adhoc

completed
2026-09-22T17:02:48.459268+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
40
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
900
duration
175.5 s
total steps
214
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 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: Stack the bowls on the table.
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 40 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: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, since the whole bowl is wider than the gripper.
move_to
left_x0.3900left_y-0.1400left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3775, -0.0223, -0.0257, 0.9996, -0.0216, 0.7937, 0.6037, -0.3794, -0.0166, -0.033, 0.9969] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1811 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969 state[joint_eff]: [-0.4171, -1.5658, 9.8667, 1.8486, -0.0611, 0.0806, -0.0562, -0.4171, -1.4154, 10.1675, 1.8437, -0.0806, 0.1685, -0.3346] 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":0.39,"left_y":-0.14,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.20},"note":"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, since the whole bowl is wider than the gripper."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl is centered in the wrist view, with its rim clearly visible. I’m moving slightly forward and toward its outer edge while lowering to rim height.
move_to
left_x0.4250left_y-0.1050left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5343, 1.4277, 0.8089, -0.0856, -0.4282, -0.3161, 0.9996, -0.0216, 0.8051, 0.6426, -0.4591, -0.0162, -0.0425, 0.9967] state[eef_state]: left_x=0.3771 left_y=-0.1337 left_z=0.1308 left_yaw=-0.0201 left_pitch=-0.0639 left_roll=0.0277 left_gripper=0.9996 right_x=0.2893 right_y=0.0002 right_z=0.1784 right_yaw=0.0049 right_pitch=-0.0527 right_roll=-0.0069 right_gripper=0.9967 state[joint_eff]: [-0.294, -6.4205, 8.8957, 1.8632, -0.2711, -0.0806, -0.0513, -0.1162, -1.4154, 10.7556, 1.8779, -0.0611, 0.0073, -0.0317] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.105,"left_z":0.055},"note":"The left bowl is centered in the wrist view, with its rim clearly visible. I’m moving slightly forward and toward its outer edge while lowering to rim height."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe wrist view shows the bowl’s outer wall toward the left jaw and the opening toward the right jaw. I’m shifting outward a little to put the rim between the fingers rather than trying to squeeze across the bowl.
move_to
left_y-0.0700left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.382, 1.7058, 0.7418, 0.2058, -0.3355, -0.242, 0.9996, -0.0216, 0.8097, 0.643, -0.4686, -0.0158, -0.0452, 0.9967] state[eef_state]: left_x=0.4096 left_y=-0.098 left_z=0.0438 left_yaw=0.0199 left_pitch=-0.1415 left_roll=0.0541 left_gripper=0.9996 right_x=0.2882 right_y=0.0002 right_z=0.1754 right_yaw=0.006 right_pitch=-0.0664 right_roll=-0.0089 right_gripper=0.9967 state[joint_eff]: [0.4171, -7.9111, 5.6, 1.8632, 0.0024, 0.1343, -0.0122, -0.212, -1.5932, 6.9812, 1.746, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.07,"left_z":0.045},"note":"The wrist view shows the bowl’s outer wall toward the left jaw and the opening toward the right jaw. I’m shifting outward a little to put the rim between the fingers rather than trying to squeeze across the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left rim now lies between the open fingers. I’ll close gently on that wall, then check the grasp before carrying the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3092, 1.7012, 0.7116, 0.247, -0.2871, -0.205, 0.9996, -0.0216, 0.8101, 0.6415, -0.4706, -0.0162, -0.0452, 0.9967] state[eef_state]: left_x=0.4121 left_y=-0.0754 left_z=0.0401 left_yaw=0.0322 left_pitch=-0.1402 left_roll=0.0457 left_gripper=0.9996 right_x=0.2878 right_y=0.0002 right_z=0.1743 right_yaw=0.0063 right_pitch=-0.0702 right_roll=-0.0085 right_gripper=0.9967 state[joint_eff]: [0.3077, -9.1556, 5.1897, 1.6239, -0.1099, 0.1783, -0.0122, -0.0752, -1.2786, 7.1043, 1.7118, -0.0513, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left rim now lies between the open fingers. I’ll close gently on that wall, then check the grasp before carrying the bowl."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed almost completely, so this was an empty grasp. The rim sits just to the right of the jaws; I’ll reopen and move slightly inward and forward for one corrected attempt.
move_to
left_gripper1.0000left_y-0.0900left_x0.4450left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.289, 1.6844, 0.7074, 0.2405, -0.2707, -0.1905, 0.0239, -0.0216, 0.8101, 0.6411, -0.4744, -0.0158, -0.0486, 0.9967] state[eef_state]: left_x=0.4121 left_y=-0.0695 left_z=0.0436 left_yaw=0.0307 left_pitch=-0.1384 left_roll=0.0443 left_gripper=0.0239 right_x=0.2872 right_y=0.0002 right_z=0.1733 right_yaw=0.0079 right_pitch=-0.0744 right_roll=-0.0114 right_gripper=0.9967 state[joint_eff]: [-0.0342, -7.5009, 5.1761, 1.2674, -0.188, 0.1245, 1.1111, -0.0615, -1.2786, 6.9812, 1.7167, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.09,"left_x":0.445,"left_z":0.04},"note":"The gripper closed almost completely, so this was an empty grasp. The rim sits just to the right of the jaws; I’ll reopen and move slightly inward and forward for one corrected attempt."})
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 noteOne finger is outside the bowl and the other is inside, with the wall between them. I’ll close on the rim at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3149, 1.8084, 0.8284, 0.2134, -0.2882, -0.2134, 0.9946, -0.0216, 0.8101, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967] state[eef_state]: left_x=0.436 left_y=-0.0854 left_z=0.0326 left_yaw=0.0332 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9946 right_x=0.2871 right_y=0.0003 right_z=0.1732 right_yaw=0.0082 right_pitch=-0.0748 right_roll=-0.0112 right_gripper=0.9967 state[joint_eff]: [-0.8, -7.7607, 7.665, 1.5995, -0.2418, 0.0708, -0.1099, -0.0752, -1.2513, 6.9402, 1.6435, -0.0708, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":0},"note":"One finger is outside the bowl and the other is inside, with the wall between them. I’ll close on the rim at this corrected position."})
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 jaw opening is consistent with a thin bowl wall, and the bowl shifted as the fingers closed. I’ll lift a few centimeters to confirm it is securely held.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3195, 1.8057, 0.8345, 0.2489, -0.2794, -0.2359, 0.0414, -0.0216, 0.8116, 0.6411, -0.4747, -0.0158, -0.0486, 0.9967] state[eef_state]: left_x=0.443 left_y=-0.0915 left_z=0.0419 left_yaw=0.0314 left_pitch=-0.1222 left_roll=0.0101 left_gripper=0.0414 right_x=0.2872 right_y=0.0002 right_z=0.1728 right_yaw=0.0079 right_pitch=-0.0764 right_roll=-0.0113 right_gripper=0.9967 state[joint_eff]: [0.1436, -7.4735, 5.5726, 0.9646, -0.2125, 0.1783, 1.1209, -0.0615, -1.2103, 7.0769, 1.6532, -0.0317, -0.0415, -0.0171] 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_z":0.105},"note":"The jaw opening is consistent with a thin bowl wall, and the bowl shifted as the fingers closed. I’ll lift a few centimeters to confirm it is securely held."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe left bowl rose with the gripper, confirming the rim grasp. I’ll carry it above the middle bowl with clearance before lowering it to nest inside.
move_to
left_x0.4250left_y-0.2150left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3191, 1.6997, 0.9195, 0.0273, -0.284, -0.244, 0.0415, -0.0216, 0.8116, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967] state[eef_state]: left_x=0.4394 left_y=-0.0893 left_z=0.0804 left_yaw=0.0413 left_pitch=-0.1497 left_roll=0.0175 left_gripper=0.0415 right_x=0.2872 right_y=0.0003 right_z=0.1728 right_yaw=0.0082 right_pitch=-0.0763 right_roll=-0.0111 right_gripper=0.9967 state[joint_eff]: [-0.2256, -10.5368, 9.0188, 1.6044, -0.0952, 0.0415, 0.9988, -0.0342, -1.306, 7.0769, 1.6532, -0.0562, -0.0415, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.215,"left_z":0.2},"note":"The left bowl rose with the gripper, confirming the rim grasp. I’ll carry it above the middle bowl with clearance before lowering it to nest inside."})
tool
executing move_to over 12 steps (1.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe carried bowl appears laterally aligned over the middle bowl; its higher position explains the upward offset in the overhead view. I’ll lower toward the middle bowl while keeping that alignment.
move_to
left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6498, 1.7477, 1.4544, -0.561, -0.4915, -0.4961, 0.042, -0.0216, 0.8154, 0.6411, -0.4751, -0.0158, -0.049, 0.9967] state[eef_state]: left_x=0.4242 left_y=-0.2131 left_z=0.1883 left_yaw=0.0206 left_pitch=-0.1608 left_roll=0.0081 left_gripper=0.042 right_x=0.2874 right_y=0.0002 right_z=0.1717 right_yaw=0.0081 right_pitch=-0.0806 right_roll=-0.0115 right_gripper=0.9967 state[joint_eff]: [-0.4855, -8.4034, 9.2923, 1.2674, -0.3785, 0.0366, 0.9206, -0.1709, -1.5932, 6.9402, 1.6435, -0.0611, -0.0415, -0.0122] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.09},"note":"The carried bowl appears laterally aligned over the middle bowl; its higher position explains the upward offset in the overhead view. I’ll lower toward the middle bowl while keeping that alignment."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe upper bowl is slightly left of the middle bowl as it comes down. I’ll make a small centering correction and lower the final few centimeters to seat it.
move_to
left_x0.4150left_y-0.2300left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6529, 1.821, 1.179, -0.255, -0.4885, -0.4984, 0.0436, -0.0216, 0.8165, 0.6411, -0.4751, -0.0162, -0.049, 0.9967] state[eef_state]: left_x=0.4168 left_y=-0.2099 left_z=0.0926 left_yaw=0.0213 left_pitch=-0.1957 left_roll=0.0315 left_gripper=0.0436 right_x=0.2874 right_y=0.0003 right_z=0.1714 right_yaw=0.0084 right_pitch=-0.0817 right_roll=-0.0113 right_gripper=0.9967 state[joint_eff]: [-0.1026, -8.3214, 6.188, 1.3846, -0.2418, -0.0122, 0.7839, -0.0068, -1.2103, 7.2274, 1.6435, -0.0611, -0.0562, -0.0171] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.23,"left_z":0.055},"note":"The upper bowl is slightly left of the middle bowl as it comes down. I’ll make a small centering correction and lower the final few centimeters to seat it."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe upper bowl is seated over the middle bowl, and the descent has nearly stopped at the stack height. I’ll release the rim so it can settle naturally.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.688, 1.8996, 1.1591, -0.1734, -0.5041, -0.5232, 0.0466, -0.0216, 0.8173, 0.6411, -0.4747, -0.0158, -0.049, 0.9967] state[eef_state]: left_x=0.4148 left_y=-0.2259 left_z=0.063 left_yaw=0.0135 left_pitch=-0.2003 left_roll=0.0338 left_gripper=0.0466 right_x=0.2875 right_y=0.0002 right_z=0.1713 right_yaw=0.0081 right_pitch=-0.0821 right_roll=-0.0115 right_gripper=0.9967 state[joint_eff]: [-0.3897, -9.1556, 5.9692, 1.3016, -0.3248, -0.0904, 0.5836, 0.0068, -1.4017, 6.9538, 1.6679, -0.0269, -0.0806, -0.0122] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The upper bowl is seated over the middle bowl, and the descent has nearly stopped at the stack height. I’ll release the rim so it can settle naturally."})
tool
executing move_to over 10 steps (1.0s)
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 released bowl remains in place. I’ll lift the empty gripper straight clear before moving it away and approaching the pink bowl.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7006, 1.9209, 1.1591, -0.152, -0.5076, -0.5472, 0.9947, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967] state[eef_state]: left_x=0.4142 left_y=-0.2323 left_z=0.0567 left_yaw=0.0166 left_pitch=-0.198 left_roll=0.0183 left_gripper=0.9947 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967 state[joint_eff]: [-0.2256, -9.4974, 5.9009, 1.3797, -0.3394, 0.0757, 0.0366, -0.0615, -1.3197, 7.1863, 1.6679, -0.0513, -0.0611, -0.0171] 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_z":0.19},"note":"The released bowl remains in place. I’ll lift the empty gripper straight clear before moving it away and approaching the pink bowl."})
tool
executing move_to over 9 steps (0.9s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteTwo bowls now appear nested at the middle of the table, with the pink bowl still separate. I’ll park the left arm and approach the pink bowl’s outer rim with the right gripper.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.4050right_y0.1300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7006, 1.8202, 1.4899, -0.606, -0.5034, -0.551, 0.9952, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967] state[eef_state]: left_x=0.4163 left_y=-0.2349 left_z=0.1642 left_yaw=0.0187 left_pitch=-0.2171 left_roll=0.028 left_gripper=0.9952 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967 state[joint_eff]: [-0.3487, -11.9863, 8.9641, 1.3407, -0.3346, -0.0073, 0.0415, -0.0205, -1.3607, 6.9538, 1.6728, -0.0317, -0.0659, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"right_x":0.405,"right_y":0.13,"right_z":0.15,"right_gripper":1},"note":"Two bowls now appear nested at the middle of the table, with the pink bowl still separate. I’ll park the left arm and approach the pink bowl’s outer rim with the right gripper."})
tool
executing move_to over 21 steps (2.1s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe pink bowl’s right-hand rim is visible just to the right of the jaw column. I’ll lower onto that outer wall, moving slightly forward and outward to straddle it.
