adhoc

completed
2026-09-18T05:04:10.950805+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
1800
duration
156.8 s
total steps
154
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe white container is left of the dark container, with the red cup farther back. I’ll bring the left gripper above the white container to line up a secure grasp.
move_to
left_x0.3800left_y-0.2400left_z0.2400left_gripper1.0000right_x0.2960right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6159, -0.3786, -0.0219, -0.0185, 0.9996, -0.0208, 0.7967, 0.6109, -0.3782, -0.0116, -0.0254, 0.9998] state[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4581, -1.6479, 9.4017, 1.746, -0.0464, 0.0024, -0.0562, -0.4581, -1.4701, 9.812, 1.7411, -0.1245, 0.0855, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.24,"left_z":0.24,"left_gripper":1,"right_x":0.296,"right_y":0,"right_z":0.20},"note":"The white container is left of the dark container, with the red cup farther back. I’ll bring the left gripper above the white container to line up a secure grasp."})
tool
executing move_to over 22 steps (2.2s)
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 white container has an open neck and a side handle. Its neck is left of the gripper’s centerline, so I’m shifting left and lowering toward the neck.
move_to
left_x0.4000left_y-0.2000left_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]: [-0.8177, 1.6115, 1.3563, -0.5381, -0.6586, -0.5472, 0.9996, -0.0208, 0.8062, 0.6426, -0.4374, -0.0105, -0.0261, 0.9998] state[eef_state]: left_x=0.3757 left_y=-0.2375 left_z=0.2226 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0111 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1825 right_yaw=-0.0005 right_pitch=-0.037 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.1299, 9.5111, 1.5116, -0.4127, 0.1441, -0.0562, 0.2393, -1.3333, 10.0991, 1.6435, -0.0562, 0.0024, -0.0171] 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":0.40,"left_y":-0.20,"left_z":0.14},"note":"The white container has an open neck and a side handle. Its neck is left of the gripper’s centerline, so I’m shifting left and lowering toward the neck."})
tool
executing move_to over 6 steps (0.6s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe white container is centered laterally but still just ahead of the fingertips. I’ll advance a short distance to put the jaws around its body.
move_to
left_x0.4300left_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]: [-0.6819, 1.6337, 1.0355, -0.1551, -0.5678, -0.445, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.3981 left_y=-0.1962 left_z=0.1374 left_yaw=0.0157 left_pitch=-0.0537 left_roll=0.0215 left_gripper=0.9996 right_x=0.2926 right_y=-0.0007 right_z=0.1818 right_yaw=-0.0007 right_pitch=-0.0389 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.7744, 6.3248, 1.6728, -0.1978, 0.1001, -0.0122, -0.1709, -1.306, 7.0632, 1.7411, -0.0269, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_z":0.14},"note":"The white container is centered laterally but still just ahead of the fingertips. I’ll advance a short distance to put the jaws around its body."})
tool
executing move_to over 3 steps (0.3s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaws now straddle the white container’s lower body. I’ll close to secure it, then check the opening and a small test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6331, 1.705, 1.0912, -0.1635, -0.54, -0.4339, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4172 left_y=-0.1891 left_z=0.1263 left_yaw=0.0386 left_pitch=-0.0848 left_roll=0.0308 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.7043, -7.5282, 9.7436, 1.5995, -0.149, 0.2759, -0.0171, -0.1983, -1.2786, 7.0222, 1.6728, -0.0269, -0.0464, -0.0171] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the white container’s lower body. I’ll close to secure it, then check the opening and a small test lift."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe gripper closed empty; the white container is still ahead of the fingertips. I’ll reopen and reposition farther forward and slightly toward its center before trying again.
move_to
left_gripper1.0000left_x0.4650left_y-0.2150left_z0.1500
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]: [-0.6323, 1.7149, 1.0977, -0.1677, -0.5385, -0.4423, 0.0106, -0.0208, 0.8082, 0.6418, -0.437, -0.0101, -0.0265, 0.9997] state[eef_state]: left_x=0.4182 left_y=-0.1896 left_z=0.1238 left_yaw=0.0431 left_pitch=-0.0912 left_roll=0.028 left_gripper=0.0106 right_x=0.2925 right_y=-0.0007 right_z=0.1817 right_yaw=-0.0007 right_pitch=-0.0393 right_roll=-0.001 right_gripper=0.9997 state[joint_eff]: [-0.0479, -9.3333, 5.9556, 1.5067, -0.232, 0.0415, 0.8669, -0.0615, -1.1556, 7.0359, 1.7021, -0.0171, -0.0611, -0.0171] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.465,"left_y":-0.215,"left_z":0.15},"note":"The gripper closed empty; the white container is still ahead of the fingertips. I’ll reopen and reposition farther forward and slightly toward its center before trying again."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe open jaws are now alongside the white container rather than behind it. I’ll make the second grasp attempt here.
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]: [-0.6155, 1.8679, 1.3586, -0.313, -0.5381, -0.4572, 0.9951, -0.0208, 0.8082, 0.6418, -0.437, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4556 left_y=-0.2069 left_z=0.135 left_yaw=0.07 left_pitch=-0.1201 left_roll=0.0397 left_gripper=0.9951 right_x=0.2925 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1026, -9.6752, 9.6752, 1.6288, -0.1343, 0.2808, -0.1392, -0.0479, -1.2786, 7.0085, 1.7118, -0.0366, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws are now alongside the white container rather than behind it. I’ll make the second grasp attempt here."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe second close was also empty, so I won’t repeat the same approach. I’ll lift clear to locate the container’s neck and handle from above.
move_to
left_x0.3800left_y-0.1500left_z0.3200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6155, 1.8759, 1.3598, -0.3218, -0.5385, -0.4652, 0.0102, -0.0208, 0.8082, 0.6418, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4548 left_y=-0.2063 left_z=0.1304 left_yaw=0.0759 left_pitch=-0.1318 left_roll=0.0437 left_gripper=0.0102 right_x=0.2926 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0479, -10.5504, 6.5299, 1.5214, -0.232, 0.0513, 0.8425, -0.1162, -1.2786, 7.0359, 1.746, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.15,"left_z":0.32,"left_gripper":1},"note":"The second close was also empty, so I won’t repeat the same approach. I’ll lift clear to locate the container’s neck and handle from above."})
tool
executing move_to over 13 steps (1.3s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteFrom the higher view, the white container’s narrow neck is the better grasp point; its broad body was beyond the fingertips. I’ll approach the neck from above with a slight forward tilt.
move_to
left_x0.5100left_y-0.2250left_z0.2300left_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]: [-0.6098, 1.6024, 1.7256, -0.984, -0.5369, -0.4835, 0.9967, -0.0208, 0.8082, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.3889 left_y=-0.1571 left_z=0.2974 left_yaw=0.0924 left_pitch=-0.1495 left_roll=0.0435 left_gripper=0.9967 right_x=0.2925 right_y=-0.0006 right_z=0.1816 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.2667, -9.4291, 8.6359, 1.4188, -0.2173, 0.1929, -0.0122, -0.1846, -1.2786, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.225,"left_z":0.23,"left_pitch":0.15},"note":"From the higher view, the white container’s narrow neck is the better grasp point; its broad body was beyond the fingertips. I’ll approach the neck from above with a slight forward tilt."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe neck is visible just left and ahead of the jaw centerline. I’m making a small forward and left correction while keeping the fingertips near neck height.
move_to
left_x0.5450left_y-0.1950left_z0.2350
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6178, 1.9221, 1.6001, -0.3321, -0.6594, -0.3698, 0.998, -0.0208, 0.8101, 0.6415, -0.437, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.4958 left_y=-0.2152 left_z=0.2118 left_yaw=0.1098 left_pitch=0.0578 left_roll=0.0653 left_gripper=0.998 right_x=0.2926 right_y=-0.0006 right_z=0.181 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.5538, -11.0291, 7.665, 1.8974, -0.1587, 0.3394, 0.1294, -0.0615, -1.4154, 7.1863, 1.6777, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.545,"left_y":-0.195,"left_z":0.235},"note":"The neck is visible just left and ahead of the jaw centerline. I’m making a small forward and left correction while keeping the fingertips near neck height."})
tool
executing move_to over 4 steps (0.4s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe bottle neck is now between the jaws. I’ll close around the narrow neck and check whether the gripper holds a nonzero opening.
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]: [-0.5194, 2.0281, 1.7908, -0.4046, -0.6189, -0.347, 0.9981, -0.0208, 0.812, 0.6415, -0.437, -0.0105, -0.0261, 0.9997] state[eef_state]: left_x=0.5391 left_y=-0.186 left_z=0.2217 left_yaw=0.1652 left_pitch=0.0504 left_roll=0.0588 left_gripper=0.9981 right_x=0.2927 right_y=-0.0006 right_z=0.1805 right_yaw=-0.0005 right_pitch=-0.0435 right_roll=-0.0004 right_gripper=0.9997 state[joint_eff]: [-1.0598, -11.3983, 9.5521, 1.4725, 0.1099, 0.5006, -0.0024, -0.1983, -1.4291, 7.1043, 1.7265, -0.0562, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bottle neck is now between the jaws. I’ll close around the narrow neck and check whether the gripper holds a nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe jaws stopped at about a 3.7 cm opening, consistent with holding the neck. I’ll lift roughly five centimeters to verify that the bottle comes with the gripper.
move_to
left_z0.3000left_x0.5350
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]: [-0.5163, 2.0289, 1.7981, -0.3573, -0.6514, -0.371, 0.391, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0265, 0.9998] state[eef_state]: left_x=0.5454 left_y=-0.1823 left_z=0.2345 left_yaw=0.2092 left_pitch=0.1041 left_roll=0.0168 left_gripper=0.391 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0007 right_pitch=-0.0458 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.294, -11.8222, 6.3795, 1.1453, 0.0952, 0.188, 0.8864, -0.0615, -1.4291, 6.9812, 1.6728, -0.022, -0.0659, -0.0073] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.3,"left_x":0.535},"note":"The jaws stopped at about a 3.7 cm opening, consistent with holding the neck. I’ll lift roughly five centimeters to verify that the bottle comes with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe white bottle lifted with the gripper. I’ll bring its mouth toward the red cup and begin a gentle sideways tilt, keeping the bottle clear of the cup rim.
move_to
left_x0.5650left_y-0.2600left_z0.3400left_roll-0.5000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5186, 2.0388, 2.0041, -0.601, -0.6556, -0.4091, 0.3931, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.5374 left_y=-0.1786 left_z=0.2745 left_yaw=0.2277 left_pitch=0.0709 left_roll=0.0167 left_gripper=0.3931 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0003 right_pitch=-0.0477 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-1.0462, -11.8222, 10.0991, 1.8779, -0.315, 0.2711, 0.8523, -0.0889, -1.0462, 7.159, 1.707, -0.0171, -0.0562, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.565,"left_y":-0.26,"left_z":0.34,"left_roll":-0.5,"left_pitch":0},"note":"The white bottle lifted with the gripper. I’ll bring its mouth toward the red cup and begin a gentle sideways tilt, keeping the bottle clear of the cup rim."})
tool
executing move_to over 8 steps (0.8s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe bottle is secure, and the red cup is just beyond its mouth in the wrist view. I’ll move slightly forward and increase the tilt while lowering the pouring height.
move_to
left_x0.5900left_y-0.2750left_z0.2700left_roll-0.9500left_pitch0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5499, 2.4233, 2.772, -0.9947, -0.4736, -0.7868, 0.3952, -0.0208, 0.8196, 0.6415, -0.4362, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.5642 left_y=-0.2471 left_z=0.2892 left_yaw=0.2489 left_pitch=-0.0467 left_roll=-0.3776 left_gripper=0.3952 right_x=0.2934 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0003 right_pitch=-0.0504 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.7179, -18.7009, 6.8855, 2.2247, -0.1197, 0.0904, 0.4713, -0.1846, -1.2239, 7.159, 1.7607, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.59,"left_y":-0.275,"left_z":0.27,"left_roll":-0.95,"left_pitch":0.25},"note":"The bottle is secure, and the red cup is just beyond its mouth in the wrist view. I’ll move slightly forward and increase the tilt while lowering the pouring height."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe arm reached forward but did not achieve the requested tilt, indicating a reach limitation. I’ll draw back slightly to give the wrist room to rotate while keeping the mouth near the red cup.
move_to
left_x0.5100left_y-0.2550left_z0.3100left_roll-1.2000left_pitch0.0000left_yaw0.0000
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]: [-0.5488, 2.6465, 3.0699, -1.084, -0.4515, -0.8387, 0.3987, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0265, 0.9997] state[eef_state]: left_x=0.5813 left_y=-0.2608 left_z=0.2524 left_yaw=0.2581 left_pitch=-0.0769 left_roll=-0.4188 left_gripper=0.3987 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0523 right_roll=-0.0005 right_gripper=0.9997 state[joint_eff]: [-0.3897, -15.5009, 8.0889, 1.8828, -0.1929, 0.1148, 0.3541, -0.0615, -1.4701, 7.1453, 1.7363, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.51,"left_y":-0.255,"left_z":0.31,"left_roll":-1.2,"left_pitch":0,"left_yaw":0},"note":"The arm reached forward but did not achieve the requested tilt, indicating a reach limitation. I’ll draw back slightly to give the wrist room to rotate while keeping the mouth near the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe bottle is now tilted sideways, with its mouth above the red cup’s side of the scene. I’ll tip it farther and lower the mouth toward the cup to pour.
