVR1o7rJVI2JUZELa0yOC2X6NyqAq6Og2_i8oyNW4hhRjwBcmy8aBZmA_jHMktupIgZfQaIh8JSsoStQt4zAR4s5WTbpUFAxHR3IN3ewlnxhzr5BYlndEql4S8p9wjFX_kmYFqTRSwAheeHu-5RAXk4o-hvhZEjevdjyHZNxAAJW5Bi6vtAuHFsoyqC54yEInJBkVuuVClGs1BNuktYozwGYzIYtRPCABbL2PAQ7ku58Z71aRU3ibqKsz2j-IlWHzCKLChon_AeB9Lv8H3l7pOassAFQGFdwOoh4Xizly-5frK5V_YsOxjpuzD5ctimdYY3CDT5pb97YIX8oMOKLvuKPLPDusfQvgDXkeJ3EsGbwBm6W1uqAYm8ap1nhlfIi8Z5HKoalRT4mQfdtDQxM4zzpMdzUYbJyNIgENJ8nG7klD_PHJHKS-vm5d_T1dq9EGpobT1iFgK0RerQEAiaJ1awQPTdONTrJAMPMxJ5s4MTcnMvWN_-3qhBR8GYjO-dfmZ9E_EsUeYr8xGWuu-GBqse1GnIJc8Fs9eeTh3Uvr_tvkVLKvxolQy69n10RreD9T74802dGSe84idhfrai5ImjOZYKs3K79IoWj36W",
  "id": "rs_07c18b13c54e8830016aacb6ed36b087d0bb6cdbb47df3ddaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.16,\"left_z\":0.29,\"left_roll\":0.8,\"left_pitch\":0.1},\"note\":\"The red cup is centered just beyond the held container in the wrist view. I’ll bring the mouth farther over it and begin a controlled sideways tilt.\"}",
  "call_id": "call_l1RRCfxxd0yOEuEusLjlGObn",
  "id": "fc_07c18b13c54e8830016aacb6f3b98887d0b8a6d8dd2fea96c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1RRCfxxd0yOEuEusLjlGObn",
  "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]: [-0.5289, 2.1796, 2.0815, -0.5652, -0.9188, 0.252, 0.5544, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.5565 left_y=-0.1585 left_z=0.2553 left_yaw=0.0989 left_pitch=0.0185 left_roll=0.7391 left_gripper=0.5544 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -12.4923, 11.3573, 1.8779, -0.4274, 0.442, 0.3199, -0.0752, -1.3197, 7.0632, 1.746, -0.0317, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f78a79aad56ec63bce8409e1f720c6c8434335cea4bd2f3d06f0f3474a1e483",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac8d0fc9624d8bab66de80076cf5325010eee5fb5a3230419d96fec553cfcc72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afb2eb6be8edc053019cb7c3dc099840fd7a7ce8ea277b44b63a40d4acd13f3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 3.529 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4946, 1.8709, 1.8992, -0.6342, -0.5282, -0.2905, 0.5513, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.5055 left_y=-0.1674 left_z=0.3044 left_yaw=0.0893 left_pitch=0.0456 left_roll=0.044 left_gripper=0.5513 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.5949, -9.2239, 