move_to
right_x0.4250right_y0.1000right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0822, 0.9958, 0.9154, -0.6964, -0.1242, -0.1066, 0.9952, 0.4416, 1.4837, 0.9154, -0.2058, 0.318, 0.2176, 0.9969] state[eef_state]: left_x=0.3016 left_y=0.0007 left_z=0.2018 left_yaw=0.0698 left_pitch=-0.2031 left_roll=0.0177 left_gripper=0.9952 right_x=0.3891 right_y=0.1268 right_z=0.1275 right_yaw=0.0429 right_pitch=-0.1581 right_roll=-0.0426 right_gripper=0.9969 state[joint_eff]: [0.3214, -2.7556, 6.612, 1.5604, 0.0122, 0.1343, -0.0122, 0.0615, -6.5983, 9.5932, 1.79, 0.4225, 0.1929, -0.3346] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.10,"right_z":0.045},"note":"The pink bowl’s right-hand rim is visible just to the right of the jaw column. I’ll lower onto that outer wall, moving slightly forward and outward to straddle it."})
tool
executing move_to over 6 steps (0.6s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe fingers straddle the pink bowl’s outer wall at rim height. I’ll close on the wall and then test the grip with a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0004, 0.9112, -0.7177, -0.107, -0.1013, 0.9952, 0.3252, 1.7233, 0.8062, 0.0875, 0.2409, 0.1379, 0.9967] state[eef_state]: left_x=0.2977 left_y=-0.0023 left_z=0.1948 left_yaw=0.052 left_pitch=-0.2347 left_roll=0.0136 left_gripper=0.9952 right_x=0.4103 right_y=0.0976 right_z=0.0369 right_yaw=0.0305 right_pitch=-0.2315 right_roll=-0.0674 right_gripper=0.9967 state[joint_eff]: [0.0615, -2.8103, 7.0632, 1.6874, -0.2173, -0.0659, -0.0122, -0.7179, -7.6923, 5.5453, 1.7314, -0.0415, 0.1197, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers straddle the pink bowl’s outer wall at rim height. I’ll close on the wall and then test the grip with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe jaws stopped at a thin-wall opening rather than fully empty. I’ll lift the pink bowl a few centimeters to verify it follows the gripper.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7216, -0.1123, -0.1013, 0.9952, 0.3218, 1.7287, 0.7986, 0.1032, 0.2153, 0.1413, 0.0416] state[eef_state]: left_x=0.297 left_y=-0.0013 left_z=0.1941 left_yaw=0.0567 left_pitch=-0.2383 left_roll=0.0182 left_gripper=0.9952 right_x=0.4097 right_y=0.1006 right_z=0.0338 right_yaw=0.0469 right_pitch=-0.2341 right_roll=-0.0456 right_gripper=0.0416 state[joint_eff]: [-0.3624, -2.441, 6.7214, 1.5702, -0.0708, -0.0317, -0.0122, 0.1162, -6.8444, 6.5026, 1.0037, 0.359, 0.0562, 1.453] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The jaws stopped at a thin-wall opening rather than fully empty. I’ll lift the pink bowl a few centimeters to verify it follows the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe pink bowl rose with the gripper. I’ll raise it to a safe carrying height so its bottom clears the two-bowl stack.
move_to
right_z0.2050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1017, 0.9952, 0.3248, 1.6115, 0.9108, -0.1574, 0.2073, 0.1333, 0.0409] state[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.051 left_pitch=-0.2394 left_roll=0.0129 left_gripper=0.9952 right_x=0.4043 right_y=0.1016 right_z=0.08 right_yaw=0.0591 right_pitch=-0.2661 right_roll=-0.0539 right_gripper=0.0409 state[joint_eff]: [-0.0615, -2.441, 6.735, 1.4969, -0.1392, -0.0513, -0.0122, -0.4718, -9.4291, 9.1966, 1.6239, 0.1197, 0.022, 0.4274] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.205},"note":"The pink bowl rose with the gripper. I’ll raise it to a safe carrying height so its bottom clears the two-bowl stack."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe pink bowl is securely suspended above table level. I’ll translate it leftward over the existing stack while keeping the rim grasp unchanged.
move_to
right_x0.4250right_y0.2500right_z0.2050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1013, 0.9952, 0.3252, 1.541, 1.2709, -0.6334, 0.2001, 0.1226, 0.0408] state[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.0508 left_pitch=-0.2394 left_roll=0.0131 left_gripper=0.9952 right_x=0.4031 right_y=0.1027 right_z=0.1774 right_yaw=0.0682 right_pitch=-0.3117 right_roll=-0.0678 right_gripper=0.0408 state[joint_eff]: [-0.1709, -2.359, 6.7624, 1.4921, -0.1197, -0.0415, -0.0122, -0.4034, -9.1556, 9.4291, 1.58, 0.1636, 0.0415, 0.4957] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.25,"right_z":0.205},"note":"The pink bowl is securely suspended above table level. I’ll translate it leftward over the existing stack while keeping the rim grasp unchanged."})
tool
executing move_to over 13 steps (1.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe pink bowl is centered above the stack in the overhead view. I’ll lower it toward the top bowl, leaving a little clearance for a final alignment check.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6563, 1.9118, 1.7889, -0.9031, 0.3653, 0.3676, 0.0432] state[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4171 right_y=0.2461 right_z=0.1894 right_yaw=0.1045 right_pitch=-0.3601 right_roll=-0.0908 right_gripper=0.0432 state[joint_eff]: [-0.1162, -2.1949, 6.7761, 1.4676, -0.1099, -0.0562, -0.0122, 0.3624, -9.853, 9.3333, 1.2283, 0.3932, 0.1929, 0.6569] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The pink bowl is centered above the stack in the overhead view. I’ll lower it toward the top bowl, leaving a little clearance for a final alignment check."})
tool
executing move_to over 5 steps (0.5s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe wrist view shows the stack slightly beyond the pink bowl, so the carried bowl is a little too close to the arm. I’ll shift it forward a few centimeters and lower gently toward the nesting position.
move_to
right_x0.4550right_y0.2550right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.659, 1.9175, 1.5131, -0.7013, 0.358, 0.3668, 0.0458] state[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4027 right_y=0.2381 right_z=0.1087 right_yaw=0.0958 right_pitch=-0.4312 right_roll=-0.1312 right_gripper=0.0458 state[joint_eff]: [-0.2393, -2.441, 6.735, 1.4725, -0.0562, -0.0757, -0.0122, -0.2803, -9.894, 7.2547, 1.2234, 0.232, -0.0513, 0.569] camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.455,"right_y":0.255,"right_z":0.095},"note":"The wrist view shows the stack slightly beyond the pink bowl, so the carried bowl is a little too close to the arm. I’ll shift it forward a few centimeters and lower gently toward the nesting position."})
tool
executing move_to over 5 steps (0.5s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe pink bowl now overlaps the stack closely and is at the expected resting height. I’ll release its rim so it can settle upright into the bowls below.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0061, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6266, 2.1139, 1.7092, -0.7444, 0.3309, 0.3244, 0.0483] state[eef_state]: left_x=0.2973 left_y=-0.0026 left_z=0.1924 left_yaw=0.0506 left_pitch=-0.2451 left_roll=0.0136 left_gripper=0.9952 right_x=0.4384 right_y=0.2509 right_z=0.0804 right_yaw=0.0993 right_pitch=-0.4844 right_roll=-0.1575 right_gripper=0.0483 state[joint_eff]: [-0.0615, -2.8923, 6.7214, 1.4676, -0.1148, -0.0073, -0.0122, -0.9504, -11.5897, 9.4154, 1.1306, 0.1832, 0.0659, 0.2515] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl now overlaps the stack closely and is at the expected resting height. I’ll release its rim so it can settle upright into the bowls below."})
tool
executing move_to over 10 steps (1.0s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe pink bowl remains supported after release. I’ll lift the open gripper straight away from the stack before parking the arm.
move_to
right_z0.2150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0073, 0.9112, -0.7223, -0.1055, -0.1013, 0.9952, 0.6247, 2.1246, 1.7126, -0.7559, 0.3283, 0.3149, 0.9958] state[eef_state]: left_x=0.2974 left_y=-0.0026 left_z=0.1921 left_yaw=0.051 left_pitch=-0.2462 left_roll=0.0141 left_gripper=0.9952 right_x=0.4371 right_y=0.2493 right_z=0.0753 right_yaw=0.1003 right_pitch=-0.5026 right_roll=-0.1711 right_gripper=0.9958 state[joint_eff]: [-0.1846, -2.3863, 6.7897, 1.4628, -0.1148, -0.0366, -0.0122, 0.1709, -12.7521, 6.106, 1.1258, 0.1929, 0.0708, -0.2027] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.215},"note":"The pink bowl remains supported after release. I’ll lift the open gripper straight away from the stack before parking the arm."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe three bowls appear nested together with the pink bowl on top. I’ll park the right arm to leave the stack unobstructed for a final check.
move_to
right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.008, 0.9112, -0.7227, -0.1051, -0.1017, 0.9952, 0.6262, 2.207, 2.3772, -1.3163, 0.3244, 0.3019, 0.9961] state[eef_state]: left_x=0.2974 left_y=-0.0027 left_z=0.1918 left_yaw=0.0509 left_pitch=-0.2474 left_roll=0.0137 left_gripper=0.9952 right_x=0.4409 right_y=0.2538 right_z=0.2087 right_yaw=0.1186 right_pitch=-0.4866 right_roll=-0.1627 right_gripper=0.9961 state[joint_eff]: [-0.3487, -2.5231, 6.9402, 1.4579, -0.1001, -0.0708, -0.0122, -0.0615, -11.1932, 7.8838, 0.7692, 0.1441, 0.0659, 0.0073] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The three bowls appear nested together with the pink bowl on top. I’ll park the right arm to leave the stack unobstructed for a final check."})
tool
executing move_to over 22 steps (2.2s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteStacked all three bowls together at the center of the table and parked both arms clear.
done
hindsightThese bowls can be lifted by pinching one side wall; a successful thin-rim grasp read only about 0.041, so the short lift check was essential. The left bowl was grasped near left (0.443, -0.092, 0.042), and the right bowl near right (0.410, 0.101, 0.034). Under load, the right arm tracked with substantial backward pitch and some forward-position shortfall, so final placement needed a small forward correction guided by the visible rim alignment.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0834, 1.0111, 0.9112, -0.7219, -0.1051, -0.1013, 0.9952, 0.0269, 1.2251, 1.1873, -1.0229, 0.0708, -0.2054, 0.9961] state[eef_state]: left_x=0.2978 left_y=-0.0027 left_z=0.1911 left_yaw=0.0508 left_pitch=-0.2496 left_roll=0.0143 left_gripper=0.9952 right_x=0.298 right_y=-0.0009 right_z=0.1963 right_yaw=0.0726 right_pitch=-0.5019 right_roll=-0.1704 right_gripper=0.9961 state[joint_eff]: [-0.1573, -2.7556, 6.8718, 1.5067, -0.0757, -0.0513, -0.0122, -0.1573, -4.8342, 6.3248, 1.2625, -0.0904, -0.022, -0.0122] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the center of the table and parked both arms clear.","hindsight":"These bowls can be lifted by pinching one side wall; a successful thin-rim grasp read only about 0.041, so the short lift check was essential. The left bowl was grasped near left (0.443, -0.092, 0.042), and the right bowl near right (0.410, 0.101, 0.034). Under load, the right arm tracked with substantial backward pitch and some forward-position shortfall, so final placement needed a small forward correction guided by the visible rim alignment."})