move_to
left_x0.4900left_y-0.2600left_z0.2300left_roll-1.5700left_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]: [-0.4458, 2.6492, 3.113, -0.9363, -0.0097, -1.2083, 0.4008, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998] state[eef_state]: left_x=0.6021 left_y=-0.2818 left_z=0.288 left_yaw=0.0937 left_pitch=-0.2089 left_roll=-1.0148 left_gripper=0.4008 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0523 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.335, -20.3009, 7.8701, 2.9231, 0.3492, 0.2515, 0.2076, -0.212, -1.4154, 7.0085, 1.7118, -0.0317, -0.0611, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.26,"left_z":0.23,"left_roll":-1.57,"left_pitch":0.15},"note":"The bottle is now tilted sideways, with its mouth above the red cup’s side of the scene. I’ll tip it farther and lower the mouth toward the cup to pour."})
tool
executing move_to over 12 steps (1.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe wrist rotation is driving the arm outside the intended position, so the mouth is no longer reliably over the cup. I’ll reduce the tilt and raise/retract the bottle to recover a controllable pose before continuing.
move_to
left_x0.4000left_y-0.2000left_z0.4000left_roll-0.5000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4953, 2.9402, 3.1176, -0.2955, -0.0635, -1.4864, 0.4037, -0.0208, 0.8211, 0.6415, -0.4366, -0.0101, -0.0269, 0.9997] state[eef_state]: left_x=0.6706 left_y=-0.3455 left_z=0.2383 left_yaw=0.1266 left_pitch=-0.042 left_roll=-1.4265 left_gripper=0.4037 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0004 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997 state[joint_eff]: [-0.6906, -16.5128, 8.4991, 2.8498, 0.2808, 0.0513, 0.2955, -0.3761, -1.4017, 6.9949, 1.7216, -0.0122, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.2,"left_z":0.4,"left_roll":-0.5,"left_pitch":0},"note":"The wrist rotation is driving the arm outside the intended position, so the mouth is no longer reliably over the cup. I’ll reduce the tilt and raise/retract the bottle to recover a controllable pose before continuing."})
tool
executing move_to over 21 steps (2.1s)
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.146 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6159, -0.3786, -0.0219, -0.0185, 0.9996, -0.0208, 0.7967, 0.6109, -0.3782, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6479, 9.4017, 1.746, -0.0464, 0.0024, -0.0562, -0.4581, -1.4701, 9.812, 1.7411, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2679649169f560ca94dd8cda19c5a5c285547a248fa1107d682054a4b4a1659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82f966cc8d02769c313be8a0aee374390b50f3aab0817d93d942078980bec70d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfd2f9586beba87bcdf127f27768adf702c502ffff999e1629d20ec354a627f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a2679649169f
wire blob 82f966cc8d02
wire blob cfd2f9586beb
call 1 attempt 0 · /responses · status 200 · 7.955 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrMZhNkrQ0VpEA-vl0r69QCQEpg6FFsMnAKU7yjhdC7HC0E7cWkjXpIUHz8hZdHTyQEbFdx0V2OLTdnbM9qNzoC2-dsWswxYqQvXXdrByBRPa_LiAahkN5pJIKNb5fZbOFtZl9JbrttgxgHjeI1yn1K0wsSxxBxqucaMllqlKtSlFbH_UZiJTPEp7mXkCSD_5Thx1M1uWCRxRtcxEDCr1pP-6wQS4W0BfKKFL1UKelUkCFP93ShgNdpi5dZb-VvXxPWCZCT8wZ7NXMc0cMK7gYw1uyYJ6AUFzDsoJDTZ8AMLKhk5pv8MEyLvr_538H5CvbcHYJcnO7GabL7YzcaNOhDY1mXararnuDVrh48sjHPkHFeLx0tlKpNqJc3MEiMHeRdVMhySxAgPK_5lcGZNOptMRcCJ2XDp4rb0ISm45vGYKIQAL4Jnd38QT3Xp5AqxjmSPcldEmvw8FuUnEcl6ZTcKMzDqABJl34JgsTxN-4n7pE7TsVINq-FJA7PY-znBQC-M8_Jevw_4IvMGVfe8emPc2WpH13J2mnYBi9YVe3rTTeGXPoZ5cj-2ZYv3ExPOu6Dfc9kvi5GvL1DgsS5hWSUQVnomqkqLTJVFSEuWcFNOnbcGG9KLFgtQkZUFLmnWSC8hxGUTTuS5-LJqLoyxc937FA3R8QNNGY6NRA77gACQrTcYjdB5Kk8y_IvV4vV_v3AY0uzeWOYyyrwH1UdUV7sf03D5KdknIKmBa-PB7zk1J4ZH9hMwXSNMAGUu8u8dEOmMwS2N7h14fvjPJ79jfXYeND5RJIHH-C4bG-IObMBrxikIfMS8JcXFTqwfcWu7ZGPbciZXackcSbI-ylnUc3arpgSmHnJWgc1PaMrjVrUUUg_mtSsApPL_5DEVzF3AjtsozdNme-zq98JALXiyNydg9Dgwd5y9oJKl4wCzSVUGDNjFfmzM_qLqNHO3O3_RRQE-shgRnk3Wz2iJ4BIbvnvMd_9Zn9600lJG0LFXl-XXNXu2bstFwQqjj_311zJn-Ql7qJWGPCdmemnLxr7tZVBjTyhdNSWIzCiXMYV_nvKPr0UySA4HSS_U8-vs-lWwndd1GI0las0WjoP_nQfN9tO3jJS8BQwEThFvKuglG3JhLmBicAX0h6NYF0VauR4fn3t3JIctTQJVlomARzADLgXoinM46AvSaJnaOOte9fugD75--ldxmFEWNlqUQEg8VAijoXO7LAOPMMSJpNAJmM4ZarfzmWXOD43xC8NbnPaywrELJZFtRjKYBHah5P0W3PTTHvpm-QYn5h8bmeGRo_w5VQH-3dlwj_MdixcCkfuRTL42al5a9YwrQTviGAeM6FTrhLC90LJ_5qD2BjuJEdXdRv1gh-LTe39oKZnk4OYqdZB1wdMOb5umGRVYD9UmkDJnX0qWGbxJf-1VK3bAEwsKEPxl27PQtpW991XYv8Zt3c0gb039BuRxCFDJ5aJmoc7jsstikZjqOGkUjPvgYf8zENBlCtPsXrd13-K3WZ7j7MKSyNJhe9lHQ-Q4zDd8d41lFXoc71m4D6rphoEXh1pEXdtsodaMB-0CUTELdeSpiZ98PWI97OZ_D2vk3ln_b7qfLVaBkF8Q0nyyPwAju_oI0XgToDMbbuDHc9FrxncsKVYYTIblghyrH2Mwd2KZRkbIImsCwifrTrtv2gSHFeGHXQnaUqV3-LMAce3VYeEIZt4qr5FLWybHK1avdKkc-aC9nyTjDgENigiA41S0r5GcKhdKZdifs7BYdWrtuo9U47479bSPcdKBX7zL6CNwYl-OZR-Brj072ik-cKDEwDNbKjwmW43BhM621wWg_6-aNbXxUUHbQgImgzqh3KMUTAHja8EbLqpJ1kJ9AmTgspbitq_SFQ9HN6fh-Lx__yiAAn0QajeUzxRifw_vC1XMPQdqxrX4v0ocGnA4-gTduKNIrDS3yCk6HbZM1QRcDX4PpYqV9aKwZ-fOR03l0zDWOYZzxdHGJA7vKePrw7ph3cA-OPBiTNO88pU0QztmkdCxZvXplqBuLldI7nIpEElScXgbs",
  "id": "rs_05f84500598e1b8b016aacc65ae13487d08e6da0f9126a6943",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.24,\"left_z\":0.24,\"left_gripper\":1,\"right_x\":0.296,\"right_y\":0,\"right_z\":0.20},\"note\":\"The white container is left of the dark container, with the red cup farther back. I’ll bring the left gripper above the white container to line up a secure grasp.\"}",
  "call_id": "call_OF4G0CmeDN5ShNnNNnZGNq2q",
  "id": "fc_05f84500598e1b8b016aacc660401087d0805505f940cd0b42",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OF4G0CmeDN5ShNnNNnZGNq2q",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8177, 1.6115, 1.3563, -0.5381, -0.6586, -0.5472, 0.9996, -0.0208, 0.8062, 0.6426, -0.4374, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=-0.2375 left_z=0.2226 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0111 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1825 right_yaw=-0.0005 right_pitch=-0.037 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1299, 9.5111, 1.5116, -0.4127, 0.1441, -0.0562, 0.2393, -1.3333, 10.0991, 1.6435, -0.0562, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:639e494c13d48f18bca4b821e441091de3ce8ec2e09c9375c4c7e79e2ec7eeaa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e954eb52b21ee674aedb7de924030af74297987eb190f193c2fe62afa94b6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c7ae54ab50a9f4610d8c5991b2c69bad577fa39567e30d618c12e68e5610e44",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 639e494c13d4
wire blob 67e954eb52b2
wire blob 3c7ae54ab50a
call 2 attempt 0 · /responses · status 200 · 9.332 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6159, -0.3786, -0.0219, -0.0185, 0.9996, -0.0208, 0.7967, 0.6109, -0.3782, -0.0116, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -1.6479, 9.4017, 1.746, -0.0464, 0.0024, -0.0562, -0.4581, -1.4701, 9.812, 1.7411, -0.1245, 0.0855, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMZ8SEKbKQtzrCJ-q7xxCAMs-X60L3HuhIPwbjtaLkwltE3y2dCvAfxsJ1DrlxUwS3B2UA5G7OEKWaIyQ_31RWNhMFDVS8o06X58HRtbpZKUzAsj9jWjEAp5bLHjuElgzgQqRv2nQj9P7Yqc974KXYHKZ3BDuUFqe4M__CElYBf7EoYC0kewyWmTWSI057wRhLgYN9cdcWV_q4SmtqoetcF-XOXr0MgM9taS8xQ-t5Igg1UzgB4jjLQdzyXerWBTHQcBcFRbJRU4AfIUz2kRi4FJDqLB6HcJjbjDBaL7WtRWOopZVMEXEfI1Wre_RFGr6VZVE1r5THGePR1H0k_lF-pgsDhRSTm3nFPKIRZZ4PJ-D7LxKHw_AGr9VS_tNpkcnA9qrUMCDERPsNdm-MzKVtTQRH7fbShRz1Ecahbg8-DcecrmhW9f-TV4i2RuXHmHrNXiNmY3wQbWahTrC-bJqleb7G4-VNBXoORIybk9DatpAjCBzijzrIkBcBYQ8OCGSxnnKEKxHQE0T2Eq1lSTZCbacnn_w2x7W1tLDAbi1G2u5st7fRL4o1vs4_VLUCHDKKEPBUpDh6DfJYw02Fw6sahUSonp6PpgCn4Zc0tUQGi0ss3epqyirmgwj9OANwgiF6vsAVqZ-zn4_jKVNPvc7pRj0eJGAVtyTkkBGR2wK8AMx7YiFZCyhWxFnBSgBwL0HepQdQre4mAHZ1cgmyeMRm37cVl4H6N1HFdL8ad94PRXFpYAKW-rOcj39X8XrpoTpmzeK5pU1zo_Y_R2s1qpNAPyLF_j5cpjJsGjiQYDFz0S--GzWyMpbscE4A-OzoOD6AMJ0v7zWGwOBzv0e8MsX2m2JCUPp6T1RxlC47MrCP-xyAcb60eCY4j7z8IYMFTQxPxVhzOAu1_H7jGkIxh6QkJroUbzoAyHKBzSDTJEnCjIYwvpg5GoMXuEIGOc-JO8ySv0VKw9K2YHp_TG_JP8AQ1y99lkFaNegmEcJXRsPzlAuxHH2Ph0UBrtoncx4jfoWNecRwI-OEcHHTU7o_4OmTq7ddhsxRp-G5dZ_RRlz5NUlQB13cZfHV3o19IWC8tvIz46wOjiBbC4-979VHoRtIWkwrceoD6BK-ToT1BeENrjs0DwgE0W91LaiHgtlI1mvd510JsBN5Kmk97GjbBHXJGM_9VHUpY_1Av86Wl8NFpsCXsCSjWHaZt2NzT_XU8u_c2_Goj3h8T8ZkbQ8R78MoJOK2n7z3MVDOHf64HzEjHFiXLkS0tgFxE0dile4D6BJ6yvfMQIpvp_T9ygjgG9NYwXgmX4JfU9Tugu8V4b__xGqwWcS6GfDO9bWuUl-iw2JCiJENY5TeYtcyL_mco25LKzS7GwXZjy3ZH7xqhLRYweMJMbLo4BTIN6YMC4fDUlgPvEpqchJi8aXapjmsg5rzed-BImoaq7YRmmZKXQjQXgF3wBnpNtmAR5QP695KQRC8ceHmxupPl39OzIzoOBb3aXE1itql1eI2cx1A1UPtydD-RbCDL8DSxI-KWGx_9Gc5N5lVrYkWgx3rrfZYsqoVszjH9HnJEUuWL5oreafNeu4hjM7cF_7x-U0mvDZnuKGvXQ0BXCWdDSm8m7TPSdN96v82l0mLJUC05--saxtyvesHWORj8St2BY3zNZ6WBy697bpHuWR4dEKEQ7-nGRLGdxSnU0WtwAW6e83wJVcnCocGdANQJYC0rElM6YezfM2VKLKolbSCrM4VK8-Myj3UwVpPCS6BSNeDI7nCtBsGgOMb-k2fUNZuaUBn-0qGMQum5Y5R908GYWem5HPpvSmTGocHl4LPYKC9wCaH7XwROB8A3miitV1GtFnWegwo1FyTF6qeWMd8AmNGZsi8nBfA74ZALLlc0ZqX13aHn-JzxFVc-jSbCjdwt57S7p1Y5PPeuXDrDHu6awJB0GJpapYLGq26gxljquygRqjUGRvAHEOnIch5BB-ZbAZ8aZtJBOiwgydc9OI3nqkuyJUrKuxlrEBGFe4qH0C39GkD2RrPsE28HNQcCuObOpAYzOa8FzUilUjZVmfwiFGlcD0tEivm6W_98u-SFPUQXYI5ZGytkrDH14hL3Qufyq2smJFCfC9yEbpirNInR6u03N3RB0IPgsUWrGZmssb5YWG77lZ532RK9tJxwZFSrNlj9xOg6ceezI",
