adhoc

completed
2026-09-22T17:20:49.215989+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
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
171 s
total steps
206
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 separate bowls: turquoise on the left, blue in the middle, and cream on the right. I will approach the turquoise bowl’s rim with the left gripper, keeping the right arm parked.
move_to
left_x0.3600left_y-0.1200left_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, 0.7944, 0.6048, -0.3763, -0.0223, -0.0261, 0.9942, -0.0212, 0.7921, 0.6022, -0.3782, -0.0162, -0.0326, 0.999] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9942 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.5128, -1.4974, 10.0718, 1.7949, -0.0024, 0.1001, -0.4029, -0.4718, -1.3744, 10.2085, 1.9121, -0.0855, 0.2125, -0.1197] 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":0.36,"left_y":-0.12,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.20},"note":"I see three separate bowls: turquoise on the left, blue in the middle, and cream on the right. I will approach the turquoise bowl’s rim with the left gripper, keeping the right arm parked."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe turquoise bowl is centered in the wrist view, and it is wider than the open gripper. I will lower toward its left rim so one finger can go inside and the other outside.
move_to
left_x0.3900left_y-0.0800left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5236, 1.2766, 0.6945, -0.1265, -0.4164, -0.3046, 0.9943, -0.0216, 0.8043, 0.6418, -0.4572, -0.0158, -0.0383, 0.9989] state[eef_state]: left_x=0.3467 left_y=-0.1135 left_z=0.1295 left_yaw=-0.025 left_pitch=-0.0723 left_roll=0.0326 left_gripper=0.9943 right_x=0.2894 right_y=0.0001 right_z=0.1786 right_yaw=0.0024 right_pitch=-0.0515 right_roll=-0.0038 right_gripper=0.9989 state[joint_eff]: [-0.335, -5.053, 9.0872, 1.7118, -0.1685, -0.0269, -0.6032, -0.1709, -1.4017, 10.8103, 1.8974, -0.0659, -0.0073, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.08,"left_z":0.065},"note":"The turquoise bowl is centered in the wrist view, and it is wider than the open gripper. I will lower toward its left rim so one finger can go inside and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe near left wall is still left of the gripper’s centerline. I will shift slightly outward and lower a little more to straddle that wall rather than close inside the bowl.
move_to
left_y-0.0500left_z0.0320
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3428, 1.5272, 0.6041, 0.1616, -0.3046, -0.2138, 0.9939, -0.0216, 0.8093, 0.6415, -0.4683, -0.0158, -0.0414, 0.9989] state[eef_state]: left_x=0.374 left_y=-0.0734 left_z=0.052 left_yaw=0.0186 left_pitch=-0.1544 left_roll=0.0573 left_gripper=0.9939 right_x=0.2881 right_y=0.0002 right_z=0.1749 right_yaw=0.0041 right_pitch=-0.0679 right_roll=-0.0059 right_gripper=0.9989 state[joint_eff]: [0.3624, -6.612, 5.8462, 1.8632, 0.0562, 0.1343, -0.0464, -0.1709, -1.6479, 7.1316, 1.7558, -0.0366, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.05,"left_z":0.032},"note":"The near left wall is still left of the gripper’s centerline. I will shift slightly outward and lower a little more to straddle that wall rather than close inside the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe left finger is outside the turquoise bowl and the right finger is inside it. I will close on the wall and then check the grasp by lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2691, 1.5589, 0.5491, 0.2611, -0.2577, -0.178, 0.9939, -0.0216, 0.8101, 0.6411, -0.4709, -0.0158, -0.0448, 0.9989] state[eef_state]: left_x=0.374 left_y=-0.0527 left_z=0.0366 left_yaw=0.0333 left_pitch=-0.1539 left_roll=0.0496 left_gripper=0.9939 right_x=0.2877 right_y=0.0002 right_z=0.174 right_yaw=0.0059 right_pitch=-0.0717 right_roll=-0.0085 right_gripper=0.9989 state[joint_eff]: [0.3214, -4.9436, 5.4496, 1.9121, -0.0024, 0.2125, -0.022, -0.0889, -1.2376, 6.9675, 1.7021, -0.0611, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The left finger is outside the turquoise bowl and the right finger is inside it. I will close on the wall and then check the grasp by lifting."