9.1692, 2.0537, -0.2369, 0.3541, 0.2711, -0.1299, -1.306, 7.0359, 1.7216, -0.0073, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrLcE23im27h_ursgSw_llvfoQqYJtsFchbXOk6nN3TH0tu6TvqER27i_KIh4B-ScBQ-S3N0J5JIGTIAGeAO_b9MmQ7RsN30GB6j4H66swAmnMm_2_QLla9F0UnMkKd7_7LIFl310eQbq56bZUJ9ryN0RU96eJ6B8GDMm5JVMAM_IKibN9dfgiBd6JLGPehXDXtQwEUN4N7tT2fU7PrJU71-eOsuM6JvbgioCtOY1tFcAwTv0JC6SxcJz6fWA35SicbNFX1Psh817qOtY9fpSbPHLoX9qthHjaXSwjgOKojD-slcVmOvy4d2_RfYhpBpjCo6WJNerf4Cin-sZWD1vbJ4sChgYT9dy3xwV47VwJBj4PjXZ5woXyO5biMwrHA6edDTqHvVqyOAsRXzfq4gjgCwyUvQGoURNBKgUgGOR0Q8VUUiW9uZlnY8i14Dbgk_G_uowImLtX52vokptVpzn2bOXA-Olj7nt4iczocT2EuYje77nf0USH3Su3IYIBpb4hq0xNP_cfgT0RP2knF4hSb7E8sdCuJ13tIzL42kRvuOM8Ropmiy9PCfvSvIvavRt6nocZKsNjAnCWUeAUGDJyLXo0i3QP8BbGSdHb-CPw-z5WS_PA0Z8U5c9cGekoaStgrlYoftkzWzMBiprA_q66aDRUzylrpXhh-kymG4o-YTLvh0WXH8hnRjzz_mILBxx9G_xAIBsoXV_kvWeZT_i6IfnaXhNKVxscJ6lOO4LcnpT6Wx4Md0slUeqEbiDYhT7PTFUaLakI1XI967gUDgV9VPh2YIWvdSfcK5LdqSSrnt-xA1iglL9BIGm0pVWoLtcnmSx4A9rjdy9et2HE543YxCzjebVIbVY48_96Ee50v-bG-HUmKg4fBdaLGT-0C9GvhYm_oYiximxaGi5m4JVt_1itF3ELCaHOYoy3YncoPKeqjZeAPvmHWeQk4PpAINDcuAPaIios6RY8yy-S3xew4jVNvnPrWiDSudwkNVm4dmc7JgJyrudsrhcqaG7tT9cez1YzFNWmLcwvX_TxIfmEtnN5y-MEHb5uqbeqO1zyT3sK5KNQontuiRIKkAEnZ8ZMqvnyG6xjfP6W6McpwsC6_3Zcy4PipBH3gogNfMKE6O3UrJ6XYnY-HtYQJk4mlZvbJAV-hTFeYYqOdgb1SyQgefr9lfCX8zSgk7Vx6IITI6w-L4_A3Cn3MH6SKmDFJIBRToA6lblEZJIAeVNvP4kaogWdFpc0jiHncYngvXOcPz_As2UYryiPRuJv0DJy5oVAorRjitARBPQcCCkaZtoRcAVjfMsrCS4MnXiLjsVCyqoJovUTBw7QKRxgu4z2gT-qMeLolJ15v2o1TskiTSoovtwFITcXZQ7JEXbVxQWFIKSyld2H1SwV_AXSR1_IGo-AaZDAzi8IRFGS9KywRfFXGAt20DqNb0mrG4-pSxD5ClGasLaQM_zAy0YNsPY-bycXZHwZ9rFYsXYP6eyVYO5DSSavZrTe4XfgABIRs6AjDxvDhl8e9vEs11MzA6defvDC46qB-5ktVdedwx7ih1cPvb5gS9T_RjXAH1bvxd7Td2F-HaTBp9lZKxui0S3XkjXufUdY-hT4u4svXmT494rcRbcDipraNJwNcraIjfIjbQA1VTT2NGR-XOHEr73g_M7MLn4HE9pVKbCaoLAuMjNAJC0SqR_TNM9al9nbQzL6DlMF38Rp1XaTfuIdArMPV5TZhqFyIIE0gET0N02RVzdMLlkExPnYKd8k35-P9ojsUQLU2NRrpWpXBeI670DOnIKiQHQMTjKpZLc4D5jpGKEw0rT88Z-fWYLCBtJMC_91xHHGu4hP3FAeG9iGGTjEQanGOjcEo-HJdak8za_AyolqsKf37ch2-yV7XlIOF72l8Gs7p2lSSoN6YcSDOD8pCiIFwjgmTNyCaJsOe5MMeygvem6lb2JQ3GvWXVuiQbq6DihkEYoKoqwau2LxbN2lmYC7gvKrD7yvWioBLmelQBT3qDI0nVMTQnDHWo7GdaODwJRH01suIlgeJ8kEWz36W3A8qWHXEPCrXlMIVr85z_XpmDG1WP2x68hTV6RQ3UeuV_KCiqU_0R0iHsaxLlqWfbV3MNqt1b1uYM8bb0m5hAgzRGtjPPIos-yyaKKL_bbQQTNflDeMVY2h4Z27Tfha