  "id": "rs_05f84500598e1b8b016aacc67653e487d093807026f9905eaf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.20,\"left_z\":0.14},\"note\":\"The white container has an open neck and a side handle. Its neck is left of the gripper’s centerline, so I’m shifting left and lowering toward the neck.\"}",
  "call_id": "call_ZNbLR94e2g5bnyTmZwXWo6yZ",
  "id": "fc_05f84500598e1b8b016aacc67bbf0087d08659d98f3eabe08b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZNbLR94e2g5bnyTmZwXWo6yZ",
  "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]: [-0.6819, 1.6337, 1.0355, -0.1551, -0.5678, -0.445, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1962 left_z=0.1374 left_yaw=0.0157 left_pitch=-0.0537 left_roll=0.0215 left_gripper=0.9996 right_x=0.2926 right_y=-0.0007 right_z=0.1818 right_yaw=-0.0007 right_pitch=-0.0389 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.7744, 6.3248, 1.6728, -0.1978, 0.1001, -0.0122, -0.1709, -1.306, 7.0632, 1.7411, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09c8eb9ce2e602b0134f29030793428fac32f5cb4e3b73943c49583051e77602",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa1dbc855f37f3bd29bd5c4b7fdd6595664ad5bc13b3afb262f934aca32703c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aaaedf33172cfbf8b7f908c79c4257de9394acadf7037e4d9ae01fbbdc4a4043",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 09c8eb9ce2e6
wire blob aa1dbc855f37
wire blob aaaedf33172c
call 3 attempt 0 · /responses · status 200 · 3.447 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]: [-0.8177, 1.6115, 1.3563, -0.5381, -0.6586, -0.5472, 0.9996, -0.0208, 0.8062, 0.6426, -0.4374, -0.0105, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3757 left_y=-0.2375 left_z=0.2226 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0111 left_gripper=0.9996 right_x=0.2924 right_y=-0.0006 right_z=0.1825 right_yaw=-0.0005 right_pitch=-0.037 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.1299, 9.5111, 1.5116, -0.4127, 0.1441, -0.0562, 0.2393, -1.3333, 10.0991, 1.6435, -0.0562, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaIfBAPPiwyufny7h5zzmkbb9-BGhwDhSarrNqN-AqvLp0WRDsix6-3YKqq9xkGPfaZIgKyT9bgDqHx37aCCVGOlndagjyTVYrrb5919UYHxPd3nA46sXEpUw-ZS1mJIPo9sLdmtGHB1G2G_pkn54VjiPK4s2GIBI4h3nEqBhV3HoKMHvoQzjoPL5VHLn05bKzV7Nxibw4IZufKRiljodbRhM2H7haN69b4z7kAWUS6yC2YwUrJSPU34trKxZlvGjB_cNoRFSb8Mov6ggHDwQ_cQ8xRYbGCyk3LpSXuuXsFGpdw2MyQnpZgMJQJcCFG3xQZLAzggHNoJhEULeXr5UgvDbwXG3KRMnZ8yukJzQVNKNjDC-0_iDmnaC1UAub9ZEwIewtMTXwCQDjHo_nSqFvFjSA_z0QML0Ui5-H0Da2Sb3xHJIMYW_mGLlCrcDFlKuYkvejx8j7gDuYQrFctO6GH-SUHl3W0tzUG6aa77TPS08eRKgM6GdOP8p8tVhBnvqrPVahpB1Vw_pDHnnzsyu6XCXmLY3XRHRRzl2PyXy50tvKyKt3JMwez2_1TvI6hNYY3dV949ZA1JJUn4rQ4K-WpLund2QMNVikQLtQoL5Kiw9bY4T1pCaXDwh0nV3pt-LURCDYHUKI3fOfDweWq-STzZ2MujPVHOyjk72kp3cR4st0Hzv7OwWVxSq2wahu6sYLI80-yymPF1PfckCg1dnfAoJcyt9S9GP3rgp1hcz_E9ZTUvKQ1L1mmV-pVtG1bSG4ODcPPlk2GkRrEA_vd1MYa7021ZN0y7QwKdMk_2NI5fLZkiWX7HyHCse1D7DWXyzJEpqxKnyiuozvaf8KfIZLcMFlX5Zu83MAorkmaWNhCT90gUqav2AVgW1xMkWDc3J1xW1uoVGIYwBTY7FicHfiHrAEwYOIbMSRQQRsiD6X99VSFkI_7FqW8gNy5ogURUITvMtV-VbYidNowUyYKdJXcyWZqISne0rwtujIlQdiNBBGhZRtdpgU5667A7MOAGxJdhbQsto93SX7r5lUVF4S0f2VeyNKaEc-1dWuwVLiPjDL-lKWW83EA8fy2o0fQBQ_0en4sF9zLdZG1-Etmw_EGoVygPn1H3EDi5bBxr2d4lLcw35NbVTVrM58uL8d_I13dE3ekJxBSjjSqnjZc7CZGjtrmM-l7FvbELEa_j3JvMnwQDCYRpz23WhvHfokPNqi67tl3f7dfImq1TjQtH_98MGXD4RUu9kdjDGcOC3WdmI9ZBBgEA_2vkeWjfHITBs0YBEYJhybZlXpZ20LybUUSkyCr93yn5X8rDy1GBK-I4MqOW5RupwZ8_3vc4SHnypr9T-pgOtn4JFZebZ50t8MdlKLImlqFD0etq6GakuRa-SU7IfX5dKY0J_JfPrBO9oVTn3VnmHjgKxjG17vsGXLtZD_hlz4BjpDlTtCWSdVGKefXtk6JipJeh-SrRQFK07NoCBAAiujBNNC1VWPJhb-C3zIO4VlS_XUG28Ht1af7wAAIGvMWub_0MQiNoF77kSnIGj8TkrfftE-mzX-TGWBePwADhEBHFVkrDXK_tWpknLl11zP0kpw-NYIk51bR8E9u9kkHaDYSJ-xR9J4xu1Br7xvPNRSjCm9q0iaT3WjhW_w6EqMGn6kRd0CI7UiA6GwQD_H5gAmwlMCtSSNd3JuXz-sCNv5B4NrFwiwj9Dh8ArTkm38UgMMBJhPHij2LQZ9en8PlJSqWZF49A5YXgpFwwQgDc0SOPjmi3eTPLmqkodGNmAvUHVgm0AciOGNn1SIBZgFI3DeITPhCNAAPmzZrYBy2ieBm-6ugKvc1izjtnq4NcI323EDW1L3BdDmjqSjoiJfndngAnduoj3G_VlEijyl7FY-IBymMcDOjChKUScCspdGpiHPdN4cwWu-XHPPt17VqRdLzcnVHTbvCCSsKawX-8X_7xLQPti12fyYx6ZqAOxriMp6IX75cLnDzrGrY6uP-zS73O-NL0R7NdNFtki61-C3PzFZUm_98XOdXUliBP0aCC8IrE1EbtAHQt-rJ4J6NgEM9-KeN0MG-1lW13Xaz7S1W9-Vs7MMaU2GiC-KsVn4MLlf_HV7zbBzJuKDN6ct5s9BcTRlx-wkrsFax9-rZhq4ke7Kamc9G3ujghf3_WL4Ql8tSFVH985qZItf-czkpnit9TYAKixT5gklApZ3Cqrci935yMWmE4MudvDKUOi0aK3JiBwmPEtTMEu9iuHUhvpQkcP7rkqs0kHp0PoYyKVgI-03z8Ob55hNsjF9XwBMS_iwQB7piLz8qw08JY9stzgqIXFPYYaBRkV_NNQP-qGnwbLItDd-nF7IMffQ87uBRgljr300uRtpA6o33IZFuZvRSr5zTAeslUzUFPtr8j5kCUAEPb8DUdDGOUFDgfrdV6N62RfZ38XOsfZppdWXWwlRZy3L64dXstcSl1iI4Ds8LVrE1buwmAvsPiwM=",
  "id": "rs_05f84500598e1b8b016aacc6809c3087d097932481e28e501a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_z\":0.14},\"note\":\"The white container is centered laterally but still just ahead of the fingertips. I’ll advance a short distance to put the jaws around its body.\"}",
  "call_id": "call_agHjvq8hDZdJ6mZz4KiZfTPa",
  "id": "fc_05f84500598e1b8b016aacc6863bac87d0ad4702eb0dbcdbe7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_agHjvq8hDZdJ6mZz4KiZfTPa",
  "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]: [-0.6331, 1.705, 1.0912, -0.1635, -0.54, -0.4339, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.1891 left_z=0.1263 left_yaw=0.0386 left_pitch=-0.0848 left_roll=0.0308 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -7.5282, 9.7436, 1.5995, -0.149, 0.2759, -0.0171, -0.1983, -1.2786, 7.0222, 1.6728, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2a1fabf50d6a70ba0cf27fa301b94f9c096aac434dd3c0b2f167ddbd5369876",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24eae1f1e0e0754230be9d2b272207cd037c11496b187aa5843d5a159e0aafb5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b2be91dd0f050baaffbcc70a80edfd36ed287b8cf4742a6d3cb0060dbfc1a59",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c2a1fabf50d6
wire blob 24eae1f1e0e0
wire blob 1b2be91dd0f0
call 4 attempt 0 · /responses · status 200 · 9.076 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]: [-0.6819, 1.6337, 1.0355, -0.1551, -0.5678, -0.445, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1962 left_z=0.1374 left_yaw=0.0157 left_pitch=-0.0537 left_roll=0.0215 left_gripper=0.9996 right_x=0.2926 right_y=-0.0007 right_z=0.1818 right_yaw=-0.0007 right_pitch=-0.0389 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.7744, 6.3248, 1.6728, -0.1978, 0.1001, -0.0122, -0.1709, -1.306, 7.0632, 1.7411, -0.0269, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaM-V4wkC_FqwdJdcvoJgn1ZZJ9cZPEq6jqlSaZw2qT8JKlFWHOqOhBiDlmR15aw9QXBOGcSJoWayvFJEuw08G4tfTL-SvdOSXpTwzkcViry0nPTGwGqe-BavpsJZdBIljyc42EEfOBodnNKGR-O6UTAgiucDobXI3a4zQVk8lnM8EhMxHTV60TT5jvnADMDektAw896Q7YJk3PoqtdrB37J9-KAnwymocW00cMqPiAEcYjIhPfD84L7vnbWDbxMAX5NtVGlXHM-SjR6OSWB6DcUlTELc9TcfpCkK2yg0USd0bKDZV0CSF7iov0jT2yQ1uvkBerMOP9idbD42Qfg0xTcDALqqUGSRaUNhd5pXHs84bbkrajasHo28hM9JJi-6FbBbT5ScleO7B1mOn3p4XQluZd_bHlaG6sxA-tyeA83va1rTWzN4VKDd1o0SFYFdNAb9Os_LejjozwNKlq9_PYEHAgPlJEwMf5WESJrP3CKXBvBvI0_N0e6v82Tu0OVZhxbXCaxYukbPHxtR60mKbtKBBl0ElonITevNQ3pvyz4fu0yEjEX-RVES5dsZrOA4OoRnTmr_x1Qz0KYcUF0T5zCFZwEk-NLPxb3GR3mLE2zemLfVGryymgqMllS8IZLBzF4LPACd-fMGxlQqYlMAgNeXlzxS6nt0jB0RKX6wXRq-TUQ43h5mqhbGbZnWaUj6CwnoelqQS76gOIp9qWFoMTmvDKSAwvWcYD6Eo-qWLlQS0kaKL5oHrUEkWpWD7BhmjBc4jZmAfFTDOmmWsfBh18XSErnpzGY3QvtX-jMpU40jMF8CQ28eA6cR8iT53QBeot1AlFZcwvG556p5XKMZZUL3OpKNNDbWLjtJm4_4B9EsjnU7AtIQZCET0EvzinjI8MiS5eMsIn0W2liKH2HzkLnHWJe8jRwbdwoCErAQk4FHc8bC5iM6jESrz4xkTpKFba82vD84Buiql7ctbC8ThBZ7p3d8Ckse_lyK4WKe-z6nqWVuR31UBzuaw5OhrAhfxnK0jLGZQ3FEI878rrq49D3aspBpf90giYu8pH7CxY_i0gKoEPOCwAioVlHp_-Ke_4T_fXPIQ8uZyvBCT-sQWjuem5DIVD7MPLgUvrMjBVwVx89rSkUA24LUQ6jaomiHz0moCsSqeabp7LVHecHKsdeWWdoeJRLQ60voCY4sN-69WYht7allz1WxnIJq00lw9A_dUdUDDDnEZdrXzbvu5F2g==",