tool
done: Stacked all three bowls together at the center of the table and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.64 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 40 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: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3775, -0.0223, -0.0257, 0.9996, -0.0216, 0.7937, 0.6037, -0.3794, -0.0166, -0.033, 0.9969]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1811 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5658, 9.8667, 1.8486, -0.0611, 0.0806, -0.0562, -0.4171, -1.4154, 10.1675, 1.8437, -0.0806, 0.1685, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc74c9b478efb7dcb68456a3bec0313811e1d7a13dc80c418e8260c3e11f504e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6dafb1f8e58f246f832ecd62cb6bcff9e274474d7a150d6b44999bd193755871",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc05d03b02941762288d9c2a741bfbc99fd9072483c1dff57138a74111d5f9fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob cc74c9b478ef
wire blob 6dafb1f8e58f
wire blob cc05d03b0294
call 1 attempt 0 · /responses · status 200 · 7.143 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTPO69Vba9Ml5zgNDLqAO1qjB4DwHqIAUrC59q82jPwcKU6WbW771af3YPZcdw25FPvSVBlI5mbgM3YnueOsy-t_m7vv_-5lWkY-GFX575l1MpIUZ0iN3y8E0z6jIOFQTOJj8SZNFbbOdVHLGW-Aq8kYw8xmy7H98k_9biaE4ezU4j3zT6XaKy-EA7vePjp81n3eABsgrH3YrQYP-w6W8aGSs-Lt0REeyR4IUR6KI_IXlE9OpdDEWthVvzwYYqRsAaN1gXdb6PXgWns3kiPegge-I2S5MnWfSJ0ZYgcvBcHm_VS8tbqp5t1m0ElGy2U30CaFiNjtLO11nt4SeeGjUv8IXXXVqwHJ0ZokuRzl0xnBxsdGR5B8SDWw3-CuQ1eoNt2oANHU6oDefIv2CStFEqGSFzUpMQ2KpAQQfJJH_fJmYqh299z-j0fQiPcK8qWYzoKL0h8Qqe0vXE4B_iBXF7y6xdAvgmEwBp5EV2xYoUmd5SrS_66Dfjpivnhgg3YguGJLQBiwhtI80JRS7eMjDYu8Jiyq1rKtDHE7RLFMe7BFktnePsx23qlJqEPNsiKy0lGGKJtvjfdlDWg0nfpS877fuxevtOUVDJQyYscfW-QGkQP4mWLdsRVar9usgHELbqnMgPOjx3kiF89Z8_GqwXWMXQoD_DbH9TKULAaQG4PXynDH-7MZT_OVY4C-uz9oT4YyimT179Ea4cjLo5yHkGG5E2_Q5rotK_pz8mXszlmI86tisSLd-9OFJsecYGMWsWn1vgCnzRiKJEtzQBUWkCKuxUFI3e_kO9Z-SvAabb06YPXu3JCfD0k2RW2TS_y63PHbtxXKxKeii9yvMaO4igEuUXd1krJrzwkEACYKy6jubOqkedPpAFn79UG1FL39MOtpU6658iWbNNds2pUEe-Yz6vCL86FnJSgdz7zSa-aQlCe30209qfZzyjoBZb9fsr90Hbzs3Y8kMtCsHWEg__6V0bS61a2EGopv2gYPNp1-jqzf_UBpCeko7pW_5txXhDAVmzGGlqx4RiiB5KbLJUiarddDKvKb3YAY3ncPMUo_dNQEc80dXj9Xj_SsH7tIU9Q9VDeL3IYTHGR9Jc2tqeE4Pyhpe0BYuqu3h4w6_X5UlB5JxtVeURbhofVaS99-osW9PBJ_TeizFyjp56LtubAyYHoB08yB3X1VlH98obEldcM7e4-uQHN8pjl7H9OYpTbjJk_F13qSbB507w46PuhAXsxKEetapt_QYkLSdLug-jfRBFMoPuKGnNU4B25LxN1lux5E9HGo77zKeex_ZcdDAgLFDFTuL5HlDnRgcbgkNe4hCLX6p3Pu8eKo5dEXOm7PINC0wylIuDzalbfMpYNhNyyZCvN9zO81A31xvUv965Q7nele7750Rzx5a9OiRzwRSz90dRRljFETh8vvo6ixlmi01gmW8_Ksm6ISb9zCd2_XxPa-C3nG41pOIOmwX2J-WImyLcEXYixyRMMX5WRDbM8MB77UaKjxFl4H2IN3NpJ9AqBtT62mVMfx0T6UfirKK2nd6eCn4Kxwr0Bjr51zzuwafxLcu8ktH__4GFfAl5XJw5QvTEQpqinKFfTsQxf9ZAAOKU_lyYKKcxi9LGAhBXxrA854dfE223NRBeINJsNEgaNvs9cyUUeYRVRNUEP-k1Y2W4Zey-ypv_K3NKO0A==",
  "id": "rs_0c47e0c3adc33c54016ab2b4c8863087d095116eea1108ef03",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, since the whole bowl is wider than the gripper.\"}",
  "call_id": "call_szhRtHhHUPqjrlnBChYXT6ej",
  "id": "fc_0c47e0c3adc33c54016ab2b4cd3c1087d084ea9280293aa560",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_szhRtHhHUPqjrlnBChYXT6ej",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5343, 1.4277, 0.8089, -0.0856, -0.4282, -0.3161, 0.9996, -0.0216, 0.8051, 0.6426, -0.4591, -0.0162, -0.0425, 0.9967]\nstate[eef_state]: left_x=0.3771 left_y=-0.1337 left_z=0.1308 left_yaw=-0.0201 left_pitch=-0.0639 left_roll=0.0277 left_gripper=0.9996 right_x=0.2893 right_y=0.0002 right_z=0.1784 right_yaw=0.0049 right_pitch=-0.0527 right_roll=-0.0069 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -6.4205, 8.8957, 1.8632, -0.2711, -0.0806, -0.0513, -0.1162, -1.4154, 10.7556, 1.8779, -0.0611, 0.0073, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ddc462d269f4460acd44060e955a1eebd9dae65cf71ef26dcaa578f0a101b00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbe46d8ca1a5275f29c87b78e9c61cbb17df95cff1717c259345b5e913b72ce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af2d8961b7da12f1ce1dfc61fc8987c985c6074f21d79e26837f3584f3d7cff3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 10.85 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.606, -0.3775, -0.0223, -0.0257, 0.9996, -0.0216, 0.7937, 0.6037, -0.3794, -0.0166, -0.033, 0.9969]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1811 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0002 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -1.5658, 9.8667, 1.8486, -0.0611, 0.0806, -0.0562, -0.4171, -1.4154, 10.1675, 1.8437, -0.0806, 0.1685, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTY50FuAoynEo29Tcnm_aZ7vNHCqlm28XUa8DTNuoLe9Fb-tZlrPOcChy8dhqUbGORqHRH0lgpw17dUvNVtJvyhfAhAh-2MAAS15FscnWIBllhlTTnEVuVP1Hj29Sg3PTDG5Pot3Q3aiNBtY9zz_Y_e4qQT-srwTfCQ4lBI0QjXjYfs8SIRFjBsizxpCYARhf3ovoPgHnk9BG06o994qMQ5yQMNiyMciJvh94rupce5hClI3J2tXq2gwSFqZ92OOy5y5xihCoHUD4w5IbVYmb1RwiwScc8brzXeSBUT6RPuhK_E5GNpCIMuq05MQINwQHYSduPN2fZSwVo0sg7HIWpTbC7e5T5WjV9O-1drrvurTh4Pa5r2APhf0RtKTLBglnlUA0fAwpFQ_3SmwAyMI7DkyNGPKkBKi_1s-YqwUHvZ70fXbywxBonNfPnJO1L9yy1kIkKVaNY9ysIIefqhyNG7N02hjkt0oQTvK9o0lXnQtby2UZXAVa7I_s5YS0948ITgNb1qOpSBR7D7zxhExzHxKyIjZMzJqJ2qgmOsE1wwz1hxo1czqLqiqZ-Tr-5edza4dAeVSLHVJOhNAsqPj3XIsjUMQhTCCmEVoq6tTa91pVZOUa7ZZpOQasWBgVHit42jNoJ5koEp63Z3uijq8WGfx6WuVAjUBis7vYCuNmqW-1_gJ0OjqCTfmUuOtqcIfqKU1E_lba6tVeBx2qDm4IHDErTIAHVc2lN3fpi-noicMT7wZUEjWwRggOKT-Aw0qK2-T39OpcNtMEV1aM9j48lhIl5LZbWEo8bcxU3nvS5XQSwiOPHt8P-w-GVbMf1IJLcNtGzwpNwUpZDvrGQSJofv1co2gKnyv_etiU_mCIP_FtOlHNT5u15s_Cc1riYRToa3XTJLXW6fNHoMJrobwleTpPwUAG3lEdNlM2sHUSOmhsuatxO70nZ3UFWZfklf5tkAseF-HMhfc9Z-pN2akc7JwmjXNt9lMU24Wd4KMfmmW5ZSQD45mlncxFg5oJFm7dJOUeIZibgnh0dQMXHBM1ovatB6AX3vmbXlSv96QeyPbiaaztnSQqkAI_cUn4qyOY8Z2xjY_m0Qvs-LX8_pFyk0p801oUpb3ZSLo5WN0rrDxWvo_wRBm17Qflq_Jxcptjrgkiq6mw5sAH0PqDtf6toVK32Ok9HDoEs5ZkRXmCPrV0hvTGxWtEkbViROe7cONnEc3h6zUNFVh3d9mh5SW45E8penjQ1NcojYy2Dv3UpryH3YlZy7_nPXntN0U74UpJqNoen1cbg1FzDFyFRbbp2QZyLWXrWBopZISGlEMz9VmrJpJMGgMqmC11A6RofZjeNb8_5jeRVZ9Z4iFZsJxNudop4bmJMYQJZa7iNqPibB7-8_sC6oCCYwP4VTshLv0r3dmfPSgJkFyI5P0Qjl0O96yYs0Z4bx3Qp1xKj4H2VC5Zq_N9xedqmKuVD3nfnmAWcCZ1NME25BT8ptOX35mjgVKNhC2w6hZF8_TDINIKIb5iibOX4UDWq4Svd2QSyBTue4TDkkuKDxpg8MTOcZlei62RT7OE6EYX6xcsQfQ24ukRCTZbbmY--cR1RDXlJ9cMNzPbNMV7DW6n-uQImc_p67iO5cfX-lT0qMcWN-GwWyJzVWIp0hQdPYSrh_mf_qwkr6DSWdoveoSVRhUNw1yEYurHEXFEKZ_1XT51cVj_PkDPL6Fsqw3DRxP2MmIuNGJst9",
  "id": "rs_0c47e0c3adc33c54016ab2b4d3219487d0b30a506da12c407e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.105,\"left_z\":0.055},\"note\":\"The left bowl is centered in the wrist view, with its rim clearly visible. I’m moving slightly forward and toward its outer edge while lowering to rim height.\"}",
  "call_id": "call_dJgLAad578fBNZu8f3FxnlbH",
  "id": "fc_0c47e0c3adc33c54016ab2b4d703a487d0a2b7620964e42ae5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dJgLAad578fBNZu8f3FxnlbH",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.382, 1.7058, 0.7418, 0.2058, -0.3355, -0.242, 0.9996, -0.0216, 0.8097, 0.643, -0.4686, -0.0158, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.4096 left_y=-0.098 left_z=0.0438 left_yaw=0.0199 left_pitch=-0.1415 left_roll=0.0541 left_gripper=0.9996 right_x=0.2882 right_y=0.0002 right_z=0.1754 right_yaw=0.006 right_pitch=-0.0664 right_roll=-0.0089 right_gripper=0.9967\nstate[joint_eff]: [0.4171, -7.9111, 5.6, 1.8632, 0.0024, 0.1343, -0.0122, -0.212, -1.5932, 6.9812, 1.746, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d61f7e30eded278a89ba1d85ba22594b9790ac35b2e4ab19beb34acccfe8784",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a465563a305ea249e8e30b053c5e7ca95c3a2a7b83e67b683609d4eb9acf07d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226069d3fab97cd482ca2c59ac5f2f452901c1c15e57c486ce0db86dc41ee001",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.39 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.5343, 1.4277, 0.8089, -0.0856, -0.4282, -0.3161, 0.9996, -0.0216, 0.8051, 0.6426, -0.4591, -0.0162, -0.0425, 0.9967]\nstate[eef_state]: left_x=0.3771 left_y=-0.1337 left_z=0.1308 left_yaw=-0.0201 left_pitch=-0.0639 left_roll=0.0277 left_gripper=0.9996 right_x=0.2893 right_y=0.0002 right_z=0.1784 right_yaw=0.0049 right_pitch=-0.0527 right_roll=-0.0069 right_gripper=0.9967\nstate[joint_eff]: [-0.294, -6.4205, 8.8957, 1.8632, -0.2711, -0.0806, -0.0513, -0.1162, -1.4154, 10.7556, 1.8779, -0.0611, 0.0073, -0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTjRG5ABZNmVc3O_98m5s2UB4Lpg_FsMTu_vtG433LM_g0Qw-sO5JsN-Ul-k6UAA3fcX_irwPUXOBiLRe8jSaDAfC_2Mg73ofjjkS_v4Reo5I0DVzWw10Bh_fAWzpijWSbrdXHHKJi6rVb7ZfBHHip6MiilrF0m8b6mIxt_viVbNDVeuf7PTGgR6KR1c2YkZTAf2Ern3qiYenO5qvhKxOhuB48N_l4eB3w8aHIevUE8pRryZRuTQbvtvWMtIkdoaf42I_Jse10zziuX7Qe-NWMjM1QyLS30x6-vHGYg79-Wp2sTLBtpo-d2giymFI8sFA38XiAJJWH7EuEdZ1ySD98I2HWfRUMsEzZDPr-uGRxCFhIU5RSTsU32QPVMugjCbYlR2eFN9DyuaX8oDztQ4OliyySLwH2Td3ZL9q1pNsMBP887-McamcP2ETGG5wo8bV6X57XswobmlWBB7LvoKNnjZb8mZXS2avWHnfu0rQ6te8_t_ISnJu0t_8jeGE22-ugXPulgjo0CWUs_s95hFvU5em8GpWEOt9qianD1hkiKyrubMtP3MjFUEho9Jg1-T-LbDes1IJy1xsawK6bbb_L_b_96-95NEN0zg6qlp6fAusUsjqrcDqWoLDztSti1GHqkq7vd7f4SujsMTzROQRH-hXR1iQv5wsexxnqHYTVLpCQd_iILeYngSRBsWFN-rxRPUTqLDN2OWFBsLV-hSeebvn_JuM7grs8N4WDBLcgnPrk9ujZONdUw0En4o7N0pH7pY3zv6ZSzhKoIf-Oon6DOfT7tB-s1f2OoSHjQG5AesG8MLbnN2yLwXwifNowyAGIWUKE_1RvPuOauTjqFvBX3uJ7icW2-4TmhdKILF8B7SP-MjhaC83k6jSOXYi8Tq4rVcqlZZETHVK6vgimdffmafxf2f7tcbbGDQ39wYpaOzaJwPU1l219cmsWvV8FucfsYIZlUQYamkN_gCV8Q56k6lSe-fkppCZs903HVKDY8Xh_Ywkl8WlpmOjEtWWxtDUJ5GuYVw2R0nrjP3JPUGzSGSb7da6a8wxXh7QKCDgrP_xLaJWbpAqLe_OKNVoqLNvMYt22lRgxU2JWiQTWoWQxeFuD2Jk3ya7WltCpp2rCl0qPpjtB_5b7h3JINn3aqCRK-xl-LSzUU6yGCGUd4dz6hDq9-xm1mU_qKBWUNogfVahdACjJSOMmR3fB_pxL4ymfVEN61DMpiX57XXFnZRP4QLq768NHnhWpYlOn8Ynnb9uoQOKg6mCblQieqoKqNEF54c_icfMfGcnWWpUskRTbPgK7rs70yOnrNWgoJv-wxLpFfPVBlhfZN5GoqPOpbIn6pAoufDwq_goRhFvKDs63PXc3xjnIMMPwhNHPVj5OVhaLui1TPa-kEt5wtVWDaRaBw11cnQmVOdx7YrhKht85PqScyxJjuA3KBVxvC5aoq5BxcVDheNThoRLD0WiWLWIXLsjYdFKiEvnIpjCteUkbiDRT1DMchmLb7EI5bEf-J09unRtr5lyFbia8OrC2cdZwgHRUr-7aRgrO-o3t-xQBLBMHRbXoMxg4MVR9G6aCBpVscfxfSvey_HojgXqArBOwfYc0Fk6p-vKVWlEQ8UMy_W3zBb9aPerwGT2uft-9peaPR5YFYiuL3_yOK-xsQAuQqxSAkaXb4FisPrJh5i0uvWgyNwWI2xCQVUOFYJqBJvKOmk88fLAnuKneYWtsJonUmFmon94Q37jh4EyFJtePlT2h6rDCO65VJRE0Dj_H5i_0xMaP6O87nfVuLeF2sA61Y8P_dgm4jjms7HHQj06vGnMkKtPYWvkUNun0uG77KatH0C66PDV2rmUz7_Ziv72KaLMtEqBQSG3cW2XEbt1ovAvbAtkntlyg1rSvm5Us-sg_GykFRkbf3tRShfvWcPW00UElPk4kIw3oqvmb0h_QHo7r7W1slMH4_YlmpbaZcq5oE1aoY0SYjm-kYeeelHh9cPEPW41uG4TfrqQaCv_cG4XKmk2IdcPmeMQy9M2D_WNyYBFTKrxtdezU4RW1t_6s3hGdcvYzNWXo9A4Pn6laptg==",