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper has closed to a thin gap consistent with the bowl wall. I will lift about five centimeters to see whether the turquoise bowl follows.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2516, 1.565, 0.5381, 0.3099, -0.2394, -0.168, 0.0417, -0.0216, 0.8108, 0.6407, -0.4747, -0.0158, -0.046, 0.9989] state[eef_state]: left_x=0.3783 left_y=-0.0503 left_z=0.0387 left_yaw=0.0289 left_pitch=-0.1273 left_roll=0.0362 left_gripper=0.0417 right_x=0.2871 right_y=0.0002 right_z=0.1729 right_yaw=0.0066 right_pitch=-0.0767 right_roll=-0.0093 right_gripper=0.9989 state[joint_eff]: [-0.335, -5.1487, 5.5453, 1.0965, -0.2173, 0.2076, 0.9206, -0.0479, -1.1829, 7.1863, 1.6825, -0.0513, -0.0611, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The gripper has closed to a thin gap consistent with the bowl wall. I will lift about five centimeters to see whether the turquoise bowl follows."})
tool
executing move_to over 4 steps (0.4s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe turquoise bowl rose with the gripper, confirming the rim grasp. I will raise it to carrying height before moving over the blue bowl.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2523, 1.4136, 0.6369, 0.0692, -0.2359, -0.1761, 0.043, -0.0216, 0.812, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989] state[eef_state]: left_x=0.3786 left_y=-0.0513 left_z=0.0868 left_yaw=0.0293 left_pitch=-0.1186 left_roll=0.0251 left_gripper=0.043 right_x=0.2872 right_y=0.0003 right_z=0.1726 right_yaw=0.0083 right_pitch=-0.0779 right_roll=-0.0112 right_gripper=0.9989 state[joint_eff]: [-0.212, -6.3932, 8.5538, 1.5214, -0.1538, 0.0366, 0.9988, -0.1299, -0.9641, 6.9675, 1.6484, -0.0464, -0.0024, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The turquoise bowl rose with the gripper, confirming the rim grasp. I will raise it to carrying height before moving over the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe turquoise bowl is securely lifted, and the blue bowl remains directly to its right on the table. I will carry the turquoise bowl sideways over the blue one while maintaining clearance.
move_to
left_y-0.2050left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2523, 1.2991, 0.9192, -0.342, -0.2356, -0.1829, 0.0445, -0.0216, 0.8116, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989] state[eef_state]: left_x=0.3797 left_y=-0.0516 left_z=0.1715 left_yaw=0.0332 left_pitch=-0.1325 left_roll=0.0236 left_gripper=0.0445 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0083 right_pitch=-0.0775 right_roll=-0.0112 right_gripper=0.9989 state[joint_eff]: [-0.3624, -6.6393, 9.3333, 1.5116, -0.1148, 0.0464, 0.8816, -0.1436, -1.1009, 6.9675, 1.6825, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.205,"left_z":0.19},"note":"The turquoise bowl is securely lifted, and the blue bowl remains directly to its right on the table. I will carry the turquoise bowl sideways over the blue one while maintaining clearance."})
tool
executing move_to over 14 steps (1.4s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe lifted bowl is nearly over the blue bowl but slightly left of it. I will make a small centering adjustment and lower toward the blue bowl’s opening.