  "id": "rs_05f84500598e1b8b016aacc68b1bcc87d09a848003b41bf41b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the white container’s lower body. I’ll close to secure it, then check the opening and a small test lift.\"}",
  "call_id": "call_1zJVgVmKS9P65EoW89jIfCtw",
  "id": "fc_05f84500598e1b8b016aacc68bbf4487d0ba09fe6f1d876e73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1zJVgVmKS9P65EoW89jIfCtw",
  "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]: [-0.6323, 1.7149, 1.0977, -0.1677, -0.5385, -0.4423, 0.0106, -0.0208, 0.8082, 0.6418, -0.437, -0.0101, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1896 left_z=0.1238 left_yaw=0.0431 left_pitch=-0.0912 left_roll=0.028 left_gripper=0.0106 right_x=0.2925 right_y=-0.0007 right_z=0.1817 right_yaw=-0.0007 right_pitch=-0.0393 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.3333, 5.9556, 1.5067, -0.232, 0.0415, 0.8669, -0.0615, -1.1556, 7.0359, 1.7021, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77c5cdf121472cf042aa9a1c98e6c0aa7e5286ef42026d71e5b2c2ae20f83954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76521e97aa5ec1d1e3f43a6e81730d1eac00a66187e637cc2e98c41204715d28",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a65b105d5c4c7753b0b4f074e402a211d1a6d1fe538b3d9cfd104909919dba7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 77c5cdf12147
wire blob 76521e97aa5e
wire blob 4a65b105d5c4
call 5 attempt 0 · /responses · status 200 · 2.804 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]: [-0.6331, 1.705, 1.0912, -0.1635, -0.54, -0.4339, 0.9996, -0.0208, 0.8082, 0.6422, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4172 left_y=-0.1891 left_z=0.1263 left_yaw=0.0386 left_pitch=-0.0848 left_roll=0.0308 left_gripper=0.9996 right_x=0.2926 right_y=-0.0006 right_z=0.1818 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.7043, -7.5282, 9.7436, 1.5995, -0.149, 0.2759, -0.0171, -0.1983, -1.2786, 7.0222, 1.6728, -0.0269, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaWKpGAnJanZ38du6ytnXZeFkHiOAx0rhb2IkdzN0211VOUFpxwH-9v-_LxVrgpVpwCgKtQDgaBd6zE-E0OKs5HAXDY76iEWSf6YoOiJy7blyUpdABDr3086-Q4G21V2FOYSDw_GUPn6qOp8uuKVRph0QdzJjgirLZCWIGcqGW1n3CW2phbvQpPRSJ9xYcQxShnlPfIq6cZgCegxyKc7fa1bqnZ8WLaUkgkukAv5xEaUske-fROxJVp9BSIf5bcexR8JBQkGGrPM0zqU22CYU7ZHhr1zuYDi8wGTbVs2RC9WHRy9MTuXhc-M-tBN9A1HupLbzunOu7ZA-32ZWZ2f1m7JYCakUkmmZlXFO8819xh2PZkoWwRbSn-VqB-0RAlXEViTWotTG_GP4ggswQodlks-QMaW2DfOYpi8cCb8JJPDO6DB5-YSvgTSJstUzYVH3dmF-U_9jHjZc0rT_GOoFGgsAkXFVs4MfGTWpM3SYLnLLP-znYm3pWiSN7Qslp93HfCcM0p0Ek8iTYjkQZ02kBDImWMsEwkrPHeIvsEF8a_y-h73SrS9EHn7LrarREz0ELUePHtD4Zd1n7_4n46d51vB4LWEPWOSe4ZBiTfi19lXjRfuMEUfe1fdR9lyNJZnjQngCGch2FJq4dddtU4J2LoZ8ESlmOT04sntLjBzb2YULG7aZtZxEqtMmoaTeGjOlF2f7e6NveWAax9dIEJMVAY_GOInB2Nl3lgOK_fbcYDyTnLigdipWUYtsxZQARzBwXFg643x_FH8bYYWFvYJgSFGVKcFoLMDLCKkztVdt3J_Hzy6oxPx3uGIM1KNlQSyOryEmP9cMQyfjOmA3TWJ28Px8pKY6RnasziLw_Qp8FkpaAz5FavJkspBRTZUc6dHDRyr3XxcF1ImZnEwYa_3vdyrbP4JKqDmsoZnfT93VXm2Gw2S6otA0E604ygYR7Dog2DNCwZ91iR-kndEBQbZcKLL66LUx4hKBiB755uqz3wfbwYVf5RpA4JqGSMRMdtahGsaHfcgtAcytcNA3U1wWLRhsUCis1Jti07kW4CSkoEA9ou4dXQfAIN2NTjkVZ-x9auEEwAad-2HkeOVWMSXxgYMHgwmFsqVVUd4OE_MNdfEYIc1z3FHJnliY3wl3IqMIgEXy8bWuYo7p0jPst7QcUN_DuqN5hW7yLK7PLwDKK_OWngX4YEaLkrrIw1ZYIcuYjNZIZ_lhXH5sbgi_3zK4cX6nwRlbgKUtoIY8RXGrH62cXHcyF8fXTUMTloogEaYO1kZE-hfOGV9h3UGjtVmPBEuVUkUh_D4rWWxn7Bx-EvYul5CZsdq9gkpDeqUUoIgE1i7o5xQXFfzk5pr6W8iycMcfhHebX06Lr-XjtcwiQaWc7pY0WocziBNWaDMtvL5zK2XTsxLkhpbn0bde7WrsFw54UPW0Yx4kPfhp55ZxkY2cjwNxlKtY_g1KAL8MrTLPYZic9qPTF5-2a9JXeGv3-YAG6viFP9KhgjRCWrJDTCM8qnB7XZW_KAryBZvQN7QfY9A8EZma70e-xEu18PNG-WL28I8k5DKmrbeJH8PEzArw-tLFsAatexpaoYVXPm1hS_tBLBt3oKar5opY9lSiFNvjfTSLBhHLtXOsDo1JlYGolbIrd31Tk8HnaD4xQPzN8jgtlJ_6cNsfNsx-D_j6mZOytFcaWkb0RGjw_8vrWlReOee7RvsrGNeks9-4JoDLAswORoeE1zlPcusnx-IQgsyQztRXQHR0B3gV57Nd0snSoprqeNvbj_cqVzmwF4I2XDuW0h5KSUHH77GiTerhM8AToxvO7rls8fCnQY6DvfpkvHvQ6oGaMCmzLNhoyyiBn6lqWaw0h7wwJ2Zj0DatTSbrZOF151j3rwSX9sQVhBs8mQr__BBvE9RG8s1obFwc5oec4M2KuD5cserybCOV_xQYhkPHt0Qf9MkWbKljvEjqzOwxzGZ3YVebwC4AIlseJb251yrhrVYQClyLGJO8du8UzoM6ZG71S8kdDdwa2lSNXKS7G-k6NX09-6txwsDN2W6SrY3X80Bph-wHq8fg4aunamZgx1FsA_NyAcJvh2pCD1QOMNEFjxH8YRlJYnR024s6yupMGc_Pymcde6x4Pk_Q==",
  "id": "rs_05f84500598e1b8b016aacc68f9fe087d0b7bb6940feec7cc1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.465,\"left_y\":-0.215,\"left_z\":0.15},\"note\":\"The gripper closed empty; the white container is still ahead of the fingertips. I’ll reopen and reposition farther forward and slightly toward its center before trying again.\"}",
  "call_id": "call_5Spl2wSvXZLZmpp1P1MfVFMd",
  "id": "fc_05f84500598e1b8b016aacc694f9d087d0a882435f2b23a068",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5Spl2wSvXZLZmpp1P1MfVFMd",
  "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]: [-0.6155, 1.8679, 1.3586, -0.313, -0.5381, -0.4572, 0.9951, -0.0208, 0.8082, 0.6418, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4556 left_y=-0.2069 left_z=0.135 left_yaw=0.07 left_pitch=-0.1201 left_roll=0.0397 left_gripper=0.9951 right_x=0.2925 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.6752, 9.6752, 1.6288, -0.1343, 0.2808, -0.1392, -0.0479, -1.2786, 7.0085, 1.7118, -0.0366, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8584e58de2b2957370da2ef9bb160fa0e602f35550e3089c89ca4903a1ce98c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c36aa7be7b090d7d8e513bd27ee4e60862d0236bd7a4a10d92807a9acba8c762",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73aaebd95bc66c27d7478490f9166edfdcaf2cff2c59a4b798100eb0be7939f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8584e58de2b2
wire blob c36aa7be7b09
wire blob d73aaebd95bc
call 6 attempt 0 · /responses · status 200 · 6.103 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]: [-0.6323, 1.7149, 1.0977, -0.1677, -0.5385, -0.4423, 0.0106, -0.0208, 0.8082, 0.6418, -0.437, -0.0101, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.4182 left_y=-0.1896 left_z=0.1238 left_yaw=0.0431 left_pitch=-0.0912 left_roll=0.028 left_gripper=0.0106 right_x=0.2925 right_y=-0.0007 right_z=0.1817 right_yaw=-0.0007 right_pitch=-0.0393 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -9.3333, 5.9556, 1.5067, -0.232, 0.0415, 0.8669, -0.0615, -1.1556, 7.0359, 1.7021, -0.0171, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaaFUMGnUGwV3C7DzKG8pBAGp2e94OJDf0RP74gk9amjMkiKFOUFKFiA85Fdd4oVX6IM7CapYMo9s645VoizxQC-xHzNp4sgQM0uVcIGecYMBOiaeJYK0npNxLQyeGtOQ5NqB5bXxNxSwbTVdB24wb-YJj41BKsIbJAvNhUyz3JrPV7uwKg0ooOrqAy7TGGpMWXz2TvP_Et07H6BcsLiFj8fN1qXXeEJLlUyofI4SiXb6gtLJJ05fZEO_LT4U36TtMlIbrt2MkCr-7loYirCnMMYrKHE02szOIi5qSQsXu8zpVKDSyMqrvbZCjYPVq9iXXkHc_D0ZlREC7fWTDsUZ4_BXKbnNQTX7JS_TNfIIuKmJ0lW9wF4Svk7MJ-b6YITdeFzvJAnA-YQ3BRK_5XZfs514fbhlUwhzW3szlDdJiWk050y7Bi6jL_gN_p_Xi0uHmwcOpnjqfZWArXamFj7Gsf7Vkj3flPuL2A2OnSeTQGADTrowv-bnWqpj0727MUNqGY5JtEhRxx6mHCLv1aDRfuOSgd8zXYEHIhZ05ulHndBlKzWf3OOkuU1EE8DHSihyKAz1PAK6-XN2aHQtOzsmbrO1bnvIor6n13ElMEteK8cDZBpzhMmHTaGBjZd6U1bEt_OKq2zX2S2lmBVv9Oo8buJXud15H_czAQ-ulG9b1Kf2LDBILm_rgtKVW-vqVBt6SBxQOsi2mT6fM6XY8cWDAh60Ob749cigOCOT01Pc74ecCbN6xIvJ7hSk7tCP29bTDOuHBU2R-0ElQsmjcVj7kR1tgIARQI8uE1Q6LfxpByqrTeSzDOh5oB9hgMGgaRDApwDvDVuW_Nf45qt0fsHEkrwfWvR1xw0_FBYW9Av18IX9JL904Mrwk-ax6h_v-5ErnJQggtBmgYJJEdatzhjGgK9Cq7Vjd4cRWlIF1jysyAZvzn7xrXZxJsXCXcvX1MyCwcpT-EloDhjEpGVpYcyo9WsduX1eJc9v0mPnPxFZiKQDF93Va4LT5TTBaHGRdcdpmOcg7Nfj_ByxwN-8ARRM94F2ZKZYy3vAE2rF-wm-ruUcVs79Cj7sjq73WoyE3v6MjraFG6eCuMEz86KLFiJ1BmRPKoL-erg1HYfJspiGA-TQTmDKqTCkqz0qQN3Er_bzghndk8BGOE4AfjyG2F-1D6xtHJdWuAdi1K-TV2naB9hRMz-280IJiPj0RfOHQ1vSFdfB8S3DVOE1AlWtMj-DfdUA==",
  "id": "rs_05f84500598e1b8b016aacc69957c087d08900247d6e1c0fa4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are now alongside the white container rather than behind it. I’ll make the second grasp attempt here.\"}",
  "call_id": "call_rdiZ3jfqMqqhnUEk69AYrkgy",
  "id": "fc_05f84500598e1b8b016aacc699b42c87d0984aab39e845078e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rdiZ3jfqMqqhnUEk69AYrkgy",