73knJHDIhX4sQCDheELGNoANAOKSNntpCVwQVADDxix-zBT-4uTn070Xdcs7xdxW3dDAmnzZhMuPLT7LDOF13-IfPwjs9or-ga-pqf7NiZ5o7UMz0Xpkbgf4akcHvFwZG53JV40WsdtGPBgasE2Yqk754PfMu22L18-v6Kz433IMv0xECYoQoPNo1_lYYYgTlCYHYW9HCZUqGMIDWReaMNKMhCOY3a1goFqzxw_JlsVEm9sdhuuq8txgiWasS6HhiliflqW9dc3DSuAjxmlXPIfEtWByJcPNAmIuUvmoovxO09HiEcqfEMXbgLk9LlfR3cWowbshHfwl3XaU6VUFm0PgohnGuis87w8Ze8fCSDveTcihZZcCuryNhbiQzH0XuWe5kcxYSFqhjxHZD4_biFWG4W4e7LZMbFeJ8ba_9TM6vrctQMPnIg49VwmVAZhvmV_zWaYW5yactg9DdUzlPbGIrWjxLgnBrd3zw40QxCy4c-nJoTPYVZmLe1b0lp3Lsa7Pz1se0PN8U1QIFddIFV366lvjghSY8k7ba-YmeauhhTrxqBjG1NvxGRESqpvjPj7hS93cAsY8IjG9RG5db45zjFSD5JaJrmNKJffgvYcnm8pw9eDLA7uhCaZQ93Lyl9N0vT1YyGyLNE53owhIfGrJasBJEWCbzAVe6XVTWTeyPbTLAXE6n2mdGlqlHJkMKnPv2e4e3imWKoaFJNZjIPMH1JvTu6CoMQhS6MjqjKapW55xcy5jA_qJKF4Uw8v482No8IZ_rmuEdoCUiKAcz_y5AY3RIsQXfRXs6Qi7solhar_52lruurpXMwdytN0DXMMEVxuClHYa3QoA_Q4vgFKE8HMtFCN7AuSAxAMn-wIswKkU4IssmbEfe26vmMZwVb8UQ66G9hamfdOlHk2ZBPBtMPRGYI2EwGwW0a-KtYSZsJpJOe2Gjt9ms3T6pJc9ZVjp-yA583sGtFWNtCI0bkI1dE_02Zw-kix997nW92J484KWUsrN8HxJ4WDCp3VXvrCKWPx6iXMFbr37DuXKoz6owJoJVDHKLOD0t80QRdjP9U4uZ6yibwIVoGysHHPf_wXJoaZGzkuuiXQG2gcnddlGYcBY5a5SCsOzRNL4out6TLxuspluuBkmXfI_YLr17ADmdxNzdKByINchV73FS3nFY_xPITeOSnU1vSfow6beUq91xZMcvTbYNyZyCa6lTwrlmsK8_dvwdWRnljtUP8POxjCqaOu0fj7l2nD21fRVIB0MoYJhZc1fwJ2Xuc42_DeJZERlqjXAg-YOIuBJWnIRMCCz9sPLC_dyGuzvoRP7u1YLJG4lA1KApS2-YKEddYEdpmH",
  "id": "rs_07c18b13c54e8830016aacb6f7c96887d09ab7a694f085428e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.095,\"left_z\":0.36,\"left_roll\":0,\"left_pitch\":0.1},\"note\":\"The red cup appears to have shifted and tipped near the container, so I’m stopping the pour approach. I’ll lift back and return the container upright to check the cup’s position before proceeding.\"}",
  "call_id": "call_4i6qlyeKyvb4WLqcWM3yyXhA",
  "id": "fc_07c18b13c54e8830016aacb703429c87d0b20e81637d659e60",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4i6qlyeKyvb4WLqcWM3yyXhA",
  "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]: [-0.4084, 1.5566, 1.6627, -0.6769, -0.5083, -0.1967, 0.5558, -0.02, 0.8139, 0.6083, -0.3847, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4417 left_y=-0.0935 left_z=0.3405 left_yaw=0.1108 left_pitch=0.0656 left_roll=0.0985 left_gripper=0.5558 right_x=0.296 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -9.5658, 