move_to
left_x0.4000left_y-0.2250left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7166, 1.5917, 1.2385, -0.548, -0.5369, -0.5266, 0.0475, -0.0216, 0.812, 0.6407, -0.4751, -0.0158, -0.0486, 0.9989] state[eef_state]: left_x=0.3738 left_y=-0.201 left_z=0.1736 left_yaw=0.0089 left_pitch=-0.1745 left_roll=0.0431 left_gripper=0.0475 right_x=0.2871 right_y=0.0002 right_z=0.1725 right_yaw=0.008 right_pitch=-0.0783 right_roll=-0.0114 right_gripper=0.9989 state[joint_eff]: [-0.3624, -7.5145, 9.6889, 1.2381, -0.4908, -0.1587, 0.6227, -0.0889, -1.265, 6.9949, 1.6728, -0.0122, -0.0317, -0.0122] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.225,"left_z":0.09},"note":"The lifted bowl is nearly over the blue bowl but slightly left of it. I will make a small centering adjustment and lower toward the blue bowl’s opening."})
tool
executing move_to over 6 steps (0.6s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe turquoise and blue rims now appear aligned. I will lower gently so the turquoise bowl can settle inside the blue bowl before releasing it.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7246, 1.7943, 1.1454, -0.3164, -0.5327, -0.5404, 0.0472, -0.0216, 0.8154, 0.6395, -0.4751, -0.0158, -0.049, 0.9989] state[eef_state]: left_x=0.3887 left_y=-0.2195 left_z=0.0866 left_yaw=0.014 left_pitch=-0.2239 left_roll=0.0741 left_gripper=0.0472 right_x=0.2872 right_y=0.0002 right_z=0.1711 right_yaw=0.0082 right_pitch=-0.0828 right_roll=-0.0116 right_gripper=0.9989 state[joint_eff]: [0.3487, -8.4581, 6.065, 1.6972, -0.2808, 0.0806, 0.5836, -0.0752, -1.6068, 7.2274, 1.6972, -0.0806, -0.0513, -0.0122] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The turquoise and blue rims now appear aligned. I will lower gently so the turquoise bowl can settle inside the blue bowl before releasing it."})
tool
executing move_to over 3 steps (0.3s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe bowl has stopped descending near the expected nested height. I will open the gripper to leave it supported by the blue bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.725, 1.8435, 1.0763, -0.1917, -0.5327, -0.5449, 0.0499, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.0486, 0.9989] state[eef_state]: left_x=0.3888 left_y=-0.2198 left_z=0.0576 left_yaw=0.0152 left_pitch=-0.219 left_roll=0.0663 left_gripper=0.0499 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.008 right_pitch=-0.0832 right_roll=-0.0113 right_gripper=0.9989 state[joint_eff]: [-0.1299, -7.6786, 5.5043, 1.1648, -0.3297, 0.0513, 0.5788, -0.0342, -1.3607, 7.0222, 1.6337, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The bowl has stopped descending near the expected nested height. I will open the gripper to leave it supported by the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe turquoise bowl is released. I will lift the fingers clear before parking the left arm and moving the remaining cream bowl.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.725, 1.8591, 1.0607, -0.1524, -0.532, -0.5472, 0.9934, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.049, 0.9989] state[eef_state]: left_x=0.3898 left_y=-0.2208 left_z=0.0507 left_yaw=0.0147 left_pitch=-0.2134 left_roll=0.0587 left_gripper=0.9934 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.0082 right_pitch=-0.0832 right_roll=-0.0116 right_gripper=0.9989 state[joint_eff]: [-0.1983, -8.3077, 5.7504, 1.2381, -0.3297, -0.0073, -0.525, -0.1026, -1.3197, 7.1453, 1.6581, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The turquoise bowl is released. I will lift the fingers clear before parking the left arm and moving the remaining cream bowl."})
tool
executing move_to over 9 steps (0.9s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe turquoise bowl remains on the blue bowl after release. I will park the left arm away from the stack to give the right arm a clear working area.
move_to
left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.725, 1.7409, 1.4151, -0.635, -0.5282, -0.5503, 0.9931, -0.0216, 0.8173, 0.6395, -0.4751, -0.0158, -0.049, 0.9989] state[eef_state]: left_x=0.3934 left_y=-0.2248 left_z=0.1683 left_yaw=0.0152 left_pitch=-0.2227 left_roll=0.0609 left_gripper=0.9931 right_x=0.2873 right_y=0.0002 right_z=0.1706 right_yaw=0.0082 right_pitch=-0.0847 right_roll=-0.0115 right_gripper=0.9989 state[joint_eff]: [-0.1846, -11.0427, 8.5675, 1.1746, -0.3394, -0.0171, -0.0464, -0.0752, -1.4427, 6.9675, 1.6679, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The turquoise bowl remains on the blue bowl after release. I will park the left arm away from the stack to give the right arm a clear working area."})
tool
executing move_to over 20 steps (2.0s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteTwo bowls are now nested in the middle, with the cream bowl still separate on the right. I will approach the cream bowl’s right rim with the right gripper.