  "id": "rs_0c47e0c3adc33c54016ab2b4da770087d0b65e10742030afb3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.07,\"left_z\":0.045},\"note\":\"The wrist view shows the bowl’s outer wall toward the left jaw and the opening toward the right jaw. I’m shifting outward a little to put the rim between the fingers rather than trying to squeeze across the bowl.\"}",
  "call_id": "call_vNxAOQIavni1YzjkVPxfE0eH",
  "id": "fc_0c47e0c3adc33c54016ab2b4e1ab0487d0a319b2af8630bc72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vNxAOQIavni1YzjkVPxfE0eH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3092, 1.7012, 0.7116, 0.247, -0.2871, -0.205, 0.9996, -0.0216, 0.8101, 0.6415, -0.4706, -0.0162, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.4121 left_y=-0.0754 left_z=0.0401 left_yaw=0.0322 left_pitch=-0.1402 left_roll=0.0457 left_gripper=0.9996 right_x=0.2878 right_y=0.0002 right_z=0.1743 right_yaw=0.0063 right_pitch=-0.0702 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [0.3077, -9.1556, 5.1897, 1.6239, -0.1099, 0.1783, -0.0122, -0.0752, -1.2786, 7.1043, 1.7118, -0.0513, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0274221e5d7fc56e4e6db1c511c0c4adf7f20c9ac4885b94fc1a38da026ad163",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a23ff36424f5cbcea8509159debf6ddc3e9f5f5d541fb98f3148bcf045af463",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a6a5b574fba46b5fe36399558e41a001b22819fdc72f41fb42b58e78d31188",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 5.477 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.382, 1.7058, 0.7418, 0.2058, -0.3355, -0.242, 0.9996, -0.0216, 0.8097, 0.643, -0.4686, -0.0158, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.4096 left_y=-0.098 left_z=0.0438 left_yaw=0.0199 left_pitch=-0.1415 left_roll=0.0541 left_gripper=0.9996 right_x=0.2882 right_y=0.0002 right_z=0.1754 right_yaw=0.006 right_pitch=-0.0664 right_roll=-0.0089 right_gripper=0.9967\nstate[joint_eff]: [0.4171, -7.9111, 5.6, 1.8632, 0.0024, 0.1343, -0.0122, -0.212, -1.5932, 6.9812, 1.746, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left rim now lies between the open fingers. I’ll close gently on that wall, then check the grasp before carrying the bowl.\"}",
  "call_id": "call_1rhGXNA7ub0sCt5RfFSvFE3N",
  "id": "fc_0c47e0c3adc33c54016ab2b4e5993887d08ab2b656e3c0c875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_1rhGXNA7ub0sCt5RfFSvFE3N",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.6844, 0.7074, 0.2405, -0.2707, -0.1905, 0.0239, -0.0216, 0.8101, 0.6411, -0.4744, -0.0158, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.4121 left_y=-0.0695 left_z=0.0436 left_yaw=0.0307 left_pitch=-0.1384 left_roll=0.0443 left_gripper=0.0239 right_x=0.2872 right_y=0.0002 right_z=0.1733 right_yaw=0.0079 right_pitch=-0.0744 right_roll=-0.0114 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -7.5009, 5.1761, 1.2674, -0.188, 0.1245, 1.1111, -0.0615, -1.2786, 6.9812, 1.7167, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cdf7ba693edcde51a05515c138567fbef42c90bc653dc61ae3d8dfc947186f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a82a600c2a54634fd07a63ba858406f57ceda3b2fcf5b03fa97ea3a4f21dc42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bab2912c7ac913560c5919859690915e95c1831af3c0278b1dbc6fd15b1d6e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 3.159 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.3092, 1.7012, 0.7116, 0.247, -0.2871, -0.205, 0.9996, -0.0216, 0.8101, 0.6415, -0.4706, -0.0162, -0.0452, 0.9967]\nstate[eef_state]: left_x=0.4121 left_y=-0.0754 left_z=0.0401 left_yaw=0.0322 left_pitch=-0.1402 left_roll=0.0457 left_gripper=0.9996 right_x=0.2878 right_y=0.0002 right_z=0.1743 right_yaw=0.0063 right_pitch=-0.0702 right_roll=-0.0085 right_gripper=0.9967\nstate[joint_eff]: [0.3077, -9.1556, 5.1897, 1.6239, -0.1099, 0.1783, -0.0122, -0.0752, -1.2786, 7.1043, 1.7118, -0.0513, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrTtgGtX1rb5oGVpmhrBtH4kcvGRNmxbHBBbhT4Sllq9KUW8-wv8JN1BjLN9nTBtJSQ4QWz8XLCejUDDG37g62DcaA3QUX8lUZakR2DAoOt-cwlEmAqTAWATrK_nxw7QHuChxDpMv_FO6mPX-rWT3-uo_pO3PWa_T37JIwKZLe0214xhwpYbnM7f0a-31x-8-tSls68AhOmQ_dWL2OKXmCQ9HcLnBuEMu-_gFZYQ3pecZIWv4Yoesu8rr3kJJUKg2X1m9edFDKna0mC0HJ_Lbehui-udTcZXoxfrMru_JcAvE7QulKCPAqjJmEp72vbmVXu-m8qlB49mmMAP4SjzJ1Iaf0ExlV1Mrv_vVQTWWYu2SdgzPqw_PurTS1PnpubDpPsFSuDoHgrjb9KJFgvXdzILFHxPGfi-suwB86_JC37IVzydGWf1XqScQ16k2dUjigHw9XXE6YSjEi2oZzCwtlf_g1u_nBjuDMJjgOA8cTatNoMAl_4d2uEWH73r-0lHMySKXyZe5FH32uQAR629IbTkIeMaFkV6BmHvO3s0MRrCj7gqMZBviLLrmVgpB3eFb0f30yJJWGF3CYDl__TNiMJ1x87eD8q6vB9h8Y1xCqBlu_15w67Wx54uNdITs5VkpJLLwlgS1K4Aq0wg_xfrM2705p9oB5nA6p8lWO4NJsqac6ie3ZUNF04Yp4m85gxwiSQPb7eBnw-5-Aw8BEUcvjYU29vkQb5lepAWEIYYEw-HoYgk1fYbvlX252CSDYDnAO2fkUTG6RkGXV0_i6QD5MymLVWodtv2Fp8EW_xbhVLOFZRa3yfpIN6ETaDw9dIBrc0LHNm71DFfUCVBfgXmiJU_ZiPCcK02w_8GLf_blbLfyc3VHVaDRAcrderCIla7lwkUakrVowJTso9kfube3G9GrgK5GawkvcsDx3AsssUOezdmfF7AuEsSU_jg8gHRfJDY518hnTsnBsII-8qKgsvVN1MTphMppoElMhvI55ydvqtfhCdyMH-3mUBne5GHjv_FhF_qcNY2cjTO69sV49OBRvNkxXsfhBnrgq4eL2ENBTB-81mgPYrdWS7pXI85GDvuWA7J5SLLLYd_0lnvQX5MCunBJZqdIZLBAJeJcCelBgnCFGkMh_WWtgkh-7WC1Oy7qi8-Vo1Ihn-XK8IpInAnzrKU2_Ar5Z2JO1J2JagqUsY1YgoR4lTgK4jXFSQALL1mJRtZD9R38VZ65jZvXudk4q-1aXtClUCUOZjISovM7TuqiuawBw0zArucLsGVdCsHDC5j5M-2nKEdkIA4S8XHuA==",
  "id": "rs_0c47e0c3adc33c54016ab2b4ea968487d0aea2ef7881631767",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.09,\"left_x\":0.445,\"left_z\":0.04},\"note\":\"The gripper closed almost completely, so this was an empty grasp. The rim sits just to the right of the jaws; I’ll reopen and move slightly inward and forward for one corrected attempt.\"}",
  "call_id": "call_bls3eXvX6biBa5q9ffrbSMPb",
  "id": "fc_0c47e0c3adc33c54016ab2b4ebd3ec87d0a4bf063c9e17e0e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bls3eXvX6biBa5q9ffrbSMPb",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.8084, 0.8284, 0.2134, -0.2882, -0.2134, 0.9946, -0.0216, 0.8101, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.436 left_y=-0.0854 left_z=0.0326 left_yaw=0.0332 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9946 right_x=0.2871 right_y=0.0003 right_z=0.1732 right_yaw=0.0082 right_pitch=-0.0748 right_roll=-0.0112 right_gripper=0.9967\nstate[joint_eff]: [-0.8, -7.7607, 7.665, 1.5995, -0.2418, 0.0708, -0.1099, -0.0752, -1.2513, 6.9402, 1.6435, -0.0708, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:640ec3fab31f30f8a17817150b5e74461a7718bbd8fc42b6a9d085ee1d00a1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e403522f4496f975e37f5d095757f61b5c6c05f1436be78ff6af886bbc10a315",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cad4c8e79e3aaadb2748bf9530384af9179c6c371749efd6236966137b933da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.161 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.289, 1.6844, 0.7074, 0.2405, -0.2707, -0.1905, 0.0239, -0.0216, 0.8101, 0.6411, -0.4744, -0.0158, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.4121 left_y=-0.0695 left_z=0.0436 left_yaw=0.0307 left_pitch=-0.1384 left_roll=0.0443 left_gripper=0.0239 right_x=0.2872 right_y=0.0002 right_z=0.1733 right_yaw=0.0079 right_pitch=-0.0744 right_roll=-0.0114 right_gripper=0.9967\nstate[joint_eff]: [-0.0342, -7.5009, 5.1761, 1.2674, -0.188, 0.1245, 1.1111, -0.0615, -1.2786, 6.9812, 1.7167, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is outside the bowl and the other is inside, with the wall between them. I’ll close on the rim at this corrected position.\"}",
  "call_id": "call_chftLM1L3HdAc0vXTePGGUI6",
  "id": "fc_0c47e0c3adc33c54016ab2b4f07da087d0baae360ada94b3dc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_chftLM1L3HdAc0vXTePGGUI6",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3195, 1.8057, 0.8345, 0.2489, -0.2794, -0.2359, 0.0414, -0.0216, 0.8116, 0.6411, -0.4747, -0.0158, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.443 left_y=-0.0915 left_z=0.0419 left_yaw=0.0314 left_pitch=-0.1222 left_roll=0.0101 left_gripper=0.0414 right_x=0.2872 right_y=0.0002 right_z=0.1728 right_yaw=0.0079 right_pitch=-0.0764 right_roll=-0.0113 right_gripper=0.9967\nstate[joint_eff]: [0.1436, -7.4735, 5.5726, 0.9646, -0.2125, 0.1783, 1.1209, -0.0615, -1.2103, 7.0769, 1.6532, -0.0317, -0.0415, -0.0171]\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,$blob:ebd7dd6c9fd330b1e075ce6a09ad7360282ce703600ee6f666f0683cd05798ad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab2ba3d79bb9ccda52b458607b27b3647baa3f6bf72b606be710268fc90b6773",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc9ad5cd00acce65f873e734cf41eebe99a159caeeb057dd4a51594a6166d4b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 7.515 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3149, 1.8084, 0.8284, 0.2134, -0.2882, -0.2134, 0.9946, -0.0216, 0.8101, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.436 left_y=-0.0854 left_z=0.0326 left_yaw=0.0332 left_pitch=-0.1623 left_roll=0.0483 left_gripper=0.9946 right_x=0.2871 right_y=0.0003 right_z=0.1732 right_yaw=0.0082 right_pitch=-0.0748 right_roll=-0.0112 right_gripper=0.9967\nstate[joint_eff]: [-0.8, -7.7607, 7.665, 1.5995, -0.2418, 0.0708, -0.1099, -0.0752, -1.2513, 6.9402, 1.6435, -0.0708, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The jaw opening is consistent with a thin bowl wall, and the bowl shifted as the fingers closed. I’ll lift a few centimeters to confirm it is securely held.\"}",
  "call_id": "call_z27ilNq84FibtmCNiozuZeuB",