  "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]: [-0.6155, 1.8759, 1.3598, -0.3218, -0.5385, -0.4652, 0.0102, -0.0208, 0.8082, 0.6418, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4548 left_y=-0.2063 left_z=0.1304 left_yaw=0.0759 left_pitch=-0.1318 left_roll=0.0437 left_gripper=0.0102 right_x=0.2926 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5504, 6.5299, 1.5214, -0.232, 0.0513, 0.8425, -0.1162, -1.2786, 7.0359, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03b8e7e0afdb585c7aeeef69a35c35a61d4f4e09bda87697dfd5df234cfe6022",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:383f2c40e473d1a74511be3bc6de74aff6070162a3e264f08271d8c663c76008",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ed48b8361245f31d518577979bbec9f87501aa530faf54a79fc1baa100e9dec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 03b8e7e0afdb
wire blob 383f2c40e473
wire blob 4ed48b836124
call 7 attempt 0 · /responses · status 200 · 8.038 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]: [-0.6155, 1.8679, 1.3586, -0.313, -0.5381, -0.4572, 0.9951, -0.0208, 0.8082, 0.6418, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4556 left_y=-0.2069 left_z=0.135 left_yaw=0.07 left_pitch=-0.1201 left_roll=0.0397 left_gripper=0.9951 right_x=0.2925 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1026, -9.6752, 9.6752, 1.6288, -0.1343, 0.2808, -0.1392, -0.0479, -1.2786, 7.0085, 1.7118, -0.0366, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMahQXKvLCdc1LMzWFt9K8pyvPUqAvcU3N6GF_DPY4r_TIW2crxZmmHe4OFnYRLUICoGCCv9i50WfG4mRXA44_zNBnOzSP8UVEtXJK5GxZFkp2ZWu4wiZSyrK-AVHG1cg8Lr35u1lVZqF-LIcybkbiQVs-Y12_QroL4RVRc0kIrmtcjbpgEpkzSxOy6GEt5ENS-oqlIOPq0SPIyEoTqb3sokYEZNhC-ZfezCBTPOZ5hhgue5OY7nwyfO7Bta3AvityYt3p2Ey5twYUowG1Od24dJDaf1XYIWtVjge-mr8zHje-F0-zNIOuwFP3I19zxsMgw_XXZHEwb9lIIi1rH6HnayJ7svaXZ3_vzpj22d1WjAK9bd8d-pAvrzyIK_DJikyyZ7A-j9uQBWQLQ9fkpKLPNIPSM8vKmvc4za3d4QxMs-Y7KRZhNytSptjsCXAXTSvMI0YsOBNSX4dOznLKO05-WBolX2qp7iyFMws9oIhcEoRp0v7vBvWJY2NVXZttko6dhQXt0Ei5Ae123qO3aHsh3qjufxouTuGnYmj4p0W9RJ9VZ_1iCEkpg-r3eOJJnZXckB7CfkQtgq2uTRuMQF6BKrBdbRM0HdW4963WMHDgT8Gxq4eqvCD_qvJ87SrswSDw8Hl6VtfO2tgUQCPjOprLlPkeEchpSu1yvb5rfgqvlEq4Azh6nHhiu57M3Xv1RWAQVyGGQqxzH8yxtyX5gVxlmDa8DaQMd_FVNCqgMdJbMcxeeLE9oEhxNj2KVdArHVCO__MqCyPLLfNKMfJxRSWpNXqn37haxQ3ii70CZEGbl7wc2a_wKgrJN_q9gRxZPVEs26E87KH9bXSaSjUDggEYf4ptoZTYVrFtnj1u2ODIPP-7oOn0175PjRHqhgGceDWUTauUSnXP13jphTyb5V1kQ-56pMDvy03lyYOLxV6FldqiDd6hCCwCDDerws-Tr8C5LMLKND-DQdfxC0xr2_RDl9v6GBgsocsmIM8DWscmw2ALPRIT6wBWbfvPc_hnX3xneZM9SmIoyBMqI3ucRVD_MzFGZzXgkdZO4Pi_0XZaf1vlmfpm9XftWRbaqIg8d3DqiQwqZkZuGwW500hQmAAHir6HPQhqXX3EnPDBPyNVPZ_FY58ijPfreSjdjulszMxr5qPxA1noMIAnW0lmR95-DUAhMHJBBz7x3cmV20eqikTadV15dEEMJbXE9_srdP0wkaBiXtBArgHe1U33USU_jAXEqOc2BNykGJhVwc2gzxQv73BhMohkOst3vcNnmHNY8sMef5gNqUUyuJStBfvWsQ5QY6Tv0iub62n5173FK02ajsZPA9V_6ZBL5jqPMKstQeZPWCVi8TzQicrZJXWdG2j6nUtt62AqwSMJFrcKY_bnoWVeb-jaBiRHCp04Ykd9PMzTWoe_gAwpcvQs89hpYeoWX9YC81Rm-Ptmpwuf9j2lOIwW5q9VQxCwwCVZ118AjRXTnVmB4yq7sNKfp_aG-AiwKH2-EAX4jyaR11DypliB-iLhFmkWkMavOubFm9UbEYn52qFCDW8-ftv2FnnCu-nm0qX0vGf0f54QbwjjG_Pxut5JUgfAXXqjzNAA5FgwQyL7bMcw_S-5VsRe9zbufiKrFLypcozytR2YZt90E-cL8GnnLrOrNbHQhWBZJp1tvDUsMiMFdebrV1JwDIVvDEgUImMK-HJjJ6tcA-4jdaCHfFtPelrla6SIRUuVOwFuIdEqFP4Gy6QyhCfVLFN_6AevgADRKxO0Dja8-owydsGbE=",
  "id": "rs_05f84500598e1b8b016aacc69d706887d094df069b856a0716",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.15,\"left_z\":0.32,\"left_gripper\":1},\"note\":\"The second close was also empty, so I won’t repeat the same approach. I’ll lift clear to locate the container’s neck and handle from above.\"}",
  "call_id": "call_813v73bmdBtr8nr9q49skOFU",
  "id": "fc_05f84500598e1b8b016aacc6a01de087d0bc2bc771704a102a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_813v73bmdBtr8nr9q49skOFU",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6098, 1.6024, 1.7256, -0.984, -0.5369, -0.4835, 0.9967, -0.0208, 0.8082, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3889 left_y=-0.1571 left_z=0.2974 left_yaw=0.0924 left_pitch=-0.1495 left_roll=0.0435 left_gripper=0.9967 right_x=0.2925 right_y=-0.0006 right_z=0.1816 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -9.4291, 8.6359, 1.4188, -0.2173, 0.1929, -0.0122, -0.1846, -1.2786, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c0527f8b1d4beb95d7d6bac103f49548ee565a9ab1bdf055d89759dade724e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4db376c96fd0ee9a7a8ecbc9c0d79e223f977456d1156634a1c7152a87374cf1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6f157642fe9d522bda04579d6e60ac0e19cf268364f79d43fdc7c72a68372dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6c0527f8b1d4
wire blob 4db376c96fd0
wire blob e6f157642fe9
call 8 attempt 0 · /responses · status 200 · 5.993 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]: [-0.6155, 1.8759, 1.3598, -0.3218, -0.5385, -0.4652, 0.0102, -0.0208, 0.8082, 0.6418, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4548 left_y=-0.2063 left_z=0.1304 left_yaw=0.0759 left_pitch=-0.1318 left_roll=0.0437 left_gripper=0.0102 right_x=0.2926 right_y=-0.0006 right_z=0.1817 right_yaw=-0.0003 right_pitch=-0.0389 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -10.5504, 6.5299, 1.5214, -0.232, 0.0513, 0.8425, -0.1162, -1.2786, 7.0359, 1.746, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaqKmw7_UstRcjME_IzGxZReDXMJPxfOgG0bdK96e6oICiE5n4YKiz-hyLi4kQBX7dsArMZSBLY0WCm_ffD1L_I-HPt0LrVlr7ERWE2_ih23MvLh0iqvXWPn1FpRDuLjzvOxDDscB5PjYpjzl-xto9ZduHd8Z9l1W1DKWRHvW5F9Ipgie3ykVBBVXzAFF8KN9LvHczQznjXjgXGi1Lb94S2edtaFAnpPx3r8ARj-1I-9N_NAWr-wSmlarY7xFjjrwjTk7WJ9kwkt3AFUSNty9LD1HwTMlyczQRg5dFf2DyRTXoOGVWuzAq2V9Eys_SglZ-ItanDfGWgMfVYvJrMThu_VSIXLfnsnCbbAhi9rd9zN4X3siL4P41Wish6ZWyZGrTr_iD-F2PBYIsRKC23obGfSy31V4olGnNrX8uC1dpexBzGQCSm2pHpw0BN1Pbt4GxHomj5beKF6Uu3zYVvCcl9nvQkV5pSGRC7UkENE8U6Yb5AQBuUbhecmQfJhGg_PbT4UqzvIdJQjNaa4cWx3lefdqfNIYqOhDuwRYAE51s_eIvYmshkfFbRN252b0BxZrfnpbIMSSf3Tn1SC4M9kUryO4Y-9hy0GoJFxyyIsCVkVg1xXDKqTfpH2zB_YFM3H_RrBsoeA86XDiAk4H02tgAfSNNSwtTzNW0ncEtqZSkUlt1nTsmBSXBr7qfNHx9aSk9fJdLpH2K3nagEFGojDRSkXLoVebcRmOmRNjQ8r0Tbjr3fivmcIRgdRkR53FcEHnGj1H3CWDoR5ypFocAzjPCh5apyAtJVyA2YVWjZBZdL8OdUV0uiz4Iq0aY4kutS5XwaCq93LuAPhhP6tGpVmo2amIQAmFYIB6ijbnppTFA6A1RltY39CMBRTwin_qK5-kdDvdxwL7t6S9XjoUOaRUqk4GLKN8B1hu9osuPWnS4llNG0voKUtf-giNyjEWSrFKLTKJRhz_J9yFsa6ogxHzlyzusdYr4HPI81VIerBUF7Emr9DAHMaT-VZl9qAwIDisMKhewIAo6Ff7ajeOVA7Rwdocpx2xgEDSDOr0WQ2jPLsUQjyiHcoJxwqWpDFlA5feEXoG0ZN5R0tSR8U8PVTacMLpMCmoNbsZXjbg7kvY0FbmMbD-5rK-yDfcESC_hvICALuUMFJJYXnmFp_6Ubk_2pQX4TxJQ17tAQmqeBxn8bx1zrzE0D1If5r4pPICTdzicTeoYvUGG7qL1074n-GxyoZPqcPeOg0p2pjh3dhb32N92RU5BYGoJzqQJ0B7nrja7Bphv5LGCy9RfNGCM3n0FIGw4tu57-mPNDozqY4nh5vpUq9LEDaEBDWmn1b9P3C8EbpwROQE0ITdjv7vOFeGfY3DSFsfcMOrKIcTaCK968IURDlNumjKzFDpjcr91oSvKayZiqBRkicFGkL7FmT9QUgD0dPOxEJDI9fiitMJp2BxJZVzxvw3nPcg-aFJBUoT2md7y5hPouGEUjOQ7iBcoSYgihdqssHeeWZNx9nXJtKNJx4lhqyzMJJEFyENy51vwM5JRRMtVCsCwRgLtiItWQU7sjumf5gBNt84zBuexf7EiQW6v3FbDniKgDMmwuwiSApWkmvbpmwvgNXhS8ugLbFvTyUCgq1jbMTVxdUe-gZmoHI-DDeHcSxl9zc1N6_2SN1kQu9pS1I52cbLCuSxN2rJZ1MB_nkfhJ7LNVZVQOsjqdyZElSSf5ARluFWszWoO_skkPeglft57l6AooE3cHfheMQTrjXtqRHrxBw6cvX_wS5AJwYVkaSFuKTEfkdIypgCHHSRXCNHMtRSKp-FThM9aFnbwZudidR6wjPq6edJjqKJinxPR0zAWDbSm3zSgSAHM8Xcd2qeA9VBnuUd9Kvr7B4sHiuN2jBMkO-dTmT2f7AyPOzWhW7d3CtdEWxFNVI6-Dblzlm5-rgqZK7Asmm5OYBCmgPsF-zJJvD_PF9C8=",
  "id": "rs_05f84500598e1b8b016aacc6a4602487d08a51b46121c851f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.225,\"left_z\":0.23,\"left_pitch\":0.15},\"note\":\"From the higher view, the white container’s narrow neck is the better grasp point; its broad body was beyond the fingertips. I’ll approach the neck from above with a slight forward tilt.\"}",
  "call_id": "call_hDDp4pSNnWOb0dxCRAw9W2xZ",
  "id": "fc_05f84500598e1b8b016aacc6a9409487d0865079bdb4e9be6e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hDDp4pSNnWOb0dxCRAw9W2xZ",
  "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]: [-0.6178, 1.9221, 1.6001, -0.3321, -0.6594, -0.3698, 0.998, -0.0208, 0.8101, 0.6415, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4958 left_y=-0.2152 left_z=0.2118 left_yaw=0.1098 left_pitch=0.0578 left_roll=0.0653 left_gripper=0.998 right_x=0.2926 right_y=-0.0006 right_z=0.181 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.0291, 7.665, 1.8974, -0.1587, 0.3394, 0.1294, -0.0615, -1.4154, 7.1863, 1.6777, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:59708a8b67d72393a3b5b6b2a106af61c95842fbe37997a9a0a1ec8101e66dae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3023d27e4baf9c18d920192178f338434e2dd865e91aee13f1d810ab016c3cba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9d54049e8c7d31e99c6f0274a37a69539f73902386fb9ccdca7c3acb6a0d111",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 59708a8b67d7
wire blob 3023d27e4baf