move_to
right_x0.3400right_y0.1050right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 0.9989, 0.9195, -0.7082, -0.149, -0.0875, 0.9931, -0.0216, 0.8181, 0.6395, -0.4751, -0.0162, -0.049, 0.9989] state[eef_state]: left_x=0.3004 left_y=0.0015 left_z=0.2011 left_yaw=0.0686 left_pitch=-0.2121 left_roll=0.0513 left_gripper=0.9931 right_x=0.2873 right_y=0.0003 right_z=0.1703 right_yaw=0.0086 right_pitch=-0.0855 right_roll=-0.0113 right_gripper=0.9989 state[joint_eff]: [0.253, -2.9333, 6.5162, 1.5067, 0.0024, 0.232, -0.0122, -0.0615, -1.2103, 6.9949, 1.6484, -0.0269, -0.0855, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.105,"right_z":0.15,"right_gripper":1},"note":"Two bowls are now nested in the middle, with the cream bowl still separate on the right. I will approach the cream bowl’s right rim with the right gripper."})
tool
executing move_to over 9 steps (0.9s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe cream bowl is slightly left of the wrist centerline, which puts its right wall near the fingers. I will advance a few centimeters and lower to rim-grasp height.
move_to
right_x0.3750right_y0.1050right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 1.0023, 0.9157, -0.7246, -0.1322, -0.0788, 0.9931, 0.4572, 1.198, 0.7063, -0.2989, 0.3153, 0.2169, 0.999] state[eef_state]: left_x=0.2973 left_y=-0.0012 left_z=0.1954 left_yaw=0.0502 left_pitch=-0.2376 left_roll=0.0492 left_gripper=0.9931 right_x=0.3238 right_y=0.1022 right_z=0.126 right_yaw=0.0602 right_pitch=-0.1748 right_roll=-0.0479 right_gripper=0.999 state[joint_eff]: [-0.1846, -2.5368, 7.0359, 1.6679, -0.2466, -0.105, -0.0122, 0.1573, -4.5744, 9.3607, 1.7558, 0.3199, 0.1783, -0.1197] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.105,"right_z":0.04},"note":"The cream bowl is slightly left of the wrist centerline, which puts its right wall near the fingers. I will advance a few centimeters and lower to rim-grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe right bowl wall is just to the right of the jaw centerline. I will shift the gripper slightly outward to center the wall between the fingers.
move_to
right_y0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 1.0061, 0.9157, -0.7265, -0.1314, -0.0784, 0.9931, 0.3878, 1.5753, 0.625, 0.0826, 0.2684, 0.168, 0.9989] state[eef_state]: left_x=0.2972 left_y=-0.0013 left_z=0.194 left_yaw=0.0495 left_pitch=-0.2434 left_roll=0.0497 left_gripper=0.9931 right_x=0.357 right_y=0.0991 right_z=0.0283 right_yaw=0.0504 right_pitch=-0.2609 right_roll=-0.0785 right_gripper=0.9989 state[joint_eff]: [-0.0752, -2.5778, 6.7214, 1.5116, -0.1001, -0.0073, -0.0122, -0.3897, -6.9128, 5.8325, 1.6093, 0.0708, 0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.085,"right_gripper":1},"note":"The right bowl wall is just to the right of the jaw centerline. I will shift the gripper slightly outward to center the wall between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteOne finger is inside the cream bowl and the other is outside its right wall. I will close gently on that wall for a rim grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3573, 1.5822, 0.6102, 0.1356, 0.2417, 0.144, 0.999] state[eef_state]: left_x=0.2972 left_y=-0.0014 left_z=0.1939 left_yaw=0.0492 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3626 right_y=0.0941 right_z=0.0283 right_yaw=0.0581 right_pitch=-0.2384 right_roll=-0.0657 right_gripper=0.999 state[joint_eff]: [-0.1162, -2.0991, 6.8171, 1.4579, -0.1001, -0.0757, -0.0122, -0.4171, -7.3504, 5.4769, 1.5311, 0.0269, -0.1294, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One finger is inside the cream bowl and the other is outside its right wall. I will close gently on that wall for a rim grasp."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe closed gap is consistent with a thin bowl wall. I will lift the cream bowl a short distance to verify that it is held.