7.0222, 1.9072, -0.0952, -0.0513, 0.1392, -0.0752, -1.6479, 7.1043, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:963a4bcce418711ac9d04ccff347eb1af6711e43ee6e5fee5250b3e64222d7de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc7b3c6e48f8907df96d159e74f16acaf2a784013ea86cbb64e212caa60dc495",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9980b5cf4f7faf4374a0b37e06a68f99170110ce06494f7c631cae4035124a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 8.021 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5289, 2.1796, 2.0815, -0.5652, -0.9188, 0.252, 0.5544, -0.02, 0.8101, 0.6086, -0.3851, -0.0105, -0.0265, 0.9995]\nstate[eef_state]: left_x=0.5565 left_y=-0.1585 left_z=0.2553 left_yaw=0.0989 left_pitch=0.0185 left_roll=0.7391 left_gripper=0.5544 right_x=0.2957 right_y=-0.0005 right_z=0.1766 right_yaw=-0.0051 right_pitch=-0.0229 right_roll=-0.0016 right_gripper=0.9995\nstate[joint_eff]: [-0.5812, -12.4923, 11.3573, 1.8779, -0.4274, 0.442, 0.3199, -0.0752, -1.3197, 7.0632, 1.746, -0.0317, -0.0806, -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": "gAAAAABqrLcJZF0Qdy_D5po3U7JpyKxqglXFNkQ_kcxgKr2-2w31krKBKYnBXJAFY25Yuv7AEBkjjd4ynOC_jwiyx4A4hKso3sOx0ZJWxyu3JL4LUT8FE9h1xaZtk4eF6FeOYMpJpWu3MZZoFMokiC3FHUiAMtGDIM3SNNiG-z14_31ekv8U3y7VTXMKhla9fdu59i7O-ketYeZF5Eo_70cyVXhFlpomB_8meTl47UaR5dC66sOBqJrpplK1kIzUYGFGI5veiiDiG5tedomr6pJfr_2Z2nfb8J0amAh5bLvZ4PlAzTsGqq8JOlg8P0pv5WNsyW_4oKrUT3fO-_407SQjzQ7EDO7nFfjD75JeXYscIhvK5oRyuckEoJOnXJFgJENh2M2vogwYG03BjTdFZdAy3dR4epNpuHHtrRzm3uAvGs6-ir2NhCpG0dx_vwYys8bLlT77K1JElN3-nL7xcazQvA8rfk0Axc6H2CvfZoFYLGXUdUJLvHu8pUydnv_DZeBWHQTf864J4nCOPTeo6plpGKwyM6be75Ahd7D5ZaV1mHGa28kKCM9vtEgT6o4w32SEwAXNPczm5aMBwl-HDyKOGji4QvkUgONAarzyTJiRHP6886wfzV9w7aJWxuvhUXVZZfRw-sA4jo_4oZKg-U00ZtOYypW70uB9P4P4ZBQ_k5FbEY-S2pKexIiS9_hzNr3A0yv2AckopxxN0xKVx4mx_Zo_9pSxQLXTn_0t7DkHAHCj_N052N72dZL7dwnagTpY-qnCHo8-ptYyhpUs80W6zYvLI4oPWk8RzJwC968Osy4wdXVf93ZYGNtLyM0Jin07m60Y2ihltISDobNaOXDCeotOdzGw8v0wvSg6rGQ94CLQ7d-xqThRbr__csclMSRTqyEvNYAxYdfNRDPmvsU9b_bSlBteEHdFaI3A64rgMEpgWn2pxyeUyiEKanmqYs9BY1tRahsi9DqS68_8qUfRWoD8chZ-tJJjHOKTFifzZfpQ2YDwBycUzC0zDtorIv4l6KaGSj1JpKg6rLV7GcIVmLViCj8789Z3uSvEvn_tFsk89pOxEe89A2PgxTqr4vfPZ2McaHU1-f3Ek4n_I8L7gzX7nkZYv56Zj-EVUCmVaofZYDIGHDHeEGghAm0-EADRKkAFT465LOP4Qbt_pcB4uVHk8f_eCd-sKYPnE913yqLvxhdJkwiVfjEHMHwjLlab1632amkAZgFnLIs88nXp5g-8ud1bvDaS8P26IRcA6UFAaW8DmkGQjZDcpxlyUepkppd_z9JtZn9mZwb_mxc2NuAjeuljorAKXfY9CgZX-i5nZPXqXeug_zecClimFb6G1QiKzaRd",