  "id": "fc_0c47e0c3adc33c54016ab2b4f52fc887d09956388f1dd1ec56",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z27ilNq84FibtmCNiozuZeuB",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6997, 0.9195, 0.0273, -0.284, -0.244, 0.0415, -0.0216, 0.8116, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.4394 left_y=-0.0893 left_z=0.0804 left_yaw=0.0413 left_pitch=-0.1497 left_roll=0.0175 left_gripper=0.0415 right_x=0.2872 right_y=0.0003 right_z=0.1728 right_yaw=0.0082 right_pitch=-0.0763 right_roll=-0.0111 right_gripper=0.9967\nstate[joint_eff]: [-0.2256, -10.5368, 9.0188, 1.6044, -0.0952, 0.0415, 0.9988, -0.0342, -1.306, 7.0769, 1.6532, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9e97c2c69b72197f62e95543f3746d98a54509b51f105b5314bc03aa3d969ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b7d716f4e7ca24afbe7d38fee491bdf417371d1aa7caaa7184d0c6337d6113b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14856aed1ef1c71d4174cf70f4c8200c41921ce49cc57c5f27c36c3a4d6e190c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3195, 1.8057, 0.8345, 0.2489, -0.2794, -0.2359, 0.0414, -0.0216, 0.8116, 0.6411, -0.4747, -0.0158, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.443 left_y=-0.0915 left_z=0.0419 left_yaw=0.0314 left_pitch=-0.1222 left_roll=0.0101 left_gripper=0.0414 right_x=0.2872 right_y=0.0002 right_z=0.1728 right_yaw=0.0079 right_pitch=-0.0764 right_roll=-0.0113 right_gripper=0.9967\nstate[joint_eff]: [0.1436, -7.4735, 5.5726, 0.9646, -0.2125, 0.1783, 1.1209, -0.0615, -1.2103, 7.0769, 1.6532, -0.0317, -0.0415, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrT-8BBkdgxdjcRcRAH_M7oqcn3u7QHGLqD_RWyD29SjG7W-WqlEu1EDOj-16zANE1AzRGjesmIpC_N197qhpjPYt6Pk5XsBfwa3g17CwMA8VejPdwxfZgZ6Q8OFIOsgX-zSTEu_gU_wqW2CgERFqAQD_nf6qwnwu0GPMD_OAflPPkbGLgLCULSjPyenqZyKNqgilQsHhIWjhh79gITYpZk_UjTfrm1O9HzszH5djInIFBnQA9xIYdQYpE0TQcYC1qbutnPE5VbIKYGZ9dqU4S51g6uH5S0qyLtldtc-DI31T2eh8L37vxNx0lQOJVFdTeDxB6Ur9hkVFCxn0Zuc4AFb0JdFQkG4bgWL7s9eVjPCBTkEO4xQx5MlI1cKaBA4nw8NgLRYFM_PbTiUvv-Pi3yNz3DziQhCiVmfOq52WAz4vWboug7tBIxh-AYCGzKxEJ96YJtPNcvr0i-iJoEi4_osKLK-yri_qC9Osui9-6Xngll9y8QHPebl0TAQQ9QTj8RYFvOU3XiUlsis8rMVDRSp8iFFIwqJlb9hLkkOlz4wCw6x3lLfV6sEyZPnWlzlxyFX4bQtAT1p_L-bHQXw_UYVU0bynXS_n9sc_npbLk816rQ5QkpWcmFlLHqnIVyY12ZDb9qyQ5BU-IiD1Dsz9ri4njRkt_UFtQ2Oo0oiVerDkEwgKtRXMMgbERRa8PqWhZtemP_N1b1UO56if4q4lBVkI-aN-9e2NkGiiRfZYiKYE8u-YGPQfxROjZ0Yj6fm_ihmx8uUwuV0eczG4gel_tpLVEzyjdcwR_hlghJ4-00p30rxT6h0U_3o8dQMAUcKQxU2xwsmkNgifuqp5lSeWd5YeSE1xpHsGKMhzqcHKnFcOGi5SLMMMu9Fcaaz3rTlSP5EXN7sy1CqMA9W2A_NXhPGPv1HTOSwabZQDOoEc2XA9ABtxJV-SKS3twBN1hADSUz8Ybi110hR28mVxqyYIuo7f38dH7FuCDBCA0_J4JuhR1rTOtNzY6CAi1mDlNxYevTnHxzFFf1tQZhzm_-3rMv91DT_-7zrj9NExbF3jt5XefZ7ZkKdaSXEAlM9_WYygdWR8asQQNehYVa5DA94pYXw8xsxymRHuOeqFrVCqK8QY_xvIPK5vzQqZxVDQjZMixRcx1r6LJGujh3LgRmuX4FcqFsdYTcJOla5CVLOEDPVYa3FJ2YUlWuxt_v9Tj535PY4cX1zq4V4wpxYy-K0O0XGBiLxdmSpddMwin6PTbDdojlD7FYkPgQ9uJfwedAqTspBQo2ZblbgID6Nc2tKPAr_LIxQyuyYsEKfF0M8k4pwLfLQBFQzpmgffP7E-U10GOxPW5z2zI_NIRb-w7ZNQ3cwrZjWgwQGbkh0KSVVzbmUP7YdsTAoUCY1v46My1r0vl7DZ3Po852BU7t28s5NJFeIsc8wNeWz3MHXWskTVXJNIpYGI5Z37N5k_5DxRmgMctorUtzTaH_C8jmiksxumjb-IgMpLgXPOSigYsQZTln8CrXx8StbdhVGzIt02a8PO_IIDXyWIBy-wPhk25JuKY5yrhIRQec9xEPkK4RCf4a76h0nm-jrGySpGJnhXU3cmQ1p8uiQioRmqBrBaQkrF_yYbJM-VKZwyYcmsIW-eycl6L0=",
  "id": "rs_0c47e0c3adc33c54016ab2b4f8df3887d08fb19c34d7fd927a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.215,\"left_z\":0.2},\"note\":\"The left bowl rose with the gripper, confirming the rim grasp. I’ll carry it above the middle bowl with clearance before lowering it to nest inside.\"}",
  "call_id": "call_YoZ8jOr0ujTLzD8Og7ppVqXs",
  "id": "fc_0c47e0c3adc33c54016ab2b4fcb2f887d0af44e57d95859f72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YoZ8jOr0ujTLzD8Og7ppVqXs",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6498, 1.7477, 1.4544, -0.561, -0.4915, -0.4961, 0.042, -0.0216, 0.8154, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4242 left_y=-0.2131 left_z=0.1883 left_yaw=0.0206 left_pitch=-0.1608 left_roll=0.0081 left_gripper=0.042 right_x=0.2874 right_y=0.0002 right_z=0.1717 right_yaw=0.0081 right_pitch=-0.0806 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.4855, -8.4034, 9.2923, 1.2674, -0.3785, 0.0366, 0.9206, -0.1709, -1.5932, 6.9402, 1.6435, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cf4a35449cdad755a204c943ffae90237cd8a197f9c551f6c6cd755cf912295",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113e8cce79af9fa7d88db36cbe199d312691fe6a5d622572df2fd66fdaa2d416",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0a4100852207695f85e32c8b2f74922bd92d6d1a56040610698376d3920f5b8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.273 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3191, 1.6997, 0.9195, 0.0273, -0.284, -0.244, 0.0415, -0.0216, 0.8116, 0.6411, -0.4747, -0.0162, -0.0486, 0.9967]\nstate[eef_state]: left_x=0.4394 left_y=-0.0893 left_z=0.0804 left_yaw=0.0413 left_pitch=-0.1497 left_roll=0.0175 left_gripper=0.0415 right_x=0.2872 right_y=0.0003 right_z=0.1728 right_yaw=0.0082 right_pitch=-0.0763 right_roll=-0.0111 right_gripper=0.9967\nstate[joint_eff]: [-0.2256, -10.5368, 9.0188, 1.6044, -0.0952, 0.0415, 0.9988, -0.0342, -1.306, 7.0769, 1.6532, -0.0562, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.09},\"note\":\"The carried bowl appears laterally aligned over the middle bowl; its higher position explains the upward offset in the overhead view. I’ll lower toward the middle bowl while keeping that alignment.\"}",
  "call_id": "call_MnqgiA0QbOj5DbqqNIeb3IRu",
  "id": "fc_0c47e0c3adc33c54016ab2b501c5a887d08e750e469bd8c5dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MnqgiA0QbOj5DbqqNIeb3IRu",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 1.821, 1.179, -0.255, -0.4885, -0.4984, 0.0436, -0.0216, 0.8165, 0.6411, -0.4751, -0.0162, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4168 left_y=-0.2099 left_z=0.0926 left_yaw=0.0213 left_pitch=-0.1957 left_roll=0.0315 left_gripper=0.0436 right_x=0.2874 right_y=0.0003 right_z=0.1714 right_yaw=0.0084 right_pitch=-0.0817 right_roll=-0.0113 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -8.3214, 6.188, 1.3846, -0.2418, -0.0122, 0.7839, -0.0068, -1.2103, 7.2274, 1.6435, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37a3c49b343e9dd76c058a928b736e6643b99ab7e6126aeaa8284aea305b0688",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e18342ce892d6ce20825c31c3b89bdac8ccfee24807d2eb333ed1d346d895c42",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71340ff3035fee9a4e68db28a65228f22d1bf16e1163796836217d9d0ec796c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.641 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6498, 1.7477, 1.4544, -0.561, -0.4915, -0.4961, 0.042, -0.0216, 0.8154, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4242 left_y=-0.2131 left_z=0.1883 left_yaw=0.0206 left_pitch=-0.1608 left_roll=0.0081 left_gripper=0.042 right_x=0.2874 right_y=0.0002 right_z=0.1717 right_yaw=0.0081 right_pitch=-0.0806 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.4855, -8.4034, 9.2923, 1.2674, -0.3785, 0.0366, 0.9206, -0.1709, -1.5932, 6.9402, 1.6435, -0.0611, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUJykWcAzCh1VhWI5csV2i0au1bh6xqKlSlW2I1148SPRjxlmrx9T-2o3wif9IlohmbDGqJ9OlCt1h1tbfbn4bXj6biftOBYSRnLlIpH-YfIynIHgvN8PNbYy3vhH1T8NJW_29wcbyxpYJYs7nxxlNLb0NT0uH1ZpWxrRjikmChgv7Jz7p8Cs4-7Qh0mKOFXOXi6XgF3O2X9OXAdQHKyfz3VPinFKv_ZTe352Ors7q-unqysTnGY82u_0bgXcDGNZLGtDDGygXkotNj3iGn5iJY1bZudZuGmAoPzPTjVdu0ndSi8QvnzhCSFmSEONdnVZSXJ4RyWxiYEaEsCULDpmCV2Dgg2tNIdPcacQ56zCKRCNUpTu1ojbXkuaTL30RiRRm1FKihBRkfA4gYwi6NDFGUWG10RcM0pFwNBcTpI47wxmYa04JGkgp7ZZa-wH_ADuKcxLObKjk4jo0Vew6CRL59DM7gC87r7pa5dg0bFY9spZ0yQol2xBN2YJy-H0Vj3LmxQHybdkMB47zicuNwQfuW9Ih1Um6vw-mjkN7bk6Th9e0bjqK9Hc9Mfw-nW0gw7mT9YyBbWkTWRTuUa85YRKjWDXzhpnJ3RSqypA_loBTN0lMt5lkW-pMmZBwPsENBDJ-rHVHZa-vL3__UPd5b_gXVsjA4jo3aqf06B5Gr9LR93T5wxBn5OMIcd_Lt-ATeoRj4gpqbckCDnacz1cbnjxKWfxAbTmmhga2zSAbV-47f4ZNd_RlOUBhWglwrBCoWwPEqqsP9IygDFPrdRUXE_7XOLjo5K79jyhkiIB6Zg8wyoV7iWBubxfq3zoYqx2pOsGkva5HpglrRYU5alL9u9JpfIgqBme8-vt-t4uilNGv93ZDrqJtF7i4wMTCWwMl1X2pIZmV05SQHWpqhXtXoSz1gEW_8uG_7x9l8FheQVv_7h9QuhX3nw4HtOO0DGfBFCCJ7JA7_njzvJ51JjmaLzS-jST99bzri5PAPtoN9-6qcSKl9zWRJNcABa5alCY11AqjuhJUzDtDfJvJslV-BsGKrLu94mZY_GlmLRo0wEK7kFwF3alp6ychNmPifAuCDgt1FJxircEGyWXKsdaVJhfbUM45fADT4Efgyn4xOk2VXjwC8uQssSONKRHk2YMeRG2VNwt5f1pj4O8rkGo4mcmom3vh2Walzb1i1emXun3DQNd5DsC-UdF_NRXRCdqG4O0q0ni9jY3l0a-V-GExFrVs7tcr_dAIt_o0BRUxOQxWsJk5I1hFx_CbxLdk-atq0A4R_IRaYd0NQD_aaR7VL4IOoiUJD1-Dwf_DRg-Kd3LjMJwY=",
  "id": "rs_0c47e0c3adc33c54016ab2b5061f8487d0ac929b3202afc72e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.23,\"left_z\":0.055},\"note\":\"The upper bowl is slightly left of the middle bowl as it comes down. I’ll make a small centering correction and lower the final few centimeters to seat it.\"}",
  "call_id": "call_fAm7z0TysOpcU6chVygLoJdP",
  "id": "fc_0c47e0c3adc33c54016ab2b50752c887d098e444fc30c01cdc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fAm7z0TysOpcU6chVygLoJdP",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.8996, 1.1591, -0.1734, -0.5041, -0.5232, 0.0466, -0.0216, 0.8173, 0.6411, -0.4747, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4148 left_y=-0.2259 left_z=0.063 left_yaw=0.0135 left_pitch=-0.2003 left_roll=0.0338 left_gripper=0.0466 right_x=0.2875 right_y=0.0002 right_z=0.1713 right_yaw=0.0081 right_pitch=-0.0821 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -9.1556, 5.9692, 1.3016, -0.3248, -0.0904, 0.5836, 0.0068, -1.4017, 6.9538, 1.6679, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91ee55049a9f4c36bc50d760f5c4bd8d2750a7663d594bb7ca013edaec5cf6c7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be63d558616fdc015b911492c0c4cf1536e9866c4c5e479a9805188730b39fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1f9429f1c93b8d96f67f8ccabe68552a11910fc22bcb802402af4f9848f445",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 5.082 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.6529, 1.821, 1.179, -0.255, -0.4885, -0.4984, 0.0436, -0.0216, 0.8165, 0.6411, -0.4751, -0.0162, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4168 left_y=-0.2099 left_z=0.0926 left_yaw=0.0213 left_pitch=-0.1957 left_roll=0.0315 left_gripper=0.0436 right_x=0.2874 right_y=0.0003 right_z=0.1714 right_yaw=0.0084 right_pitch=-0.0817 right_roll=-0.0113 right_gripper=0.9967\nstate[joint_eff]: [-0.1026, -8.3214, 6.188, 1.3846, -0.2418, -0.0122, 0.7839, -0.0068, -1.2103, 7.2274, 1.6435, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The upper bowl is seated over the middle bowl, and the descent has nearly stopped at the stack height. I’ll release the rim so it can settle naturally.\"}",
  "call_id": "call_zcOEk7SsGCvmFSsLVoHyNn70",