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.113 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]: [-0.6098, 1.6024, 1.7256, -0.984, -0.5369, -0.4835, 0.9967, -0.0208, 0.8082, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3889 left_y=-0.1571 left_z=0.2974 left_yaw=0.0924 left_pitch=-0.1495 left_roll=0.0435 left_gripper=0.9967 right_x=0.2925 right_y=-0.0006 right_z=0.1816 right_yaw=-0.0003 right_pitch=-0.0393 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -9.4291, 8.6359, 1.4188, -0.2173, 0.1929, -0.0122, -0.1846, -1.2786, 7.0359, 1.7216, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMaxpZ1GozyeBD44G0EOTOjzy_OtwvuMXK9UmemLBCPxNxeKMqT1bJf2b6TRNB6SB-wRbY9KGTfl0PhWVrDTL2ze7SA3UETWyzBvHLRE3wlIGPH_CL7BaLWEldQcuXo20pLN888JK1ElrJw7w11NSknd0GmkZqr3nJ0hilU0JCVXo1SHf3wmscaF_bePqtM76u-S-DxhWbDpU5RZoA7vGh4MX45jDXRYdJDHnAiNsQnTROgpwMhqomV_-UMLQ0pUg5U8jqtE96oXhCsuL5ftKsdd9uxe0qwLDCJpu7e_jeguUNmahGbZ2mJVl7LpZ4VOl-kywcbLvXpIJYJY0lkXtG6uv_ZxW95KWhDtzq_ka9ZdhbtlONP9EmPVxsYMIWBEluy0xytoFKG7f36PMnGgo32ycVzeJbc9UUIIVZMDR_h42Lo4-Nf3o9uuuju4afDJR-dDa81bjOt4f38rwRwhORA_kfOrUoycfj2BZcxbdZuNnvdqTt-ev6ONSVQuFJVCS9dmiWhDbpSt1zRQE1QfdU4OzPKXCd9Rd6C83Aigw5T9gtqek0QyiYfQWaNwDOCbXNktkQYBvomDBrw-AAK1NT4fy19UtLuqepyzBYxBl5y-7_8OCj9teDGuBuXODIORtGtQ0wik_-vSgS8Pn2fcBo6m2jYAdUk2GmeLqCmkPJe3GcOrU9Y9-qSAQhTsYEBP4S6o-7UnyKQkQpG5Uxm9We2td6tqk4l73Agk-yGthB3pQWOCoZXtKzjmjBARzE1GbYZiHsD9PN8yREKDD_-PcMYWCyqViMXvLl9JPTmlFXgsorulvcMqsSIG0iisS7ElOFTt9dQyS3OuNffhkVGjfBAn1cWTTKDWDaWO4Py0HmWX1eULRncM4z7pOLlTo2PWzBmHoPMnDpWwGa9CRJRrflYzUqI-h53z2nRERC9ViiQkff3cFisrGfS159Q6yMW5G--dpdPqRR_WN8-Z942ws0rnT3DTR33kujfHVXKHvNcoPIyH3CxMAdeqDKD-ny4tuKJ8rjOZWfbaLepveRO7EkIJ65dKELQLGSCdrbGOiWWn9uOXHpLrvtepMFVgziW0UCejRu8f-z9gvD4n_UrmFERhYAKQo4zGmLX3d-zMvvbDh_v_TqMvBzjN0NulRvuNDuft0WnagcU7p6ujO-G5Fakqhv7-oVOatTz19IDEnf8FQkoM6n1cjVNiMKUqvh_Mme-I1FbLgNiWIII16eYe5j8Qg1pY3_ZESdaOirgbx2yQJDWUf5CS4UdyFDgnW2YhhaxIv9Oeg-efmRYQpBMuVY3QwUGCKS0o8pmQAvr0-MrBnpZpUtbzK-jyEbUKWiIF34YEtyI7DJbnlDZxbIxDKFj_JCvjKp7tkHtc0O4p6J1NuVNaQS0nTijaPGBvwuJEacvuV2qOEFKcd1Dca_BkUdBbQWpqCWf2nRiMCgSxBS612F3W_47Hv0C8k62vTgUYFjOgsMw3N8glFY1YLGfUiretfwTuRF3Jcci6dqfqZV6mLDAF6qYXPGimIyb43TdLRmeT",
  "id": "rs_05f84500598e1b8b016aacc6ad6a7087d0b7ed8ccc70b64b9e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.545,\"left_y\":-0.195,\"left_z\":0.235},\"note\":\"The neck is visible just left and ahead of the jaw centerline. I’m making a small forward and left correction while keeping the fingertips near neck height.\"}",
  "call_id": "call_8J2PhOHFdxkWofICLpfiZlxL",
  "id": "fc_05f84500598e1b8b016aacc6b056d887d0bde398d295c1c01b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8J2PhOHFdxkWofICLpfiZlxL",
  "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]: [-0.5194, 2.0281, 1.7908, -0.4046, -0.6189, -0.347, 0.9981, -0.0208, 0.812, 0.6415, -0.437, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.5391 left_y=-0.186 left_z=0.2217 left_yaw=0.1652 left_pitch=0.0504 left_roll=0.0588 left_gripper=0.9981 right_x=0.2927 right_y=-0.0006 right_z=0.1805 right_yaw=-0.0005 right_pitch=-0.0435 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -11.3983, 9.5521, 1.4725, 0.1099, 0.5006, -0.0024, -0.1983, -1.4291, 7.1043, 1.7265, -0.0562, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:352a62acb47d7e5273e447233d379d3c1a637dedaa3ab4d52ab81b307a919c70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833279525dcb9bbc7e9958a77f1a689688cfccc8ded58d32776f2703e64b2373",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6756b9edd715b4b5c4f4385d6f64e9e2474f5d7268d930011363dafb77c4789",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.411 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]: [-0.6178, 1.9221, 1.6001, -0.3321, -0.6594, -0.3698, 0.998, -0.0208, 0.8101, 0.6415, -0.437, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4958 left_y=-0.2152 left_z=0.2118 left_yaw=0.1098 left_pitch=0.0578 left_roll=0.0653 left_gripper=0.998 right_x=0.2926 right_y=-0.0006 right_z=0.181 right_yaw=-0.0003 right_pitch=-0.0416 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.0291, 7.665, 1.8974, -0.1587, 0.3394, 0.1294, -0.0615, -1.4154, 7.1863, 1.6777, -0.0269, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMa1IWhNkOTv3Yx3G4Wm0ZPRgaZQ1EeuHyu_MA0QcbWOpwSlNVOGJ4zJB-Wvgi9IdpfxjK2UGzvDB285HeJL_RfEE9ei4_9YUETPgQwoD_WXFNEAMytma05z5t8x36xTIqf_cHeyVU26K1GG84h60mTJesHhKW4NZ9BXsjZ-CzHYyAGtLYNTNEJMaXPtfc3hWV7rEJ4Y54UYZHSOITNZSq8ZjFrDMLbRr-MDqYeam1zczRMwbKUS7s9IeewqKN4LiRMv-Uqx-TAc_fpDo5cd7YIMhf3HCmg-OHhBAxNszA200So6gCB-917hPtBIwI-OKoz85f8W2Ag4ay1q4vhyand7ApSM74rZPcZ7xzaxmRsNtR7zWwauWceu6Zbj04Cfz1KBl-WC7kyIiaEfxLfNS4HbiC-Q17EviK_khysmjSYZWX_QGxENKDqp6F8MHnkEyyzTCCNCcBn-wpySeF9hB6vhiI0ZI8BxR0mCs2MRlc7m8wbXB93OJukqnBNr8aL9ksf46dMOZOqO0t-WUh5Sy2qM_b6RtYMFira_b49cX0XqyMJWZ53yWnjVLFosHjDmzph_uV5w8-b2Q1RdhQFXRthVy9W3vNvpsgF1JUso-eBPjezPXuyI6Rfua7LdBf-zHxSVdvoOlD_vaMFcfTttxDibEccL6BDKgtQkEQz0SZbz7jyXKShT5nW4OkRdvDv4OfZQEGBMdw7mlNRin7Rzv15xYT5yOkE_d1fuHv9zj4RTwogtVF6k52imk4r24GRgn7bdygOV0r7tei5B3L2SXiREuAHGv4d3uvRG_IeSkFTfuqSIGkE9-ymEF6A49a26TkXmJ1xmmvxxJcJJktYhLd_sPRzGR0xR5N5sw2EwulR0uXSgvM2lBDn8CFzk97QRmREFHBny7EIR1uJOsT1Dhq3c2Q7e1r9j0IMkVdFyg_Mkco3Nac0HZvFMcehyCX2vk-3RR1HbZ-nb8_n0uHx-eAJLvuy7BuOAIrdUlDFVHz-rSC6S40FrVc5cNM_3PpizaqUMUKD24iY7K109xIWR-Wh-vpzr9Rcv4qHbZDnv7BkqupJrzOf5uQdUkEK5Ks9EGaipJbg6aJiJrBYtpGSgPIx2y5r7AYSCZL_3Emd2xZw7HlwK_oyBLhKwgAqVY0I07uw_A4Cr3xU-0IugxV2_l6d1o4dO6zDDdi5weePpzUIGkPm_gh_Vk3-yqjGkPIHmefEjZ3DwISf9KwskElYG-txmdp3R5hSNXCkAciXOJ_JhFPo=",
  "id": "rs_05f84500598e1b8b016aacc6b3814487d0bad197e32f3c2d4d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bottle neck is now between the jaws. I’ll close around the narrow neck and check whether the gripper holds a nonzero opening.\"}",
  "call_id": "call_Owl17mSb1bTtx1ysz8q1upXO",
  "id": "fc_05f84500598e1b8b016aacc6b40e3c87d080941e00c076f0a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Owl17mSb1bTtx1ysz8q1upXO",
  "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]: [-0.5163, 2.0289, 1.7981, -0.3573, -0.6514, -0.371, 0.391, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5454 left_y=-0.1823 left_z=0.2345 left_yaw=0.2092 left_pitch=0.1041 left_roll=0.0168 left_gripper=0.391 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0007 right_pitch=-0.0458 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -11.8222, 6.3795, 1.1453, 0.0952, 0.188, 0.8864, -0.0615, -1.4291, 6.9812, 1.6728, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:537b49592b7d4a938d411613f74039f7bcbc08ee7bdc7f649a204f849ce3a07f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fd6e1b7b0cd160e37a90cffa424b2b58918608f311c9c8143899b6d47d7d57a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b929eb98eb42024b36b583f3159745d17cd68fd37ca1fc8c49146b074e76c290",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 11.31 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]: [-0.5194, 2.0281, 1.7908, -0.4046, -0.6189, -0.347, 0.9981, -0.0208, 0.812, 0.6415, -0.437, -0.0105, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.5391 left_y=-0.186 left_z=0.2217 left_yaw=0.1652 left_pitch=0.0504 left_roll=0.0588 left_gripper=0.9981 right_x=0.2927 right_y=-0.0006 right_z=0.1805 right_yaw=-0.0005 right_pitch=-0.0435 right_roll=-0.0004 right_gripper=0.9997\nstate[joint_eff]: [-1.0598, -11.3983, 9.5521, 1.4725, 0.1099, 0.5006, -0.0024, -0.1983, -1.4291, 7.1043, 1.7265, -0.0562, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.3,\"left_x\":0.535},\"note\":\"The jaws stopped at about a 3.7 cm opening, consistent with holding the neck. I’ll lift roughly five centimeters to verify that the bottle comes with the gripper.\"}",
  "call_id": "call_GmKhGa38fG3V6Zvv2lucnVNU",
  "id": "fc_05f84500598e1b8b016aacc6b81c7887d094d0490f665f67b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GmKhGa38fG3V6Zvv2lucnVNU",