move_to
right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3599, 1.5696, 0.6094, 0.1474, 0.2184, 0.1501, 0.0418] state[eef_state]: left_x=0.2972 left_y=-0.0015 left_z=0.1939 left_yaw=0.0488 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3642 right_y=0.1 right_z=0.0337 right_yaw=0.0786 right_pitch=-0.2205 right_roll=-0.0376 right_gripper=0.0418 state[joint_eff]: [-0.2393, -2.1675, 6.8308, 1.5214, -0.1001, -0.0366, -0.0122, -0.1983, -4.7795, 5.5726, 1.0183, 0.2906, -0.0952, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.095},"note":"The closed gap is consistent with a thin bowl wall. I will lift the cream bowl a short distance to verify that it is held."})
tool
executing move_to over 4 steps (0.4s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe cream bowl lifted with the gripper. I will raise it above the existing two-bowl stack before carrying it inward.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.0073, 0.9157, -0.7269, -0.1314, -0.0784, 0.9931, 0.3595, 1.4391, 0.7132, -0.0841, 0.2153, 0.1448, 0.0456] state[eef_state]: left_x=0.2973 left_y=-0.0014 left_z=0.1936 left_yaw=0.0492 left_pitch=-0.2449 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1002 right_z=0.0803 right_yaw=0.0839 right_pitch=-0.2186 right_roll=-0.0385 right_gripper=0.0456 state[joint_eff]: [-0.0752, -2.3453, 6.8308, 1.4628, -0.1197, -0.0611, -0.0122, -0.1162, -6.612, 8.7453, 1.4676, 0.0904, 0.0513, 0.7106] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The cream bowl lifted with the gripper. I will raise it above the existing two-bowl stack before carrying it inward."})
tool
executing move_to over 8 steps (0.8s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe cream bowl is clear of the table, and the nested bowls are to its left and slightly farther forward. I will move it above their center while keeping the left arm parked.
move_to
right_x0.4150right_y0.2550right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7284, -0.131, -0.0784, 0.9931, 0.3595, 1.3449, 1.0622, -0.5529, 0.215, 0.1337, 0.0484] state[eef_state]: left_x=0.2971 left_y=-0.0015 left_z=0.1932 left_yaw=0.0489 left_pitch=-0.2472 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1003 right_z=0.1787 right_yaw=0.0888 right_pitch=-0.2436 right_roll=-0.0532 right_gripper=0.0484 state[joint_eff]: [-0.1846, -2.5094, 6.8855, 1.4921, -0.1148, -0.0366, -0.0122, -0.3624, -6.6256, 9.5658, 1.5849, 0.0464, 0.0952, 0.5397] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.255,"right_z":0.2},"note":"The cream bowl is clear of the table, and the nested bowls are to its left and slightly farther forward. I will move it above their center while keeping the left arm parked."})
tool
executing move_to over 13 steps (1.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe cream bowl is above the stack, slightly to its right. I will center it with a small sideways adjustment and lower it toward the turquoise bowl.
move_to
right_x0.4100right_y0.2720right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.6891, 1.8313, 1.6211, -0.7517, 0.3946, 0.3679, 0.0509] state[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.4063 right_y=0.2514 right_z=0.1835 right_yaw=0.1256 right_pitch=-0.2934 right_roll=-0.0769 right_gripper=0.0509 state[joint_eff]: [-0.0615, -2.3863, 6.7214, 1.5018, -0.1197, -0.0659, -0.0122, 0.2393, -9.7162, 9.1419, 1.3211, 0.4957, 0.2173, 0.6422] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.272,"right_z":0.105},"note":"The cream bowl is above the stack, slightly to its right. I will center it with a small sideways adjustment and lower it toward the turquoise bowl."})