  "id": "rs_07c18b13c54e8830016aacb707153887d09523e9647d804b33",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.09,\"left_z\":0.205,\"left_pitch\":0.15},\"note\":\"The wrist view confirms the red cup is lying on its side. I’ll set the left container back down, then right the cup before attempting either pour.\"}",
  "call_id": "call_2t1Tv1UVLLXb0YYLB1gpCaFQ",
  "id": "fc_07c18b13c54e8830016aacb707f3fc87d0bd4614c0b6211203",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2t1Tv1UVLLXb0YYLB1gpCaFQ",
  "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]: [-0.429, 1.4586, 0.9516, -0.0868, -0.5331, -0.1791, 0.5563, -0.02, 0.8165, 0.6083, -0.3847, -0.0109, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.089 left_z=0.1837 left_yaw=0.1003 left_pitch=0.0515 left_roll=0.1372 left_gripper=0.5563 right_x=0.2961 right_y=-0.0004 right_z=0.1747 right_yaw=-0.005 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -8.1026, 7.5009, 2.044, -0.2955, 0.1148, 0.0366, -0.3077, -1.5795, 7.2684, 1.7705, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4eb00d1acbe808a481069ef2bc9b56e5b4e3aaae8ed10e34b8a1e1a13aa378",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4478783dfca3f0c95de072ac633e4e168f7c89d6231e171b55b4040a34c2f84b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecc40cf632d145702a715c947d563350aae418b380ce91e80e6c78ceba636c09",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 3.508 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 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]: [-0.4084, 1.5566, 1.6627, -0.6769, -0.5083, -0.1967, 0.5558, -0.02, 0.8139, 0.6083, -0.3847, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4417 left_y=-0.0935 left_z=0.3405 left_yaw=0.1108 left_pitch=0.0656 left_roll=0.0985 left_gripper=0.5558 right_x=0.296 right_y=-0.0005 right_z=0.1755 right_yaw=-0.0053 right_pitch=-0.0267 right_roll=-0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1846, -9.5658, 7.0222, 1.9072, -0.0952, -0.0513, 0.1392, -0.0752, -1.6479, 7.1043, 