  "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]: [-0.5186, 2.0388, 2.0041, -0.601, -0.6556, -0.4091, 0.3931, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5374 left_y=-0.1786 left_z=0.2745 left_yaw=0.2277 left_pitch=0.0709 left_roll=0.0167 left_gripper=0.3931 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0003 right_pitch=-0.0477 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.0462, -11.8222, 10.0991, 1.8779, -0.315, 0.2711, 0.8523, -0.0889, -1.0462, 7.159, 1.707, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37c6bff8e50af266bd56d6dbcd7d505a0acb8161da5c2050d0e22b461ce0806e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a9fbc8402ecc030d15972d094ff77ae134eaa68230d5276b82e5c422486a77c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3690f3fceea4458d99b601300ad873a1a31e82488a8715cc75d4de84b33cb4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 12.18 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5163, 2.0289, 1.7981, -0.3573, -0.6514, -0.371, 0.391, -0.0208, 0.8146, 0.6415, -0.4366, -0.0101, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5454 left_y=-0.1823 left_z=0.2345 left_yaw=0.2092 left_pitch=0.1041 left_roll=0.0168 left_gripper=0.391 right_x=0.293 right_y=-0.0007 right_z=0.1798 right_yaw=-0.0007 right_pitch=-0.0458 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -11.8222, 6.3795, 1.1453, 0.0952, 0.188, 0.8864, -0.0615, -1.4291, 6.9812, 1.6728, -0.022, -0.0659, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMbFbgNt57VrrKQrRjwQf1xyfpis2Yip-DlM6lyZQleDMJ6r4w3uHTpld6WW76sqlJgNzNgYkIFltKzU06bGcuYtaBSAFX9Ylu7IgSzl5G23fRMF59ai6mSXZqJMFKhRgCagxDgxSwBaOyAl7_3l26QELBwZ7V7cKlGAsQ3uPdT7VtE0D9F3hpIA-_oaQeJ6m33K0gxFMGR1hQGMahKrJc7q01dVa075WfVuwEl-jOxiJW5KAk0m2Sp_irFr3_7AttvQnmnEnBL0NFN4ZHjKxvmejBJumqrSW2Ii30GRmXj__xQ_b5olV7CyCMfA-KC1ajDEmUJN8oIyFWPPeFSgZgvio8FTouqYIOrpulFK2eD47iWN3C3a5F5JDjtKv3AlXkwBwoT-k2Z0JRelc2L0SXN_s5N--zErJ0qX9LZaO_r5VHclffwoFUCqDABAzaV2U3oxk7w7qXiYaB7zK1E24sRaPekE9AOHsvmg3jSdDdbqqVkB5sv5GA-62C5YEW4iRgOz0FBGkak3HBs_52wOrJj8tVbHAOfT6KHhAuZStuZC5aHpmHOeAkEcvqetacvh28oEVwWI9ek-b7ZxULu7ggNUIRf-xQt_Xemqb9ULzUl2w07JBKksVaO-YuBxlfpxDlhc47sKaOLMAedejWrSKbE9bCEAUk6x6hQRyadPGXYnG-EGy8uCmjRMKHXj926vRhe-0-12z2y8zCMz6tf0SMZwhmtLlKoUATxFnL56ksP45tXZzzKuzpS8lODhQPkdMogwbETFpgCiZdst9N9iQSb7fik4rAQZM7KKK4_GjVP4aBydICscLfryrvW-9KssmKphposzpO2toInRlR9IO4oHtcQC9_bGTUzGCCy4ZdY3fTSUIog9DDlIS6ElAA5TcQlYi_SqPNnsnuZSN2spEhp6LOG7mTa_uA0K_7783aSUlDscOcfoM1lT_0un1g8CFnK-W64QxMhRHrPN1Aj6ovfJW4hjtyVv3cZVaDi46CivVUaMpaPh0JesjqlYyPN1MJNuBcTs1nneeXExSPq5U5CJ9EMaVaOIDAIYCarVa-u_m9h3YwOss0lONRJejapxncKfhpxmUlPx1nNjwTkcvUlYxTzN6fRzQvs_4gMdcAhIyyJ0McQLcFBzJsl4EoSj5HlImUPyovb3riEfohiXia55W9lyWpxdw6CgpSeBUL1l5T4CLcGxX5RLg8N88t_qKMoJb3aUxEKqwBBgvZS4z8iEQ7wc8hDARvL8Uy-_wTYdZCvvs8HO1eG0j8UNJjmrxN4ewWtn2UhlFl-ia-3c_1fSUB3u74mj7UEl5YmIjxR8uDSJYlorW1Mm48bc0PkOErjbgOUrlqNPW1GWQAmxWByi-11O7JKUolgop_1Ql-RNEfhW9h4dVPITJuGiaPUvCBW6vicYYUdaBq4JP_bWzdj4MBv2ionimDzqs3qtwqQZmYLeAboECp3z7r2tTPUYeKIB3uxcHQzMn9EXpvF7WLGybMZqWrsYXUjOw4O0sW_SNhvMEZAhd6Jf-MAi-TLgVHcEGJriMGmrngRM4-YpAkAkY2jsGL5UQG5V4bJomcBC881pLU78lOd0Z_zIFz3_rAcWsCeRJ3j9mDbYPyG0585FSHHNGGj430oB0z5Fqa32JrEEymep_pkGve0Wa--VHSr_33ssoEmoSbxKWVmNwtllMKWPot8-mTutlQbVC9rLyfaS_3Cb-gz5GVAh3gpw2VSZ5y9giMPBChpEYe-QnCsdX8d2geMUMBRH87_ZPN9GNH6j-7owN-KP7mT8te69fYtXZ3eDZyna8wsJIrCWdWyqKuUzMW3pz8Dsp-LwnLSX5v3qUrfb4QDd_KUcxNB2RFKPED99BLFXCNuDJjOob5uSiJy7NJO7sN2OWpnsuc38LcV9vqliuVkW_J1pXEzSMiQ-Qzjdi2Xj0GZ5g8ZwcbPv8GIFCL_4J-kxTut1-NqtVbXCbq4F4hgJ1T_qnu0JtmqeG-AtIVoF36D5Xi_GdyyxkXHqplMUVfnjfuC9OFnzZWHgBvdGChyonSyLiNl1iU2kbrPbwcfx_CdX3LKPyGaxOvUW_-wyRsHGbreFM2ob51_rxV2hSiSAAj8PppLnuIrmnFb6tIxdcsnWlo7xy20ivuASIgvymw_fHVRd-WXFIu1om6mbGU_JYYkwVZhb6bOITBG4kpPi-0foiQ0thPZJ2zc-fJ9NfvunISIX3sk7jGzm-d1-IFhagaGN0RjzeDeO",
  "id": "rs_05f84500598e1b8b016aacc6bd055087d095f8fe6b92470efa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.565,\"left_y\":-0.26,\"left_z\":0.34,\"left_roll\":-0.5,\"left_pitch\":0},\"note\":\"The white bottle lifted with the gripper. I’ll bring its mouth toward the red cup and begin a gentle sideways tilt, keeping the bottle clear of the cup rim.\"}",
  "call_id": "call_SQTxpLPB9eRUTXGdhQtKf2yC",
  "id": "fc_05f84500598e1b8b016aacc6c360b087d088c0b20ee1f00a82",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SQTxpLPB9eRUTXGdhQtKf2yC",
  "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]: [-0.5499, 2.4233, 2.772, -0.9947, -0.4736, -0.7868, 0.3952, -0.0208, 0.8196, 0.6415, -0.4362, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5642 left_y=-0.2471 left_z=0.2892 left_yaw=0.2489 left_pitch=-0.0467 left_roll=-0.3776 left_gripper=0.3952 right_x=0.2934 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0003 right_pitch=-0.0504 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -18.7009, 6.8855, 2.2247, -0.1197, 0.0904, 0.4713, -0.1846, -1.2239, 7.159, 1.7607, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39b29b7a3b0dd499f35b2e4246b2564ede7705d3fedde8730eb9d71655896d45",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01b791ad7ee03ec2a2febfcaabbd57e96036935c7718a959f2f8fb1e38578fc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d69743db9c9f9acc0d68ac20914c4d2e5c55ca23034323e9dd59b2aeff8a68",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 6.041 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]: [-0.5186, 2.0388, 2.0041, -0.601, -0.6556, -0.4091, 0.3931, -0.0208, 0.8165, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5374 left_y=-0.1786 left_z=0.2745 left_yaw=0.2277 left_pitch=0.0709 left_roll=0.0167 left_gripper=0.3931 right_x=0.2931 right_y=-0.0007 right_z=0.1793 right_yaw=-0.0003 right_pitch=-0.0477 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-1.0462, -11.8222, 10.0991, 1.8779, -0.315, 0.2711, 0.8523, -0.0889, -1.0462, 7.159, 1.707, -0.0171, -0.0562, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMbSl-g_RK6yKnOpmtJSmrybH20KXJbr4AqBxO8T3RGEksqfoU5fErngO_OL13HpDTLfbgyg3lnS37x4qhUe_9PdAlguzlE0k3SY0aS_U9jSDJmwy_hybInFrb8SuMLldVHzLfA9rn2Ek2e77Vum1n6bslYUzr25M1vnmWcx0ttlLnk6jUzO5pgQVKpvaXmpmZ-7--g4G0e84bnwGv1FpOcK9CBF5zgv0kBZZedEVbb-SNSdPou3PNxocJhJNtDeS4RXC4wF_HU0_RLxqdGE2odcC6kSTVGo0XPbAgeBTsht1Db0Ts5Lr7_fQwiEquNy4bL4lSpW5p36zBEM4nxHCTnxx4VWSR7Tynh66EDpw2_XlTR-BrM1zuc6P7jFs6GdfcvH__Q7ojSyxUWvtblEgq59xnov85GEgR8xX_cVpjZBtP1yGOK0Lc2PyNFEehouqnvH4Xd_9iLGCa5mkHivfCcbu4hJOnxrizMcIo904_JrmlYgxXXAWOBhN4jPPj5DzniTINKZwcOm-4bPkuJ17Fuk-DlW5lWdg62_N8cCp_8v3PWVIbV9nOo7FwmjsYTZ-gmp56dTcl6Sb4hn4DNMCpLQ7Niet1m8BKje4Yz3ryCn3rM8wOcygF4P-U_92m1Ins3sRSacPGKOPwrtQxitB_ohLVREzRJasPWFXZU22WguZxMre58V7dQNoZT1-Pe-coY0AiKnRciSFLvG3y87u0ctpybAd66eRMeN6o9cjeenDbnD-0j2VZ7sedszBNWGnQ5JWqubkOA3XRhTtFLKWzTykxlMIFv4nGnLNVIVjn4Avb8AbFLxsXiEVb8lJiypR_YHZgmrgeB7ixy9yRGwUUlX6f8l7qzHaTVIXHTEFwAqjVU-N6sKyM42Ffogn1ep4mBL6bMEMTmq6GB6sAcqLDbxYxUH4f4vw4S9sV3-xBt-Q6sL9CNMghS2I8zamGDfhm_McJRKZK7vS6FaA_1UCW6TSY0FytOkpFN-pCECBEUGD5PjdAHFa6Wrt1OhH1E-yNLfZCovEqdO6Ym0biGWXBQ8_FUV3lmiWew_jPFZtD837gVTQXrYJGxmbtkBshEEQdT87oVrV3LkkmclQu0XLsz7SchCtc7Muu7kadoRqdIv24KdIKdX7QFHWeQB0b_pOuN3sTt13N72rvkc5hoDbP70AlDVMEHI0DP9crm1oAA1e-Yxjp2a_vO2NJZQ0dF4_5Un1wGZx4pztcwFXvL0JGkidyliBpdGkvVSEkCGzllnX3iDUSlrnMtMvrNSX25mw8dHPOu6oKn49CbomfZfX3zaPLgF3FxnMxgyParDaPuStiUW509BZ7-75ry6Zl1xD3GXEGoHCwJmaJ8aIIe-YnD6FyCwjgMyXofFw1eAGnEJxqHF6hZo1lr_ROtjFf7CHQigsPrTnV5tHfAhxZ1PqDaQtliilNhNiEMNcbnX9WkEudyEPCFfsTDyBALgBpF9K8kh51loVicbG5TphEhR2WCCC7aUscnA_OcgbaK0-VEC86v7g1N6OjBKESaXHm1qYNJa8Lmrv9QbLfFW35leU1HRckcwMuTHbCDYu9DQOEyRBuGhzhtBZjrolQBoTOkj2V0HAUnTJG4zseJ4mzJ1tKyiiBxHOIuUEmpmoM9EeG_hd0SLFPB8uL4VFGcjnKcjteQserUx_J1NEJ7xFFQE6YYINTrq7cP4NEBGCQSmvTeCAds0yph1C_67gZRENfAi_LWEkiziv-pVIWYesDXhWOU7kLylA_7MAP_3PMTEkkgVSZ0FPRwbYgj3p9lGuSwVkHOVqZ04VnYrTsef0LBgveHzDV9F5WJa3CtelveqmREdVC_5iMbp8O_2x0QYfRbL9puX2FqWtxkgM5G73a-aSuheL_N_L1D1LMQwUaakoMg1Hj5Mg2dzjs10Y9rspWJ3gxpe6B2E39abjDcRYdBDE_VKAmamUTcPWJHZqYQoa_EbfjExPI1CRCEYFqWXb4ajunH09pAlXYI3DHa4Z3Kd_bkZgrVZW-I-C-Z0YICvkOvXkQtpnrjC6bAMYPo6UgnHlUEbiEsAALQ8RW6d3giaXWEe8F6-xr7drkMxeg9EMsl3eU36y9riF_pfWt7MJtkejSgF6cUfUz5J_nN8pcuN-3RjBTgvNgR2f0EUipUonNESgno9qdKw6NLnldWxo2-55APGHgu3plyxBKFstj2CKF7PdTg_XMxmY2WjLwwHJ6NPi5rye1RO03V70JM41n32nInhuPYsROtyOgAe6Hil3fXTYFBCLvz6r7rz6KNYNddF_iwaUuNnq9ikKqI0KC-Oo0YBAW1fMKIPimtrsQgLE5f5EPvWoryyK09ntQ8FWosr374LKHsC35PMpq536OdeC0b3-CNuaBrrkM7igQ0OVFqVrVAMGfIWJccsW0gap5iypBu16-dPWD_w2XSXxpfBPBH6dG4S3CcUstcFH5aV2hVvqO3JeJgpKVAtCq4rNCOnDrfKPEeUC_Q5mmakwwc2qoUv2y45plNsgD3w1bBHld0k_bSWXixrU0jRQpeP_j3LTWM0iwRc04zSWiYmVp-vo5J1ulwJG4X81FNISLnjFCjZ_b2qyDjSTwCva7Csd4bqEDN5Zq4UKpSpO6iqMa5k2dmBybhUQ5nL2aAk13f8hM5B3i0EyuxPwzUyGyDqsS6jUrUMX6LaPrXa8dvy87KswynmomAP08croippxrAr70hjC3Aict-awOBNlt5TNyZKoFYa4SYkqU16ZBzUuUFDdhuVcagDx0RBqf0xLOAUVGkf8YDhRRdYz1PVu0fxlldR-8ffAJE5VkNRxmANMGyYBj-MYQH6fOI_LslGyInpiQkEPg==",
  "id": "rs_05f84500598e1b8b016aacc6c845d087d0b3a9c51582336421",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.59,\"left_y\":-0.275,\"left_z\":0.27,\"left_roll\":-0.95,\"left_pitch\":0.25},\"note\":\"The bottle is secure, and the red cup is just beyond its mouth in the wrist view. I’ll move slightly forward and increase the tilt while lowering the pouring height.\"}",