  "id": "fc_0c47e0c3adc33c54016ab2b50f36e887d08d582cf87c38d388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zcOEk7SsGCvmFSsLVoHyNn70",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.9209, 1.1591, -0.152, -0.5076, -0.5472, 0.9947, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4142 left_y=-0.2323 left_z=0.0567 left_yaw=0.0166 left_pitch=-0.198 left_roll=0.0183 left_gripper=0.9947 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.2256, -9.4974, 5.9009, 1.3797, -0.3394, 0.0757, 0.0366, -0.0615, -1.3197, 7.1863, 1.6679, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c08a00dddfebaef3c6ede0c6d1f7a3fcadcc06ca78baaa6d7450db913d547d43",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27390a212cd8c2f0b03e496a2101985cc1b7463a0ddcbab3aab0f062c7c1d389",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6449e6c10fb2b4ee4de40e481b55703bd18acf286d3d061476eea6ba1e02a30",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 8.411 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: Stack the bowls on the table.\nstate[joint_pos]: [-0.688, 1.8996, 1.1591, -0.1734, -0.5041, -0.5232, 0.0466, -0.0216, 0.8173, 0.6411, -0.4747, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4148 left_y=-0.2259 left_z=0.063 left_yaw=0.0135 left_pitch=-0.2003 left_roll=0.0338 left_gripper=0.0466 right_x=0.2875 right_y=0.0002 right_z=0.1713 right_yaw=0.0081 right_pitch=-0.0821 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.3897, -9.1556, 5.9692, 1.3016, -0.3248, -0.0904, 0.5836, 0.0068, -1.4017, 6.9538, 1.6679, -0.0269, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The released bowl remains in place. I’ll lift the empty gripper straight clear before moving it away and approaching the pink bowl.\"}",
  "call_id": "call_sknTUPydb4XsVDZW8TbQwZWL",
  "id": "fc_0c47e0c3adc33c54016ab2b515eea887d086c6c84ead6afaec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sknTUPydb4XsVDZW8TbQwZWL",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8202, 1.4899, -0.606, -0.5034, -0.551, 0.9952, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4163 left_y=-0.2349 left_z=0.1642 left_yaw=0.0187 left_pitch=-0.2171 left_roll=0.028 left_gripper=0.9952 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -11.9863, 8.9641, 1.3407, -0.3346, -0.0073, 0.0415, -0.0205, -1.3607, 6.9538, 1.6728, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc30a2d64f1c2b19f8b13ca1bb84f6b2b2990a741e212ac7f53865708d4b536c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a382c0229e2fc1c030c1fccd8e8fa4e72dc3b7e865f3c6b4c0d608085b64cba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:acc4d28e49954fe2eaedf674206576ece3b5b69343c9b8669d0f0466ccccaaf9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.796 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.9209, 1.1591, -0.152, -0.5076, -0.5472, 0.9947, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4142 left_y=-0.2323 left_z=0.0567 left_yaw=0.0166 left_pitch=-0.198 left_roll=0.0183 left_gripper=0.9947 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.2256, -9.4974, 5.9009, 1.3797, -0.3394, 0.0757, 0.0366, -0.0615, -1.3197, 7.1863, 1.6679, -0.0513, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUg42DhfYy2ZyVlt0ylCnVVaBdlfmjm0AIWZD-lLCfn55VsGErDZjC_QvNDVZ4LaZTCjYyLYTNYaT7m5GoP2EdGtiFURWkSqquVaco6mKmQdBvL28Q-m5CMhWefuFz14xwGO1SAuZoyXwseGYoJY2obOytiNkNv79WaWbNrxdISNl01haxEoAlqkWgGy-iNX2egYXcsIkyeUebbjqLlUCv-CpdbggmyagdOH76fy3TUr50coQvoyH8u8QivVZwdH1hf9zOgW0d4aHgxRV4dctoQMf-miGfRQ65_8olFqM01VDtmpO6B6e1LZDkWucNVgpdtO1CkbkJXtOb5CKyxzecy0-mwrWT3X8il6sTQU9TWpfZ4qo_2J6oVPyRXg427tlqd-1cE--S1qqg7y60OvnI_9jwzhBdixnAzDgRhaIXudXM_iV3VNayL43TG-kWUCCbdXRDcaJUkxRp38O6y8DAPRB2KLuQm_IMMSJhMvRSwwXMJY4OclCeiiBScEa8_LN2ngsmdW3aqM6JV2lDgqyLLMiI3EU7n_O_fQSvX_aIEZMdjN2XRq0ef8ezUN6Lj3Ut_-4t-yvTtrvmTz7apjGe3tHE4UUsh8kxqom77n7Zkxi8IoHeWqOsf_QBjwlgKNiZkXhKZ08GGxLvS_d_xEHAHR9S5qDyMzEDGuuoVkq1EYXJCMzrHyfkD7CHEfpXJ0AHGYFwMabPx8x9pmixj8dPYeuTl4H9PG4aZnMjESkokSYQV26R_bllJhY2nrx70ONIoKBpW-BNfKKyPWRjeqnvXB2BkeLskN_yUAoEz4QIQzRjaDke7_Niiw4Rm-7Pm_-tT4QVeUclhlfNPNM8OTIK3Q5-gj6HlNUa9JT0uma2yFTYViL9bqmAhqIof0Xh1LL0VFg3IH0z0DKtoH4Y1Qh7mMNlAdU3lW4rQ4usydQjvWqS-itiwEgN8e4cg0Gh5gFzC7hLNX_2J1tTdXeK10p9QVsXxFEwHb0mEANPSoHl44F36AegjbByzy0btGkB8EkBmnJm1dHMVJgA1Yw3iKoY4vkuIi4u2CnaQ2thd83UhkWtfoQzzuxbNzE3KAObGuehQ4M-7SnaqISMrgfG0IlIqBlbX_3ecO3pJK7y3JFqDr2IpRfgidVpkI3V28Z3a8xXX3GIEOhjhWNT7TDk-K7G2XaTnlD1exlMkdEuKd8TR9B2jK2zWTmP7iw-OHKgb61kgahyFEMmRA3GNAgeU65OYmRdsFehbCN2idBudR5pj9CA6gDJslSFw1JyTRbZXupziNhxbVE5DG4bkOqLbHK86vjQ39P6f0WnZChVWSDDDRqrwPtNbtwf7Q_3F0NyxT2HYNsBDLYozRrfXKLpOSYz2xU0gRlmp4VRRDGi5YVinmpuGmomnp-PV80tPwziWVMItI23EAgdE4ASA0E-cwZaoZW5Wpl6RfLehM48QxPAlKVFD7a6us0QvtiyRQVdLgW0mjUgRaB93zhode7TEoxJ3RcMORo7yG5DQGIphw2O5eU4reMZkDSpppAQa7qoTdFKNVa47d792hXPabogHxMGbdxsSkr31XtYF5dBc_Qk8e-P_PCaB798taRRg2aXSI9ZY14tTOTwspNqYh08Hfwiyaw==",
  "id": "rs_0c47e0c3adc33c54016ab2b51ac4d887d0801bca84408985e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.405,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"Two bowls now appear nested at the middle of the table, with the pink bowl still separate. I’ll park the left arm and approach the pink bowl’s outer rim with the right gripper.\"}",
  "call_id": "call_P6rqSEJZHiPWmt7Xd1gXEoMe",
  "id": "fc_0c47e0c3adc33c54016ab2b51dd6e087d084aa7678f7453fca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P6rqSEJZHiPWmt7Xd1gXEoMe",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9958, 0.9154, -0.6964, -0.1242, -0.1066, 0.9952, 0.4416, 1.4837, 0.9154, -0.2058, 0.318, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.3016 left_y=0.0007 left_z=0.2018 left_yaw=0.0698 left_pitch=-0.2031 left_roll=0.0177 left_gripper=0.9952 right_x=0.3891 right_y=0.1268 right_z=0.1275 right_yaw=0.0429 right_pitch=-0.1581 right_roll=-0.0426 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -2.7556, 6.612, 1.5604, 0.0122, 0.1343, -0.0122, 0.0615, -6.5983, 9.5932, 1.79, 0.4225, 0.1929, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:015e43713057a4b6ac37712a06832088c838fe3755ab7eba7df17b1a2dd05e3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c464a2c36b5f9f50dfff09fae5eeec75b33fd53113cd0e45ae903fa49f83bb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:124a45a33e02ac2a451168cde076e120b84c27fd71e5351f579d5884c6718dfb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.885 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7006, 1.8202, 1.4899, -0.606, -0.5034, -0.551, 0.9952, -0.0216, 0.8173, 0.6411, -0.4751, -0.0158, -0.049, 0.9967]\nstate[eef_state]: left_x=0.4163 left_y=-0.2349 left_z=0.1642 left_yaw=0.0187 left_pitch=-0.2171 left_roll=0.028 left_gripper=0.9952 right_x=0.2875 right_y=0.0002 right_z=0.1712 right_yaw=0.0081 right_pitch=-0.0825 right_roll=-0.0115 right_gripper=0.9967\nstate[joint_eff]: [-0.3487, -11.9863, 8.9641, 1.3407, -0.3346, -0.0073, 0.0415, -0.0205, -1.3607, 6.9538, 1.6728, -0.0317, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUpCBq8IjK11WdyqALvaxZe8YS_Q99hQ_p2tKUG2Y4Fs24QHh_fPty8iINa-LSpkl8M-WaVgy1CY34HpTY6eWOhtFt04clJyJ3y9aA55IaxfMIEoDGqqjbU6hFBCd96F8kPxeC5DlrGoRK0612kTBKBOaT257jgYlhaBx6iOt4Lq-X_MOLQzzXej05fwnTZNfcastKuC_cRPjekpffJogBNhaq6OSEkMX4r9dYReoYCFrJ431HhSDe6zlIV0_9YfyWuutbAE5yMB1GSrI7a3_hLuSgXiJwR1RoNZ0iZC-lnWwZJHafG4MYsZFSzR5fArJxXYyRgSlf9T7o8zBVZmIXkUhVvIZ6yLilgUGglulwpsrcUcHFxoGB0A4FF0XDF9ZcQ461NcBHCth-sxwO_CdkzotVyFbw9uROaoxwO_UO_QWKS9Ukt_0WdOCAapJW5Jbt63Gm3LjqNLJ5ebWb-WkPFbrv3Y_qDw9nCV943iaqxhvpetYUFFd2NxTqi65sb6yBCVV-gCuu9CRHpzwIHpEacOXef-_pKu494S3qZ1qTipYjj3lwhd31dh0nX3rKepn4wTJp3JD4r6PE-_D-lrTtyOh1bvZLImdQNjZ802iURbmw1tZu8L_d5w-RYYCd8kKia6rGBkZEvJe1ZJROY6VctgquEPEX2MSEDBSa0s6OiWn9_AF6Ucm2x9hG9f8rpxVzHnEDq9BlT_ALc6hlRPMxgYxGNH8HmsxzCGHK65QHI3OnX_q56Kz3NHB8PMQW-DynIouzfKO1Fil7mmQvufK5-BaseL_XxjXgXYpq7P6oVI9_hhzBdgXBBphpC5uLc-wVRHLw9diqlnMHBgE9Vjj4RnPuYc3aTtFgGSurhLGPw6hfj_IK__ghutabz2zw1krE_X7V-txKtyTwydxs0KJ4Ro5SjpzSRvKJnA8w3tTkIrnqjFKW5b9uL50tR5wqMyusLVsZ0f9hA-nk7oNwzrAquNJjYiByXxVlLUkSWc69Dlogc6IFXWxX_x62rU1k3ry2C_BHz5c4bpW1QtaGK8mbStwjEOObimF-7MZAALreDKFTu7QSbTEz_sdpMgxCBSG4_Tull33aEPKXlUQcuV7oP7yCQw91WmfS71Zcnn69rVVYozegE_s6oOboW_9snsoTV4WeVqXB_0HdMM0qzaqPh6ROuGaEw99AQJKs2iT_05m78LFYRjDnCUjFCarvLGbqE5SC6TiMj13aBS2XpxFvXN9fOYrA3htZUq6vEHZF6vgkduD6OQ8hE5jauE8i_9ma8CJNqhSL-TeeqTJdti_zvzQS1EdW6ENaEHWBWVHB_9mZK5siiAs5FmyWvtWR6aGWZT9bei0joHSVrfbgt2-nd-w==",
  "id": "rs_0c47e0c3adc33c54016ab2b525f0e087d085b023fa0945a8ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.10,\"right_z\":0.045},\"note\":\"The pink bowl’s right-hand rim is visible just to the right of the jaw column. I’ll lower onto that outer wall, moving slightly forward and outward to straddle it.\"}",
  "call_id": "call_RaqthRcvrYtzhpjUgGl7AUPr",
  "id": "fc_0c47e0c3adc33c54016ab2b5274fbc87d0b1ea620f7cb532e4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RaqthRcvrYtzhpjUgGl7AUPr",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0004, 0.9112, -0.7177, -0.107, -0.1013, 0.9952, 0.3252, 1.7233, 0.8062, 0.0875, 0.2409, 0.1379, 0.9967]\nstate[eef_state]: left_x=0.2977 left_y=-0.0023 left_z=0.1948 left_yaw=0.052 left_pitch=-0.2347 left_roll=0.0136 left_gripper=0.9952 right_x=0.4103 right_y=0.0976 right_z=0.0369 right_yaw=0.0305 right_pitch=-0.2315 right_roll=-0.0674 right_gripper=0.9967\nstate[joint_eff]: [0.0615, -2.8103, 7.0632, 1.6874, -0.2173, -0.0659, -0.0122, -0.7179, -7.6923, 5.5453, 1.7314, -0.0415, 0.1197, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fb98f7df5b468abea504092e912e79be9936adc1ed7ed7f68999a37e796867f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b955640816dac636e10431e40f91ca3d5f8ec0af1489cc2c837f81f6e69ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69eed969c9061985d66f5def0d10c6b9285f5384274f908b2431cb8ef1d786ea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.079 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0822, 0.9958, 0.9154, -0.6964, -0.1242, -0.1066, 0.9952, 0.4416, 1.4837, 0.9154, -0.2058, 0.318, 0.2176, 0.9969]\nstate[eef_state]: left_x=0.3016 left_y=0.0007 left_z=0.2018 left_yaw=0.0698 left_pitch=-0.2031 left_roll=0.0177 left_gripper=0.9952 right_x=0.3891 right_y=0.1268 right_z=0.1275 right_yaw=0.0429 right_pitch=-0.1581 right_roll=-0.0426 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -2.7556, 6.612, 1.5604, 0.0122, 0.1343, -0.0122, 0.0615, -6.5983, 9.5932, 1.79, 0.4225, 0.1929, -0.3346]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrUw9PGiXuLcfdx12umdz0Mbxb2KbGqVSqDiMq8DOJhW_DvrnCq8kte5ErSdL1pgoisX9YN69MUHJcsapWGvW1-HhWx_IJIAnQtqdp0ukxEdsor_qKZyYGyOqnzWsXZf4ywrWstYwsXlrZNsjjo4Oc7EvxDHbm4rnLXv4oxUo3Dm9ARCZ_aXIwlddXVBIak9Y6A9B2DUK_T158O0H0D_FGgYo8ECJFAl7uxxHfjhInuSXDZN0Eivx4VUpIpjcrjg1ysv0HPpfckwyIb2LS9k4i5TtF8NFA8nKqTluvPKXfsYmDPBMW-6PIxHIRNp2gap6nsDmcl0HXeOtRpUXiMrdaDtwwHPgXrKINZssgAOLnlHN7FzTZN_VPe-s_xk4HEhF50ozHJHxJLig90FtzMIGe6Ai9_1eHV-YOX458AGjJjdd0iBCdm17-89jywkYCLUQDVf2sj9AzAoxYxU3ZX-yXHnQ57QAIYm_8P6T5rzxzPeqZp-AgyL72wG-RgMVlM2jCLW85ClKB4lOAYHan0xAGZQXpedJ7ujRy60nJ0KeS7YSfRekUgabAliyt57JdggArURjTloo309-CNzznNmYo93bQBx10AMBVvoX5v8KtH0eGMnFA8N7FDXeXfWay4dQhRrMik4CaJGzzCgGvo6gtsg3DuUJlrmph3pR-DLKeuRY1LMV90IKShfI-pMBjV_ndDHWf2M9RyzlftRgpfePtZ_dT_A7gc4Q0gEaSnoAacATrcuJFPt-xQvPd5R3WB8MUWRJifghT9Og2vnl7fZOlBv3e3ZScedcDNHCxHGnFZsWpr9tHZNftBlNH2YLwvJJFhA9vK4Rb5NqN2rP-kTNQvNcWtf1a_1sJUyjcWFqZBK2CMWuNEyx5DBHZGmqj3rJB-TGMUVqrPAq8jfu-kHNOFTH_8FMnqMnaW8yROtVatLxVuJlrmg3G6mV5zFkLnqO-EZVFJps6_z8cduVR_HoPSfFAZMFM4gsMs916YMXtpB6FsIYYugTRpMJoyLgDLHW8AEqJZeVLp8f_8INOO8Akp2ONx73-DUgvVWzs90QIUtAtj5SWNQCgdFmmrad8llbR0HjqA13B3I09cKl7TbdYwojriFLnXZuUf7TqYAEgJzCeaf6gCfRtXlqPkMSohZqfmFbxoRnNLsQ2c_AkK8V_uklDiQi7z940ou0CQqJSoCboVaAcuv67o7nKHEcwvVoMMjYeEFnyIkYBD8mEhKTEF-wLtoa-ab_tQA_pm8SoHMpFBHT1brs3q3wjTa96o4kTHYlRQR01Nc24OH0_M1IbxFkvXofHCMnbQhTbavl_0B9ezfPEL1zSDxc4utNRxQXz2VLkQKtc-Ay7G9jVPkYV3_cbEBLuOH6vXxj9BYORT89fp_W6xw8QYwxgxmZXb6ZLFB0_EK7lf6gnH45c-dOGHe-jBxN_UcMJf9eRGX1tINtFpFe2SAA7_E1qfmjJXCMUrlaLT8-DwLcWG-6pQNL-ZioSayvZDnyIPz4hvRJZzcc3LAorJAzofOnCUT8MMz9LBP7gDXGJcQNVJRCXrZo23Mb91Pzvw8MnoeKvM6l2aH4yviKTLQvVvJ6E0Xy5LozGYUN3qm4K0799E6GIcISF5lwYrk8OMSJMTRWNbrel8BvuE=",