1.746, -0.0513, -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": "gAAAAABqrLcSZnZCig9rzM2siZ4VfBr-DRJwL3KFeOhUUSVyP_Sf5KiShXyfnkpsYETus01CT8ESBP-uuLbU48fkUa3LT0v3EzRqBrLkZraIWXKBkSkvpX_DtS5fNgzHniSFQDt9xx9gF2Cz1eynw4wi32Eo6olVvMLQYKGs--4eW77c1CT89Yk40T-b5048k7OJpG-Ri6pDY_ooQWaT6xJlHLLOiKBFHrvKO-0_LGxWhlFVobIkowvZcb4LGKJO9HvKezrYod0vP8gUzhLBjyvJdLe7nAHnoDEByuGJKOaRFi4S2mUi3ibNfWuAGcwALHI-XG1z60VVhk5U-Ma9g_vvx96iSdepzXBC-EmnWTs0YaUnwgrjCJLG0VyzqA97-mxEDPyseRTu8DLJa2T4yHVENu9Qm1-25y6rkteXUdATpoR7scHs847oZhKqRpTQD1rldwK9gFRyOBjGCG0FM815sDk4dviw_JobRmvLpvu7qvEEBd7KDhSiPJmHJwQeq6tjQ_cFagHiKRyfIekUrishKANGmUbcOdqi8AzBy5oiWVapkbd3sqBY8urlgTd_vZyyCGMni_CKWyjswWeyYGOjT0ZAnel7D_uSfFY__ei_0XkjbLHi16O5VU2wbpznj5xzrgO-hGhNlxuliAM_s2Yn8jnBWiy1Mch_31QPC8JS_EX8zUqY9XVEZ7g6HedPYUyIK6Jn6QxB95fx5cMfAZbihVQnaW3KsAQzliPu5cz3SCXm60ecWm5OXXj-su3C5mov0V-KlNSQGnLAC2Fcv410SR2jwfLGYvn6uEr6nomUkFp7PXuCB5ZvIi6aHiQ4VHzu79hNMOUl0ZYNJqEAuWEENGYj4OEuG4K60Gj-mvTZbyj4KOQrscLzI-3IVaUXNn8F_x5mkagrtMhnp3hfo031Zqpwao-_dbOKzr7H1nTuI0MaR8Fn5suewuye0CPWPZ1qpxuwSRthFFkxn3_5PUIAfXY8EET4U8mugA0Ba7V-lQKVb_FwO6fc1NFD_tazlkq9QZ-kYTpGKFeePoP_IgWjTw0NIQKx8H0MIL01maQc8HXhP5A5IHjYZKy7bYXDZVwNuPeoE5UCcuPVAW8FObV0AqpBQ_lcbLzwyUu4UtTVwZ9R24H3suJ067yKfzw2V9a2f1X7pznqttot5_MC2vdI5HpBPgveJZ6AeyxGjr25ayNLbJdnDO0grBpx3M1V9WCIky4Rl4hpxTVXUlxb0NCf38GGvZ_UzvFiZXNTHV9FKZrsDeREz3B1-Gxzc_BdYM9FLc5iccNYEfSkBpRudP6uGK1Us5TzHRDkaHnyCYAxrgHRSposWXMcIcssDFxX_d1I4QaIXh6anSAhXUDDoPsEvxdsRsMldcJzoDY1qPZHIHWsb7ct3TpP8xa8RucvOYWj0TjwK_HcT5ZQVfxBmAfEz7utH_Crch5ZwMOkAswZcUVqgwXgMrQytKYdABiXYAXiUmD8Iwk86c4OzWz19ciq9hKJIOmacGtNs_SGYhb_7fpHgpnPd7Zmrp54Epv4xBdTvoXk3nuMSA2MPAs9cKW__1_MxNY13AfJAkqZFfyRwSIWK7MSjTu7np1DdU_CNAdZ40DK4sF4qf5WrCmTbhnPZiQRffK7-8v9R_GZLgroPnTTIKodD1X1pn0fz6YB3-W0S3DmL6d86BVOHp6_y4rgL4IWPWd1jVjETAGBV9Y_kJnLoF5wipS6vfUgLWA0_EDssU-4VEK8Oo3Jg6XbzgMle6MGckt8ES2ysjiZFfjHugQGfekymU5D-KXE4uNxHG4UWhZo0K328RGHOzMzVT95cw1pUf1aLWZ1CtFUdmRA_aUdyBNSVvTc0MxRXyLvxbE1hHM6ckfY2knybZp_GeILsuZwzrP6mKCJAq2SUohJUy4v_qGIWY6BV4YFTt73tyI-xYL8SjWX_k3NFaKU3Ijbn2g4nDzmcSrUSncpSpW0gf4C31Xf15E=",
  "id": "rs_07c18b13c54e8830016aacb70b905887d09a2edb10f6149a4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The left container is back at table height. I’ll release it; the tipped red cup is now near the far-left edge, beyond the area where this arm can safely make table-level grasps.\"}",
  "call_id": "call_QTHgAwWGRwp3dqSCStAneT6R",