  "call_id": "call_yaLnEV1vcQD9EtVni5ebzs8d",
  "id": "fc_05f84500598e1b8b016aacc6d0ac5087d0bfe272346983d084",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yaLnEV1vcQD9EtVni5ebzs8d",
  "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]: [-0.5488, 2.6465, 3.0699, -1.084, -0.4515, -0.8387, 0.3987, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5813 left_y=-0.2608 left_z=0.2524 left_yaw=0.2581 left_pitch=-0.0769 left_roll=-0.4188 left_gripper=0.3987 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0523 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -15.5009, 8.0889, 1.8828, -0.1929, 0.1148, 0.3541, -0.0615, -1.4701, 7.1453, 1.7363, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d43e7ab18d71a437344bba3370ae5bc1a6f4ce23b928d9910b23a6f0d137efc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caa81d8b8640ee03f1629e0dff9403a4304d76e9740d0122eb6c7532805cad26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec3644e71742ba7cf85c1df5d605c730034bfadc4fbbbb47892ede410ba9f474",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.109 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]: [-0.5499, 2.4233, 2.772, -0.9947, -0.4736, -0.7868, 0.3952, -0.0208, 0.8196, 0.6415, -0.4362, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.5642 left_y=-0.2471 left_z=0.2892 left_yaw=0.2489 left_pitch=-0.0467 left_roll=-0.3776 left_gripper=0.3952 right_x=0.2934 right_y=-0.0007 right_z=0.1785 right_yaw=-0.0003 right_pitch=-0.0504 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7179, -18.7009, 6.8855, 2.2247, -0.1197, 0.0904, 0.4713, -0.1846, -1.2239, 7.159, 1.7607, -0.0317, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrMbZuN490LSIOEM0zlu7zCyvQdq_Uevvd6F9NR2ueGFXnZ4McFabV9fEGlCSofDXM8Z5gS47WvZSf5wg872ZLRcuBlXaNgY4W83Wjjt1XrmpzeY05ZharlwONWdNF7lP5RcACltq52WOeaK7LdbXKkV64PrCahx_vqd4ugsgr9czx439u4cOQKQ9dzCRABPHXo7bREPP_sfmkbeJ9Gq5YBc0HXJafcgWbJSU2KPsIMimS4cw5N6tqQcKE7dzt8FpRP238XLY3LZfRaRd4I4Qvt3WOz3SW7uho7Fu-aKjxZ3BcX3X6oRAVikdZkwmy-GOdL_QIEj8jFiqpsg3EugCOM9rZZfG-2iODHMfEDoUFxjzzegnzt3DpwA_mxaD7cexdL2O6zYwh5BiMnRV0h8W1nnP7R2bybL_cgFhfjeuZ_wu4yalWNZdFB-Bv7hcpmRbDUrKpZvMO3M-v93FFih3n6M-RscGMPKbfmStY9y_XRQTjEBbWbKNTSztAyrgwNa1LehBmS4i1Q5CIrgd0aHrphr1TnR40fjGTHYa0K63PWhArpSeJapvdRKJT3fjnSEiwzbhYyD-8XWBsR-8mzg1Tz80j9clB5OzOOZgc6bKDVuKr8bNXLHqfR-FHHOEimV_ypAu5lhKeRuSIOUREmBRjP-lG9ibGFSC7o7qGkyULai7NqwCopMXP8et5Xrse9BKFN5ZpSJ0JMIInjmWWtdcL72sAEsUuZfe-cEqw2iKVuQ2OVGrbPMAS3PhKWFqBHMn4fA2WzjdPe4_oeNa80UMi-jDqkvEqHuXwlg6oiqylAcqGzj988cwWT7yieuvfjaV-Ke9yJHVm5CYcJB8AZQlZ4rCrleqHCmez0_wYBzZHDyumC2vcRzZTrjtvPijnaepF64rzWcCpUAOH73n0regGURSeSqCta6P6ddPEwS8tDulTnhm2qbI0TDQtmo7ldJPEbocoRd1aFe79NaKGttFYhTg0wUv8Hi425jfmZia24HBpzmX5ud5GC-7nj2H4w7t_FTYP8FnuM2-HQeg-xVkY7mz7ffF4ABBShH8Mfn32pJxQ4_7uk-l-8bzfz9NnZ8OJ_h9OJqObmobfcC4_sVl1Dh5ZeeaA4OMzh0LdBPamP2280kElwrTzn6G_8UdD3YHgGkt2z-T3hHZQpDJZ1qXoA85dVulAt8ln6jZbpnDRvcCMzB1karhj-_B5nwfQ2MPtim60c7-YNdAmzMhSy9SkA--cpMDsa3fQt98QC0ylIoMAOEqrIheCo5pZf24mADGabDAHwZBJ_hR8jpLbfLR_QOBc0WuoO7WfXPKoD5SzZfrQOdCBdaU8sanYrEZgOE3dibsfTpbjAAC2-k_D-bFbwx1PltvFTPiIQ9ApkvaDRgrv-n5xy71VP6iVj4-AcFtZIb4LzZ0yL9qWHU7VyA0ALT8MgjJl_yXRnngNfojyOcU3s5sPFocHwWz-y8IO3XOJMVNaVsGuoBg64uyHnhqBiY20VrMAyixsyvArfRR_gaI14W3QcA8aWHZPq_P2Hbni6BxnnPaDdLgmgm9tNk_Xr4wx-PiK3CupqhRp4zWr9xU_TJZUIqpJRbHYqw_USAmGOyywa6iusfkq4NhELKWn5DXVkF0d6wpGlDxNpLzJjTCukM=",
  "id": "rs_05f84500598e1b8b016aacc6d5061087d0b850db632fed52d4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.51,\"left_y\":-0.255,\"left_z\":0.31,\"left_roll\":-1.2,\"left_pitch\":0,\"left_yaw\":0},\"note\":\"The arm reached forward but did not achieve the requested tilt, indicating a reach limitation. I’ll draw back slightly to give the wrist room to rotate while keeping the mouth near the red cup.\"}",
  "call_id": "call_rQv4xKsihDADANNsnu1DPEIu",
  "id": "fc_05f84500598e1b8b016aacc6d756fc87d0b07138ea6dbdbd34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rQv4xKsihDADANNsnu1DPEIu",
  "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]: [-0.4458, 2.6492, 3.113, -0.9363, -0.0097, -1.2083, 0.4008, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.6021 left_y=-0.2818 left_z=0.288 left_yaw=0.0937 left_pitch=-0.2089 left_roll=-1.0148 left_gripper=0.4008 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0523 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.335, -20.3009, 7.8701, 2.9231, 0.3492, 0.2515, 0.2076, -0.212, -1.4154, 7.0085, 1.7118, -0.0317, -0.0611, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582e8ab8c7dfed7981d4adbf6c5feec521ccfad76d8e86895346aab3a8d7f017",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52a32b79b75112cd13ea1c8050cd55d3f5488d92558b598e6bddaa03f5bf1c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07efbb3fb99fc1ac1611595a54c11f97157d52ae7155aa51d9b6e128c381b42b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 8.403 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]: [-0.5488, 2.6465, 3.0699, -1.084, -0.4515, -0.8387, 0.3987, -0.0208, 0.8211, 0.6415, -0.4366, -0.0105, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.5813 left_y=-0.2608 left_z=0.2524 left_yaw=0.2581 left_pitch=-0.0769 left_roll=-0.4188 left_gripper=0.3987 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0003 right_pitch=-0.0523 right_roll=-0.0005 right_gripper=0.9997\nstate[joint_eff]: [-0.3897, -15.5009, 8.0889, 1.8828, -0.1929, 0.1148, 0.3541, -0.0615, -1.4701, 7.1453, 1.7363, -0.0513, -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": "gAAAAABqrMbf2JDNXkdGHyEXoOi5glX4yqHAH6adPllk3Qivn7WW1x5xMFCSB6IlBuos61JQzmRSZw2xlvGViawZIjfHEwqohz8ixEBLI9T9TJ80OsHeA-6Va7AVBPMYf4QtGiD6CAuDQ3Y8X2aT7pNsoTepUHYfGD-yu-xOLOr6cucZ-v48k-dBUOro12zjSs9bALuSS9wY-pi5LzpTd0xM2egjzvyeV_-DJeLgTyIqNgBmE5bXdvRWkG8JzZ1dmnufmlk3L1nMQVU6wZ6x21n07Yg4yWZePobM6ydgVSm7I6SeqDpqMYxXXKeora6oQw7LryANXd5B2vYdsm5AwEd-VrSUz8BvVH0hg4I2-ZLFKTp7a9vKsTdXJ5I6iVTiaPnz8aBq__J3sok1g51HUS1qRJHCaAA3tylPK6dv2gFXnYkNfWtaJDxZS5aWuBas5Q06yk-8zoO8_TRhZBFj84FJPHIoLgcONdtwbpQDB1aKv9ZO7uIIXmgfCykW-lEHUEtdNwcsKrqycZmlE588MqTNLgCX95oHJ1lqwX4uhQbaCHpEaSBwc5wuO8gGYg7EnZy2Dcqs_Wup_ZxO3WRKJAc3Eo77Nj_sbQRRdL3lVwmpqq-qR5-hZ-YJ5s7knopIffyyB8Rc9dRxSXiEq6RHHCrqXHQhBCtaJqMztWQmdu3MeC0B0exbk5OvX-ExuFRB8xiokp7YaZsjbThBb4bxyUzQv8xjmBhU0P4IOF_hDGifgGFuONSKhSIsxrhaTKczpyonbHM7tmZx-N_kQr8-mCVIofapfMO7pWqWaDyYNsUu3U4xWqzidjeLATpLHsUO-G8YWhBiMzG-daELDAai2pJcHty3jUKUT_OwTw7FV37fy4DBR4_1iFu52HUT12ndoNkD_--eLX-8ZdyUmrh3WZ8a3hUNF_PpIDKcqNk2Nkhu5O1jjZakoyhayxf11VNc6aGhpQ67BN2UsO_Ork9o1sv2dpVAWZMdSmPe8oqpGkCdiSfZRhY5hzmWfRvOfPMSxrySCovwF4tsOlE3TtPODVsjJhOBNXWT3G3QJA3s7_HPuGWU9CVt-CeGLUF-BA3RtJ2Jviudw77Q1Zxp730BXfXUlIoo6vtiphRGV8TY_FAkDHJoTo6q0amrq0J2P7djSww_Mus2Teg6Kd0EnmZ6BhWIDiRBYOj5Nx6ETF5zQ5O8BzDwQaMbWk1jp_NUWMo8DIgq9tQ_XBkuXjHPRz0AZdnDxb1hOo2y8_u_2KSoTp-lrUn__eq2pDngGTBibCRlMkGBZwi9b_T0O7nQ73crWKxO2ZdygzXFohG429Xx3BuP_W6n3GgcmLg30CtCIWcQJnmTQrHB7xnu0H9th8sFCzbhoiITaBB_EldHYEmHs_z11j8V-8_z4NRnDAbQqFQrPu71oiT95t_Kx_qOxXrbW25SE3jimHZBpw==",
  "id": "rs_05f84500598e1b8b016aacc6dc199487d0b368cb98e69eaf3c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.26,\"left_z\":0.23,\"left_roll\":-1.57,\"left_pitch\":0.15},\"note\":\"The bottle is now tilted sideways, with its mouth above the red cup’s side of the scene. I’ll tip it farther and lower the mouth toward the cup to pour.\"}",
  "call_id": "call_yeA2bqk93EEHgnNJeU7TBOlV",
  "id": "fc_05f84500598e1b8b016aacc6ddb09887d09a010e235dd5d44b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yeA2bqk93EEHgnNJeU7TBOlV",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4953, 2.9402, 3.1176, -0.2955, -0.0635, -1.4864, 0.4037, -0.0208, 0.8211, 0.6415, -0.4366, -0.0101, -0.0269, 0.9997]\nstate[eef_state]: left_x=0.6706 left_y=-0.3455 left_z=0.2383 left_yaw=0.1266 left_pitch=-0.042 left_roll=-1.4265 left_gripper=0.4037 right_x=0.2934 right_y=-0.0007 right_z=0.178 right_yaw=-0.0004 right_pitch=-0.0523 right_roll=-0.001 right_gripper=0.9997\nstate[joint_eff]: [-0.6906, -16.5128, 8.4991, 2.8498, 0.2808, 0.0513, 0.2955, -0.3761, -1.4017, 6.9949, 1.7216, -0.0122, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e226b52f16811fa0c8bde097b674788b442fecdfbfa56bb6a4cf0d63a817f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40073b270835cb566e8cf4ad36f44750fb7990a71fdd257d26efb1ec95341bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f9affdd7a0781ca3167c152ad1834de24b93f7d75408b42cf42d7177ba9a2fd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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