tool
executing move_to over 6 steps (0.6s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe cream bowl overlaps the stack’s opening, with the lower rim visible beneath it. I will lower gently the last few centimeters to seat it.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7292, -0.1314, -0.0784, 0.9931, 0.7193, 1.9148, 1.4448, -0.5571, 0.4042, 0.3862, 0.0534] state[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.1931 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0504 left_gripper=0.9931 right_x=0.4007 right_y=0.2633 right_z=0.1042 right_yaw=0.1262 right_pitch=-0.3428 right_roll=-0.1093 right_gripper=0.0534 state[joint_eff]: [-0.1026, -2.3316, 6.694, 1.4823, -0.1197, -0.0269, -0.0122, 0.3487, -9.2239, 6.694, 1.3846, 0.2564, 0.1099, 0.2466] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The cream bowl overlaps the stack’s opening, with the lower rim visible beneath it. I will lower gently the last few centimeters to seat it."})
tool
executing move_to over 3 steps (0.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe cream bowl is resting at the stack’s height, with its rim aligned over the bowls below. I will release it so it can settle naturally into the stack.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7189, 1.9427, 1.3579, -0.4545, 0.4046, 0.3855, 0.0563] state[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.398 right_y=0.2606 right_z=0.0725 right_yaw=0.1235 right_pitch=-0.3527 right_roll=-0.1173 right_gripper=0.0563 state[joint_eff]: [-0.1436, -2.1675, 6.8991, 1.4774, -0.1294, -0.0562, -0.0122, -0.0205, -9.1145, 6.4615, 1.3358, 0.0952, -0.0317, 0.2857] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The cream bowl is resting at the stack’s height, with its rim aligned over the bowls below. I will release it so it can settle naturally into the stack."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe cream bowl has been released onto the other two. I will lift the empty fingers clear without disturbing the nested rims.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7181, 1.9526, 1.3441, -0.4206, 0.4034, 0.3748, 0.9955] state[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.3999 right_y=0.2621 right_z=0.0671 right_yaw=0.1318 right_pitch=-0.3454 right_roll=-0.1173 right_gripper=0.9955 state[joint_eff]: [-0.1026, -2.4821, 6.735, 1.4823, -0.0708, -0.0611, -0.0122, -0.0205, -9.8393, 6.2291, 1.3162, 0.2173, 0.0806, -0.2173] camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The cream bowl has been released onto the other two. I will lift the empty fingers clear without disturbing the nested rims."})
tool
executing move_to over 9 steps (0.9s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe cream bowl remains supported after the gripper lifts away. I will park the right arm so the complete stack is visible 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]: [-0.0944, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7189, 1.9202, 1.7496, -0.8867, 0.4, 0.3634, 0.9969] state[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.4014 right_y=0.2646 right_z=0.175 right_yaw=0.1359 right_pitch=-0.3714 right_roll=-0.1386 right_gripper=0.9969 state[joint_eff]: [-0.1162, -2.4137, 6.8718, 1.4579, -0.0855, -0.0806, -0.0122, -0.3897, -12.3145, 8.8, 1.2967, 0.2076, 0.0952, 0.1343] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The cream bowl remains supported after the gripper lifts away. I will park the right arm so the complete stack is visible for a final check."})