  "id": "fc_07c18b13c54e8830016aacb71097a887d09027628aeaa8a9ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QTHgAwWGRwp3dqSCStAneT6R",
  "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]: [-0.429, 1.4586, 0.9272, -0.0856, -0.5385, -0.1806, 0.9954, -0.02, 0.8165, 0.6083, -0.3851, -0.0105, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.4148 left_y=-0.0862 left_z=0.1738 left_yaw=0.1048 left_pitch=0.0331 left_roll=0.1503 left_gripper=0.9954 right_x=0.2961 right_y=-0.0005 right_z=0.1746 right_yaw=-0.0053 right_pitch=-0.0298 right_roll=-0.0011 right_gripper=0.9995\nstate[joint_eff]: [-0.335, -6.4752, 8.7726, 1.6679, -0.1832, -0.0269, -0.1392, -0.1162, -1.2103, 7.1863, 1.7118, -0.0415, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90a3e5722187df39fe559bcc1dea870fc06b142b422d18bfdda56ee1b63afb7f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd52782f7f7e3011c49b03e9c098b6811c876ca59876c627ae9158b05535a44b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:145cfeed8cc2839e49c498c06464fc648486241540d922e0923fbfcff5d79dd8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 6.726 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 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]: [-0.429, 1.4586, 0.9516, -0.0868, -0.5331, -0.1791, 0.5563, -0.02, 0.8165, 0.6083, -0.3847, -0.0109, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.419 left_y=-0.089 left_z=0.1837 left_yaw=0.1003 left_pitch=0.0515 left_roll=0.1372 left_gripper=0.5563 right_x=0.2961 right_y=-0.0004 right_z=0.1747 right_yaw=-0.005 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9995\nstate[joint_eff]: [-0.294, -8.1026, 7.5009, 2.044, -0.2955, 0.1148, 0.0366, -0.3077, -1.5795, 7.2684, 1.7705, -0.0464, -0.0562, -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": "gAAAAABqrLcVzzpmzaRB-pZ0FoMEvOifKBk0sSs0R8uakNGQqOkNXjSr0npDBqrnGAudgK05LFuqnI1SuvQxAyoYCizMMhdJMyGtD35q2Dss_fIWuF0lLTcGwnuK0193uNIStijrKIEU7RqmQ15XkXkjkG0KFvbCE3PxWYptYLySgl_kGrAgIAzHefEUzfzYelEU-U_nJ6d4g9ffBUW_RdTmEb1qjbTUdFLiuixtusWi3bsFLsrXfqvP7tHhtNI84NiUd95b3sBB2_ryLr7Z0sf_yhnFNMo9WB1QbcSkEb5RT2o1HWZY4acNmdlH8LSnVOlzNALNOo8gJr902InQhftuz6bsvisljiKhWgwMPVnVI-oM6yWCsqwY_w6w8yk1cT9ghu8DO8MZxuHH3dkqZsSNG7n62JpwztLnrIFHIMGT8uHm0ZFqGtiPizhnzODk_BUfZxH4fDdW1CbUg_RuO7EIUvaHG5iY7AiFJDosbG7X4pd4vyU2czwe7O303mXmkUPISFhputf4rkDug4LDaZCweRV_I9OkTlALwIolq_CFRYWaCe24w-MhZO9XXRuDSFFxLIHnHZXLw5nyV1eRwB2AYSyXAJ8Cls5M3L3_u1tmisWgvpLZlrhsMYXRl09kCBAaTnhPr4S4hqIUCyulXlMSYtIT-DGLXhKfObn-M9L6h9d_GdAuzL1hMXvcSSW0GzgrO3RSZQVakNdsJ8wnzKFH_d3m1uu3k5cTa2JxzMFerSFQIfRdt8CVp20AJeXHmykAHRI9qUVaQmB4CQjVyAFIkETnSIqBl8ony3EBEk8zkerk4HER13iyp28bIaoWJDplotA1cBw7GV8Uo6jRUwfe2iOlfZf-6_A8myhfNzhmt_-OndvrbxARV_uBahtIvxeZryhTZgSYmgBl338GNsPwzSMZayFa2gW-OgBOunBlFwu6WSFw67Vn7KQT_vzrp3p9Dbz4ioDrNdo3ynsEAosjPnFvsEAVZO6_9vK0hLhv4YBfkWViffg_jN4BPsmDAqsbC9HbBkKoFp-2y_2ThcfI16D9Vx_ORuukGNm-Hxodr8tJqdNr-jT43StqhXMy-hc9Ipa3N0HOlOciiz2fGH1I8RHkU2nrRfDMpC5yZy5iiuvue3FLSX2isYJQPwdX_Tfz_Me8qSdAGYrNZcF-4ADhUsxhH4pCBpCYZwGAotqZo9hwUQfmrrBK7f-i3kt3Y32ECqumu7v61CWnlJ2i0qI2nbqx-C2sK1Zvd9rPSxXWvci44Q9u0htBoF92x4uBwRQvDtiUU43O",
  "id": "rs_07c18b13c54e8830016aacb71418f087d0836a7b678f8c7f26",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":0,\"left_z\":0.28,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.296,\"right_y\":0.001,\"right_z\":0.185},\"note\":\"The container has been released. I’ll withdraw the gripper and park both arms clear, leaving the tipped red cup for the operator to reposition.\"}",
  "call_id": "call_F9Y2wPFIlpHrlou00drs2mdS",
  "id": "fc_07c18b13c54e8830016aacb714865c87d097b25accdfbc459a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F9Y2wPFIlpHrlou00drs2mdS",
  "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]: [-0.1551, 0.936, 0.9962, -0.6235, -0.268, -0.1627, 0.9968, -0.0189, 0.8196, 0.6109, -0.4122, -0.0097, -0.0261, 0.9995]\nstate[eef_state]: left_x=0.3119 left_y=0.0022 left_z=0.271 left_yaw=0.1482 left_pitch=0.0199 left_roll=0.0067 left_gripper=0.9968 right_x=0.2928 right_y=-0.0002 right_z=0.1695 right_yaw=-0.0048 right_pitch=-0.0572 right_roll=-0.0012 right_gripper=0.9995\nstate[joint_eff]: [0.1709, -2.1402, 8.9915, 1.6874, -0.0659, 0.188, 0.1245, 0.6359, -1.2239, 10.6051, 1.5458, 0.022, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8753651d1067f69afe52f5aff2301dac2fd9543d9c00b3835075cade358289fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9d05ec1ed785e37e2506607e66cbfc096ff69e94dd81a12dad511f4dff36f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:894c6a41532c27d6393c70d168e39e2303fdd406c31b85556b7cc2ac8c5c2070",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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