  "id": "rs_0c47e0c3adc33c54016ab2b52bc6b087d0b991ee0cf057fca7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers straddle the pink bowl’s outer wall at rim height. I’ll close on the wall and then test the grip with a short lift.\"}",
  "call_id": "call_CEPPN4ddrzxETn4x1MGv50OW",
  "id": "fc_0c47e0c3adc33c54016ab2b52f16d087d087407d89b8b20080",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CEPPN4ddrzxETn4x1MGv50OW",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7216, -0.1123, -0.1013, 0.9952, 0.3218, 1.7287, 0.7986, 0.1032, 0.2153, 0.1413, 0.0416]\nstate[eef_state]: left_x=0.297 left_y=-0.0013 left_z=0.1941 left_yaw=0.0567 left_pitch=-0.2383 left_roll=0.0182 left_gripper=0.9952 right_x=0.4097 right_y=0.1006 right_z=0.0338 right_yaw=0.0469 right_pitch=-0.2341 right_roll=-0.0456 right_gripper=0.0416\nstate[joint_eff]: [-0.3624, -2.441, 6.7214, 1.5702, -0.0708, -0.0317, -0.0122, 0.1162, -6.8444, 6.5026, 1.0037, 0.359, 0.0562, 1.453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c47f8c627fe5eed2a010d7756274a7f47457b01523bd35fa0ff0830ccf28fce9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c651ffccb691d0e4ed6f0df502eab2f7bd5485fb47adc093f23b543c6003f63e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bcbbc1e88f1098daab84ce4e80ccfc43a3bcabc6ebf6ed7d664b213d4327b861",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 8.81 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0004, 0.9112, -0.7177, -0.107, -0.1013, 0.9952, 0.3252, 1.7233, 0.8062, 0.0875, 0.2409, 0.1379, 0.9967]\nstate[eef_state]: left_x=0.2977 left_y=-0.0023 left_z=0.1948 left_yaw=0.052 left_pitch=-0.2347 left_roll=0.0136 left_gripper=0.9952 right_x=0.4103 right_y=0.0976 right_z=0.0369 right_yaw=0.0305 right_pitch=-0.2315 right_roll=-0.0674 right_gripper=0.9967\nstate[joint_eff]: [0.0615, -2.8103, 7.0632, 1.6874, -0.2173, -0.0659, -0.0122, -0.7179, -7.6923, 5.5453, 1.7314, -0.0415, 0.1197, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The jaws stopped at a thin-wall opening rather than fully empty. I’ll lift the pink bowl a few centimeters to verify it follows the gripper.\"}",
  "call_id": "call_JO9F83tGTvAHp1QrBavkJcvz",
  "id": "fc_0c47e0c3adc33c54016ab2b533d96c87d0bb1f55ffd6875112",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JO9F83tGTvAHp1QrBavkJcvz",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1017, 0.9952, 0.3248, 1.6115, 0.9108, -0.1574, 0.2073, 0.1333, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.051 left_pitch=-0.2394 left_roll=0.0129 left_gripper=0.9952 right_x=0.4043 right_y=0.1016 right_z=0.08 right_yaw=0.0591 right_pitch=-0.2661 right_roll=-0.0539 right_gripper=0.0409\nstate[joint_eff]: [-0.0615, -2.441, 6.735, 1.4969, -0.1392, -0.0513, -0.0122, -0.4718, -9.4291, 9.1966, 1.6239, 0.1197, 0.022, 0.4274]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62df899fca09ab1cec54e30e91e5cf0594a37d7f026abb69a0167424af417165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e4c36be23a7019e0fd8ad92a3d270c6110ebb67c6dd8a6abd59ff8ce2aa4032",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78c641ba6179cbaf49ea538aec519a49ebd32abbc889501d23a3be85ec5279c3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.167 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7216, -0.1123, -0.1013, 0.9952, 0.3218, 1.7287, 0.7986, 0.1032, 0.2153, 0.1413, 0.0416]\nstate[eef_state]: left_x=0.297 left_y=-0.0013 left_z=0.1941 left_yaw=0.0567 left_pitch=-0.2383 left_roll=0.0182 left_gripper=0.9952 right_x=0.4097 right_y=0.1006 right_z=0.0338 right_yaw=0.0469 right_pitch=-0.2341 right_roll=-0.0456 right_gripper=0.0416\nstate[joint_eff]: [-0.3624, -2.441, 6.7214, 1.5702, -0.0708, -0.0317, -0.0122, 0.1162, -6.8444, 6.5026, 1.0037, 0.359, 0.0562, 1.453]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrU-GGePzs4uhl2tOezMIyeUt5HBo6CcKCzOunN8NoRJ69l8ejGNbKFA1jDx1VMYpj3hZxSkHRwIF7QqPrjToOCLZEmVbBzget4Y6GIMTfiAcm53bQyCr2SsAfP2235JI9I9unIRYX2el4nCtl_jsW6Oob-qtwrWtj5C2qxxP-tj4ICwp3MZopnIZFAJlCp7S7qX0KIK14SPeluw3wH1nk0XEOZ9UKP5iP7x9zV1fRPftnaXBzTeLOKYUTpI5dsr2duGsW4z312ihsi7o3FQsN56iMUrzlvb9G0NXHWCRo8PF-q9p-0v2Q-NVt5qxY0ZtZlIZ4NLMBrlil0ydkzmUa48780wvNtbJHWbmVkYxQ3gInG5oQe3vZr-_o6Unkaaw7OaByUPMRQr_uVsBqGlaP9ontHy4IiXlVMcDcO9eLnPikxB9ogRFcPzkXBcJNjMxjqUSdiq1jfE9Fa3jJHTSGkraggL10ag5oeMK5lA1rpah6PPgRJzFV34W22dKlzx5HUU3S6prdCmftWYN2AaBUEk4azmvzbanrlxt0C-xv44T9Q6Rp0EVnx-tCQUG_VXkkvlwg6c-Y4Lp_pFKejNxlsfvCUdtoTi4ee4_IOko6UGvWa5K4X-YomDBspa5hFPq2QlLe821gVW08EAxsSkCB6kDBOX-c97uZDEIKOn6Aj95EO_UrhHgWoUVrywCXQEKV9uwsJwbuEL634EQfLPfxnuTih6Ch-uW5Nkr6JNmDE2vHW4N2aXTKtKiY0QFv2XKDrFPDxbijioJRgm8VT7B06rjts0Z1DuV4uj5pHjQ67MgTcurMbeIxtw9eipOC_uzrYnLNctL5Pm5MbT8Fi8ksXnd4R5tFPFYKgfNHOmawBhGEY7RhMS1FtyUUUcEDJePL_L4uXnM26qsPrJy9GYynzZOgk13Bvyht62TL2mHj3c3-UTIligdpEejatDn_lgLMt2mUzafprCW5HKdtg69uoGqTlJBMfnKgPCbWNeGA_Qq0Z2yNBXNi1tc0D43MADgt7XKvfjDhDuD-8S0byNjyrfw4SeMQDr3ZF923NUfZr1dzqM-pzC8EtN23RqME6oWs4xTgRYkBzdNS64iSq1SHQvX2roAOLcxmU6IMiDuacjQGXrJaQkO2PhO02vPlncV1nOxRzRWuBe1xsd1UX55LVIYmSf81hE5Ec5m35arhvxZU-HrdaJbT3Vr3LBQkb2UFMjyY1D6Qwi_-jbdqLyeXKo0ewGLmaIDGvAVcLEuG3IajQJoLToB35rLQgDMNiCwx7Lx10H1ccN2_5nGUQZlzGvn2YCWgGJVpbY1PgaHK_mWHq_zEEqTzIycFKkRQYPWDWuuFj3EvMctdNmb7Vdm0KYO-iOWM2ZfEc7rYoU3wSmxNFh5fGHCHCJV71QZ2RSHIWEa1h1Iufa_NOTlih3eX-fVJXclNK2A-jzHhHpGB0WUtG7awYp-0p2Nu7F8HX76wkd",
  "id": "rs_0c47e0c3adc33c54016ab2b53971f887d09e87892d39d26ec2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.205},\"note\":\"The pink bowl rose with the gripper. I’ll raise it to a safe carrying height so its bottom clears the two-bowl stack.\"}",
  "call_id": "call_l1gUvxegOcwe5FmVc4X1wJAR",
  "id": "fc_0c47e0c3adc33c54016ab2b53d821c87d08bba4ccaae72fc70",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1gUvxegOcwe5FmVc4X1wJAR",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1013, 0.9952, 0.3252, 1.541, 1.2709, -0.6334, 0.2001, 0.1226, 0.0408]\nstate[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.0508 left_pitch=-0.2394 left_roll=0.0131 left_gripper=0.9952 right_x=0.4031 right_y=0.1027 right_z=0.1774 right_yaw=0.0682 right_pitch=-0.3117 right_roll=-0.0678 right_gripper=0.0408\nstate[joint_eff]: [-0.1709, -2.359, 6.7624, 1.4921, -0.1197, -0.0415, -0.0122, -0.4034, -9.1556, 9.4291, 1.58, 0.1636, 0.0415, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5efd1862be27c8fd61bb10bb7b2ee89ba81aceea3433a674a31921cd2f7b1b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2856b8c9e2544394fc87897b2da7bc4ca0dd4e405c4ce115f85247d23845fd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:903aeb67951b61fb6d8c1d7156423acfd6c840c99ab7a2771875027ac275106c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 3.156 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1017, 0.9952, 0.3248, 1.6115, 0.9108, -0.1574, 0.2073, 0.1333, 0.0409]\nstate[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.051 left_pitch=-0.2394 left_roll=0.0129 left_gripper=0.9952 right_x=0.4043 right_y=0.1016 right_z=0.08 right_yaw=0.0591 right_pitch=-0.2661 right_roll=-0.0539 right_gripper=0.0409\nstate[joint_eff]: [-0.0615, -2.441, 6.735, 1.4969, -0.1392, -0.0513, -0.0122, -0.4718, -9.4291, 9.1966, 1.6239, 0.1197, 0.022, 0.4274]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.25,\"right_z\":0.205},\"note\":\"The pink bowl is securely suspended above table level. I’ll translate it leftward over the existing stack while keeping the rim grasp unchanged.\"}",
  "call_id": "call_l4RKpIEFBRZSSAvYKx9zSDa3",
  "id": "fc_0c47e0c3adc33c54016ab2b542a6f487d0ba16346a8ab7f142",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l4RKpIEFBRZSSAvYKx9zSDa3",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6563, 1.9118, 1.7889, -0.9031, 0.3653, 0.3676, 0.0432]\nstate[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4171 right_y=0.2461 right_z=0.1894 right_yaw=0.1045 right_pitch=-0.3601 right_roll=-0.0908 right_gripper=0.0432\nstate[joint_eff]: [-0.1162, -2.1949, 6.7761, 1.4676, -0.1099, -0.0562, -0.0122, 0.3624, -9.853, 9.3333, 1.2283, 0.3932, 0.1929, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b7c3266642f10669b33f2dd8a952648dcab70532c73b84da50af8d3c5cc7d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275a4fcaecbfe495e3a4dc4ee609243f6aef0c7670fee3dd0a994dc06ff1c923",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1530a8cc39add55b5fec18d57234007c63f32ccff0c4c54d1ee94ed8bc0be113",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 7.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7219, -0.1055, -0.1013, 0.9952, 0.3252, 1.541, 1.2709, -0.6334, 0.2001, 0.1226, 0.0408]\nstate[eef_state]: left_x=0.297 left_y=-0.0025 left_z=0.194 left_yaw=0.0508 left_pitch=-0.2394 left_roll=0.0131 left_gripper=0.9952 right_x=0.4031 right_y=0.1027 right_z=0.1774 right_yaw=0.0682 right_pitch=-0.3117 right_roll=-0.0678 right_gripper=0.0408\nstate[joint_eff]: [-0.1709, -2.359, 6.7624, 1.4921, -0.1197, -0.0415, -0.0122, -0.4034, -9.1556, 9.4291, 1.58, 0.1636, 0.0415, 0.4957]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The pink bowl is centered above the stack in the overhead view. I’ll lower it toward the top bowl, leaving a little clearance for a final alignment check.\"}",
  "call_id": "call_RyD7fzi9AxIe3x4faqB58sH6",