tool
executing move_to over 23 steps (2.3s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
assistant
agent noteStacked all three bowls in the middle of the table, with the cream bowl on top, and parked both arms clear.
done
hindsightThese bowls are too wide to grasp across; pinch a side wall with one finger inside and one outside. Successful wall grasps settled around 0.04–0.056 gripper opening, so the short verification lift was important. Bowl-wall grasp heights around z=0.03–0.04 worked, and successive nested placements settled around z=0.05–0.07. Carrying at commanded z=0.19–0.20 provided clearance.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0944, 1.008, 0.9157, -0.7296, -0.131, -0.0784, 0.9931, -0.004, 1.1183, 1.0641, -0.8894, 0.028, -0.2165, 0.997] state[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2483 left_roll=0.0502 left_gripper=0.9931 right_x=0.2972 right_y=-0.0026 right_z=0.1965 right_yaw=0.0846 right_pitch=-0.3844 right_roll=-0.1459 right_gripper=0.997 state[joint_eff]: [-0.0889, -2.4957, 6.7487, 1.4628, -0.0904, -0.0513, -0.0122, -0.1026, -3.7538, 6.5299, 1.4481, -0.1929, -0.0366, 0.0073] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls in the middle of the table, with the cream bowl on top, and parked both arms clear.","hindsight":"These bowls are too wide to grasp across; pinch a side wall with one finger inside and one outside. Successful wall grasps settled around 0.04–0.056 gripper opening, so the short verification lift was important. Bowl-wall grasp heights around z=0.03–0.04 worked, and successive nested placements settled around z=0.05–0.07. Carrying at commanded z=0.19–0.20 provided clearance."})
tool
done: Stacked all three bowls in the middle of the table, with the cream bowl on top, 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 · 8.411 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, 0.7944, 0.6048, -0.3763, -0.0223, -0.0261, 0.9942, -0.0212, 0.7921, 0.6022, -0.3782, -0.0162, -0.0326, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9942 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -1.4974, 10.0718, 1.7949, -0.0024, 0.1001, -0.4029, -0.4718, -1.3744, 10.2085, 1.9121, -0.0855, 0.2125, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acc7c6080a3de4e41b286c2e48b92f1ce9ed24a582d449ca42f8477658010fc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c865ed1eeb2ddaf490588ff39808108cb5416fc3115b513cfd45ae83a2d2960",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72e91bb57128819400029c882a7c1e4166855201b3bc8d408027f8626c75aaeb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 8.635 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrkGPzYday5sq70Ap-aC_scEYmC0rwDXNqnMvJLhjzGxX_ZKyHL7itLbRcNux_KIesO_tRP2kR_WpWsSPJJNAy9bEvrqlBxe5REOSjAPCRU3pNFqdCDl42qGB8mOFzSed1lQKOnhzsMlGQFmg8yGez1cghHS6WH67hYBYwviDWSjvV3eBnQi_JqwsgULuHieACQe3fpFYIBHwm4GZQT2PqTEj04EG8ocmckODSb6DaUHMNVLS1qhHlUHrnc0M4NwJKKAhkrc8fQVFhcnoDrY5ttpTQ-c2vml8xCmn47ot3FR8SmG_w-RNq3ISCbc-x1GlYrpgcAHguXqJ0QZ3ADBDq-v01vpWax79dKD3XA-jyt2MoXDxhILwnp3o-HnZkJ_A-VuyTuIbO6FjUHNAm8J5AHimTR0s1HucWguYmbbugVUTmqyw7JIQeKS8pY5VZWuFE8KccWjiGIEnOhu6CzZO5xxWJtver1XO0UFJl0pcqVk7ysFkhi2Cmf9ZocKbLm6NnR2FLolzW_mI9dBHpsToHTbqlpRIFKLWAI7-VUjqq9ukG1GF5nvSeRmPg-XfaoRI2RQW2pZuFNa4SO3ygahxkRua9Q8u6-Bbu8as_zgNHti_lt-s8aA1GkQ7slr9F5mTgMhLNC0cWF7X6WFyIFnaJMBEteKcn63oFs9SlW5-lK0N3DCWdrq5CYRwOuL6A-f-vfc6gI1vHbtBXvUa3tAwtQegEViEPu1clKCVT0vgXS-X2NcawTn69NmdekT4omnhYkGl0gl2N7P8qpX2VgBybDT04e42