  "id": "fc_0c47e0c3adc33c54016ab2b547e8e887d0ab3d09270a297d6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RyD7fzi9AxIe3x4faqB58sH6",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.659, 1.9175, 1.5131, -0.7013, 0.358, 0.3668, 0.0458]\nstate[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4027 right_y=0.2381 right_z=0.1087 right_yaw=0.0958 right_pitch=-0.4312 right_roll=-0.1312 right_gripper=0.0458\nstate[joint_eff]: [-0.2393, -2.441, 6.735, 1.4725, -0.0562, -0.0757, -0.0122, -0.2803, -9.894, 7.2547, 1.2234, 0.232, -0.0513, 0.569]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c80fef6ce2f34fd84425475a87cb5d807ee200adde843a904e48f3beee01dfdc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e826eca909dc44e5dc3757c70813ff4a26f2efcc2de8977b78a86b0353c80c7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ae7157a0b514465c3cf9ab9de12e62bc13e31f9f6efa4dbdcffbca6d3995462",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.261 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6563, 1.9118, 1.7889, -0.9031, 0.3653, 0.3676, 0.0432]\nstate[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4171 right_y=0.2461 right_z=0.1894 right_yaw=0.1045 right_pitch=-0.3601 right_roll=-0.0908 right_gripper=0.0432\nstate[joint_eff]: [-0.1162, -2.1949, 6.7761, 1.4676, -0.1099, -0.0562, -0.0122, 0.3624, -9.853, 9.3333, 1.2283, 0.3932, 0.1929, 0.6569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVQlfXyrzIMHATzikk8LPX0hK99nyNzWANEtxucZFftDj5sikhP55JmrxFNmVLpl_5lUIM47ub4gP2eH7Xl13qQeKe2i15LI8BERXfTI6jLQinaZyugcAZhh79FMlujaa0nfBWi1PIdlxDdpHWg-pTFxyy7mDzwK_IauFTHY7vg845FSEzYx3MUm8VtegXPY7OmcIBiiXkXQ-4cJ1s-p2gCLMQPawOl7vDWST8J1mhRex5U52ey_g_QzjyB0FuV4EeMFJClpvsUsW2ahhYvLivMoGvSSHk8v6NhryzsE0wyUE5Ltpl2iMxpmV-m7B5UUJ3tgAYGq_Sjfu2w82SbWTLEqeV9HIdN4SRtc6-JvgQ9mWWxjdAOxpvsvamyCHfMXcnHKAF-e6b2nzN90gDr6BoyjWq7Z3uf-kBppWPuUH3sbhbziWYYeY3NYQn4c5Xy-Cr_twSM1Pn2yGputU45LNMUh64T4HjR6qWJvYZRyLJ3U3uT_X3SEzbpfdQBTdRoYnA4EQqqSINOZle4TVgB3d3f_R7jSYD4H6Ku1w1QvHE3bB6zAZH5RiKmVqAC-9ZLNIv3TuzZyjqEjUUuGxhoZlgezAachMxZPaDXw_vsz5gkH-wFBtpe3N22ZAPM1sP9Egc0UYHZrUsiPjbb7MOn1a5AknmyrKNPYiWLLSKMItFBVTRvhCcAsABM4BEtLwL4OYoEox5ayrGfkyJFjsLq8UtYFNCCAWOP9TUzvAeDcS_7u0wcyFCmUNQRILvvV6VI1PpOgLyn82ZIWfoBvkU__LrDLwXc6m2h58OpOkjBlxPMb46YyBi1QKTgYJ4g3_WiiiYkD6ag3NixyRso2P1IxSHhu-3zJf3Fz_ZaXWsztCYXg4-m4hT8ZWJO7qjGXhxaUS7gW7_ALIfvuy2izCZHAjuASgSWyQs9sCEd6vGax8eLDIWxFZovBNoM16smEBH0gwxsRz0kO20jAKL5BGRVMvuiSDyO4Vbg3l8PnOo9zPZwYklsLLmO_wEf0tv1DVIXX6tuIH5GucBXkKP1cBVmSeQqKBJ6e1gwYJv2u879seUoU-LJ07ZWWNL8kqkPkVn0UNa2GbO1pVdZu7D88lxNVDm9VjbEglrnofwIfclpQYzTmXNyhQdIsZa1-EE_f4OhLKR-aAt4f_k6TBVXrgtfHaDo-YLgoE0T-R6yTSNtMvwnNULqzypl2I-PyuAsto1BbAB8b86CiJ4dJYeoQUdNiyNfeHAYWqY9RdisensObYjyPgNlilODvDlV3RxWdM9pNNOyz5V9RzQf2WVFADBdt3-xPuwHIU6JBiCHXv7csO5toRCZNQ6mLq8dJOVtODQEUYR9NLk9CaqwImfPcWhbXE06XqG5x6HPFAhyU34FQp4hkIpvd2fXe6xJh0hGqpJzE6b2vl7MOACG8UjI-_CmHjiJFIaRemzys_hOIZdidod7ifmZuGdVj7XGiZgWDu9HJNE9D9b54TZ1z8h9opqiLXE888BzmXnWibap-toLmiXl37vzgwZ6NgRzoPPJkG0xUUVBT9hDuUzaETwabwOx2t6WNm4Yb3GnHTaRI1NmUU3WNG_Qhtploz5T1Lo5LaLkNBQO",
  "id": "rs_0c47e0c3adc33c54016ab2b54b9c8087d08f94a00743c2dddf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.455,\"right_y\":0.255,\"right_z\":0.095},\"note\":\"The wrist view shows the stack slightly beyond the pink bowl, so the carried bowl is a little too close to the arm. I’ll shift it forward a few centimeters and lower gently toward the nesting position.\"}",
  "call_id": "call_9apiZECjfC9WYs8jpo835iWR",
  "id": "fc_0c47e0c3adc33c54016ab2b54e9b0087d0a5d97cc9ab426eae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9apiZECjfC9WYs8jpo835iWR",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0061, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6266, 2.1139, 1.7092, -0.7444, 0.3309, 0.3244, 0.0483]\nstate[eef_state]: left_x=0.2973 left_y=-0.0026 left_z=0.1924 left_yaw=0.0506 left_pitch=-0.2451 left_roll=0.0136 left_gripper=0.9952 right_x=0.4384 right_y=0.2509 right_z=0.0804 right_yaw=0.0993 right_pitch=-0.4844 right_roll=-0.1575 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -2.8923, 6.7214, 1.4676, -0.1148, -0.0073, -0.0122, -0.9504, -11.5897, 9.4154, 1.1306, 0.1832, 0.0659, 0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb37241b1ac1feea9b40d798fd0b8e26bed19a3ecf6065224b3cbdf7f5699969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1fff0a4ba7c557a75e9fbd535befccc25b4deacb76d232cebbc5304a8663315d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b51bfc2e46adc221127e3a05f58dc92c8f2cd090c9fdb8e9a08c9790e8cfd0e7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 3.713 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0008, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.659, 1.9175, 1.5131, -0.7013, 0.358, 0.3668, 0.0458]\nstate[eef_state]: left_x=0.2969 left_y=-0.0026 left_z=0.1939 left_yaw=0.0505 left_pitch=-0.2398 left_roll=0.0129 left_gripper=0.9952 right_x=0.4027 right_y=0.2381 right_z=0.1087 right_yaw=0.0958 right_pitch=-0.4312 right_roll=-0.1312 right_gripper=0.0458\nstate[joint_eff]: [-0.2393, -2.441, 6.735, 1.4725, -0.0562, -0.0757, -0.0122, -0.2803, -9.894, 7.2547, 1.2234, 0.232, -0.0513, 0.569]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrVXjTYNjZRKIN5lxyyYGjzvhxtNbKCIND7Y9hEwaOLjh1PS-w8dT08sZNezyxf-RtRZLZAFWIf4xckghp_izFvMB5exgt9hHdC_l77eUj1eXJJIY8PxtYw6zjKi3TT0vgdpYXlP9TOC6pgcH3gpatHTYW77-2yRI_vUHcvVLtX3d31ymvM0ROnJfMJ3QI00hssoAgRbqEHC-NNaIF-hFQK3fvA__SkBNV3xci8ITUEZjEBmn6mnbYEQtn-LFYnncDTwcSnUZZK3764kkiHBI9ArWq2c-kEyNixs4LgGViyvrzF7Sr_FS9snkWBBJHqpqqmXTf6G9LrTRqJ5rw4zjC1uPlhZzZxwAvortKdYJZx1HGJZIBwYmID6gsWAB_xUOAYgcbJRsIVQbs7jovbqgI0YOZicXijFBYfCWw-kfVws2BSIgtPuMIW70G8qLXOEEsintyiGhnbwmfSoFQAByMAj1bpFWy2aOGvzpfWyWh023EHv0T2AuDi32MjyvHhWQWJxxokby9wdsprNaxnAUDMV566HsxjZ47QQWMz_IKdPPCO5oue-4hamk90z02AP3HdAT9fKp_WQ1Lfy5Y3TkagWN7E_qBqI5VzngRbqinhE0KGBN75ehVT15AT6HRWpPS6WdDDawg5krioZBUK1iePcFleaNnwb886B2PNXPB5minVSefIWGkXaXbTT_AFo71fbzVp90C8KPTVIHx0x5vMtZowka7TBHaFxQ5EtcwHVFG8L1l-YN2fSgzO-JyXFEXQsEisKdJg1HNenPI--XkVedXXwLYJgS5jE2jpclxdgc6K73oE7UQfFb60HLG2txDvBzujun779LKNaTc5xLMaG7wbKEHGAwqHW0HzWg8GOl6CokPcZS4uHeVaEftyG4gbhTSdUgxWvGcVtcWM06RXH7yl7FZUZSZVnTpoo_GXHAq1h8ejrfrEjvrh_O33xREDJGl05BY05pLr9YUh9lZXVYIKuz1gPyEY4R5VTTgH__Hd_ll2rYw1eKcbHSYu4LquaLg8kHVsnY2TREGnZAmEsDYQqxlbLqyuGKjxjz29kfTzekXRBsYnAmsZujih9VyyS9OuyFn5j2EOJL_GCt1DyGwGPynITvUhSQqe78G11f0FZm6YZ7KCl0X1QzLhqFSQvNZVaJGamU3XFM3d1X6cPZmUsyr1_fCocvRp-NhfvzeOxUx1ma0klm_dA12Zf8SOSWeMaVbUxrLM4lefMS0-Ag5GlwRG1uPbojeGznJ6XN6KkTosn_12wx4OhDmK1AvbUDT9xm7AlxIOqm_bjuQ31aIsg9WU58tPi_MowS-5shes=",
  "id": "rs_0c47e0c3adc33c54016ab2b5547a6087d08c0e6aa60921713b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl now overlaps the stack closely and is at the expected resting height. I’ll release its rim so it can settle upright into the bowls below.\"}",
  "call_id": "call_2K4EKRJ8OsrxHxhGCMViqISn",
  "id": "fc_0c47e0c3adc33c54016ab2b555c00487d0be4bf1e588a5775f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2K4EKRJ8OsrxHxhGCMViqISn",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0073, 0.9112, -0.7223, -0.1055, -0.1013, 0.9952, 0.6247, 2.1246, 1.7126, -0.7559, 0.3283, 0.3149, 0.9958]\nstate[eef_state]: left_x=0.2974 left_y=-0.0026 left_z=0.1921 left_yaw=0.051 left_pitch=-0.2462 left_roll=0.0141 left_gripper=0.9952 right_x=0.4371 right_y=0.2493 right_z=0.0753 right_yaw=0.1003 right_pitch=-0.5026 right_roll=-0.1711 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.3863, 6.7897, 1.4628, -0.1148, -0.0366, -0.0122, 0.1709, -12.7521, 6.106, 1.1258, 0.1929, 0.0708, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac89afc0dc3a82ef919b89fe48e902a3364f63a4e1265e91420a11fa5f522d21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca98e28a8057449e0ac09b1e9487ccb564839c40a7f6bd0e9451af8c9412ab8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2565aaff9c9ad585c033777bafa27a38c2aa501246ac0866615c592b233cb3ce",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 6.841 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0061, 0.9112, -0.7223, -0.1051, -0.1013, 0.9952, 0.6266, 2.1139, 1.7092, -0.7444, 0.3309, 0.3244, 0.0483]\nstate[eef_state]: left_x=0.2973 left_y=-0.0026 left_z=0.1924 left_yaw=0.0506 left_pitch=-0.2451 left_roll=0.0136 left_gripper=0.9952 right_x=0.4384 right_y=0.2509 right_z=0.0804 right_yaw=0.0993 right_pitch=-0.4844 right_roll=-0.1575 right_gripper=0.0483\nstate[joint_eff]: [-0.0615, -2.8923, 6.7214, 1.4676, -0.1148, -0.0073, -0.0122, -0.9504, -11.5897, 9.4154, 1.1306, 0.1832, 0.0659, 0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.215},\"note\":\"The pink bowl remains supported after release. I’ll lift the open gripper straight away from the stack before parking the arm.\"}",
  "call_id": "call_YtNG0Czx8uk35nFFTls4cxxq",
  "id": "fc_0c47e0c3adc33c54016ab2b55a8ae887d0a197fbcb20954e0e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YtNG0Czx8uk35nFFTls4cxxq",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.008, 0.9112, -0.7227, -0.1051, -0.1017, 0.9952, 0.6262, 2.207, 2.3772, -1.3163, 0.3244, 0.3019, 0.9961]\nstate[eef_state]: left_x=0.2974 left_y=-0.0027 left_z=0.1918 left_yaw=0.0509 left_pitch=-0.2474 left_roll=0.0137 left_gripper=0.9952 right_x=0.4409 right_y=0.2538 right_z=0.2087 right_yaw=0.1186 right_pitch=-0.4866 right_roll=-0.1627 right_gripper=0.9961\nstate[joint_eff]: [-0.3487, -2.5231, 6.9402, 1.4579, -0.1001, -0.0708, -0.0122, -0.0615, -11.1932, 7.8838, 0.7692, 0.1441, 0.0659, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb661350511f70f5530764500b495891a63a08d69aa3e34af91195a89b8a161e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b347bde878f371b85e309813549e60552eaeb0bc332e45bd001143b621b1ba3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82c9a640d09d229222be97f2a0a1bc2420cb476f403f958d9b8ebac137264782",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.273 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0073, 0.9112, -0.7223, -0.1055, -0.1013, 0.9952, 0.6247, 2.1246, 1.7126, -0.7559, 0.3283, 0.3149, 0.9958]\nstate[eef_state]: left_x=0.2974 left_y=-0.0026 left_z=0.1921 left_yaw=0.051 left_pitch=-0.2462 left_roll=0.0141 left_gripper=0.9952 right_x=0.4371 right_y=0.2493 right_z=0.0753 right_yaw=0.1003 right_pitch=-0.5026 right_roll=-0.1711 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -2.3863, 6.7897, 1.4628, -0.1148, -0.0366, -0.0122, 0.1709, -12.7521, 6.106, 1.1258, 0.1929, 0.0708, -0.2027]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The three bowls appear nested together with the pink bowl on top. I’ll park the right arm to leave the stack unobstructed for a final check.\"}",
  "call_id": "call_SaiMuEGjMa3IPdhS6ADpna7k",
  "id": "fc_0c47e0c3adc33c54016ab2b561d7ec87d0b6f3f701f60c8807",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SaiMuEGjMa3IPdhS6ADpna7k",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0834, 1.0111, 0.9112, -0.7219, -0.1051, -0.1013, 0.9952, 0.0269, 1.2251, 1.1873, -1.0229, 0.0708, -0.2054, 0.9961]\nstate[eef_state]: left_x=0.2978 left_y=-0.0027 left_z=0.1911 left_yaw=0.0508 left_pitch=-0.2496 left_roll=0.0143 left_gripper=0.9952 right_x=0.298 right_y=-0.0009 right_z=0.1963 right_yaw=0.0726 right_pitch=-0.5019 right_roll=-0.1704 right_gripper=0.9961\nstate[joint_eff]: [-0.1573, -2.7556, 6.8718, 1.5067, -0.0757, -0.0513, -0.0122, -0.1573, -4.8342, 6.3248, 1.2625, -0.0904, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ef4e86b547a3574574ef4010fecd7abbda9cf665b3546ab17891d44fe538c1b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0b4ccec9d266ef833edc11c97f2508c83d5464c991fbb8f3f8d5eb3d25795e1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bb6503acc8d18a69221cc64877c0048643e26ae0b6515af98c4bc0b43798eb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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