sIoTYKbA66I7j6dwDUSngm1vMXtRDXUTJP_MW27iEi1jjUAIVTgo_V2yKMX6UlphW3P7e52fKX9OlOqnf43C0wvCft84CC7Cc_WC27D_4HI_gZq2Xxt7LnDANS548IeKUl6HlOh5QgnQd3nR_RJlCm3mk3z3SRkcBMaNXlF5dQN1vxSgmDeUiAKyj4MDukP6YTG_oROlOsj1XzHTBpQIb1NCVrmg6vMJ_kbq11AiZA1q_S2AGfTKcyG4PqTmpnTv0y5YPEaN1rf6PFVDZYoxzvR86WDQ5Q-QGq9ZlhFo0VaC_3A1D9eyj-mKofmUCO3fGCclISBqRpHftYUXMTriUGUr69N6E5DvzHpfea-CoqOUqGrUK3nNL4f1m3dGVooWZUh4wAPz-9bIogVhIWuFpRKBnB68eziycoqntLuX_RSG49XejiqKrbNwYhmEwlA0KHTQ1LemALwb65tyWzepD7COdNqpnh-_kdwxfCQIcwyF0BLIxfsx_z_FkkdhSIGVWzYLo8MPy-M3acfjFYZQ1LmQB1jP-PPQR7ny5D-4yJQfl4KhxywEK7z6Ek_An8sHsXYGM9iBb5n44u1EaHisGDBknmJyyhyoazvOfz8OPtMK2GSfaMFebRo9re5um2HmuJO-_ze2DiDK6BRuuRjd0WaXZi6egxiV0-mZSgM2nlIbqnDNmpEWPw3SzxgutQIURNv4TVYwoLWkuRtKZZM_8aFQmkK7_aYW93VRf5gWpOklTCn8_l7QfB13CGRLO_yYKFLS_1TwYsglVXTOzNVRiPHGfJ9lKsKA-rspkhxHxZi18bsmYgFnfjPBPwWGmvn3XsaeaBrlWGZGAlg0TrO3LLpBwqIn2eJGOkJDEz4",
  "id": "rs_031429d59637e80c016ab2b8ffb1e487d0abd1a626cc0515cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see three separate bowls: turquoise on the left, blue in the middle, and cream on the right. I will approach the turquoise bowl’s rim with the left gripper, keeping the right arm parked.\"}",
  "call_id": "call_C4mmqDJYSCuxsnH5fmGL5Jp1",
  "id": "fc_031429d59637e80c016ab2b904244087d0b3bdbece00731e5d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C4mmqDJYSCuxsnH5fmGL5Jp1",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5236, 1.2766, 0.6945, -0.1265, -0.4164, -0.3046, 0.9943, -0.0216, 0.8043, 0.6418, -0.4572, -0.0158, -0.0383, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.1135 left_z=0.1295 left_yaw=-0.025 left_pitch=-0.0723 left_roll=0.0326 left_gripper=0.9943 right_x=0.2894 right_y=0.0001 right_z=0.1786 right_yaw=0.0024 right_pitch=-0.0515 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -5.053, 9.0872, 1.7118, -0.1685, -0.0269, -0.6032, -0.1709, -1.4017, 10.8103, 1.8974, -0.0659, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22d5d2a57c2ae3184752f437d3021be66892be8a5726cc97645f9badbfb7b762",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582525d95e7d138919e2e4840c93ac17516cd8d4b444ecf34c45b735a30cb2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72cffd771e8c8f59a0e0c358cafceca09df876c82ee8726bae90b2f38afc3846",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 8.541 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, 0.7944, 0.6048, -0.3763, -0.0223, -0.0261, 0.9942, -0.0212, 0.7921, 0.6022, -0.3782, -0.0162, -0.0326, 0.999]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.181 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9942 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -1.4974, 10.0718, 1.7949, -0.0024, 0.1001, -0.4029, -0.4718, -1.3744, 10.2085, 1.9121, -0.0855, 0.2125, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrkQSsIUszLIftcprtzVgxQUhlyRZa6ya8SHQEMYe4V0VrYTFb5bj1K2i24ZQxzi8yrYxLpxsA1qRiDbXU-RmZ4_-C9wSnPfFX8MDVhzEjFDEPhvJGJ28p99qgi6Xx0uqpYmTExCbv_cjL53tHDN6XgddGwWiAVSUTSU7ve-FPXky9gwkkzLFWVHtwpxN692XSyokk6cJQ75BgRJqYsWJ0P_wmmQnBUQ5htAZm1p8Wl1WvRmzSYH213NQFDhWr-a3Y69jQm2sqn11YQxCB62jVqiK3aSln9d2NqS1G_4oGgCinL4ku5kliRG-c-0QTj0qtqDm0k3s12mVYIRpmU03KxC24Uz3ez8yoDcDiQRApGUViLAQu6Ot_XyxSxeg-vaUs4F_2JDH5ISwRzTc4WYl8UOjQnD0v4CV8wwjv0zBVg5PsmDS9LbFauSYmwdBPffJ63Y8O27I7dPoRB4juDj_wV2PcJZJn0hKw63ERA3vgFJ2qjohrkrFj-iKdTQPeUpF8CrCTZfsIQaQHyG3I_VevpA3O0Zgv0PhQpxxcAZz1orX-vher_RSGtdzunGs38OOnV4SBq3SwJhimKaME94FWDJHEGxg4Jt6GDSpD30pnQzNdaa1GQgaixQconbJvH5ABXmPO4x33F5noqOgwW3bHnf6maDdEsF39wtSyI2i-Z8qPy71LyraIhhg9lgIp2prGyTc7VlmLImnslc-fwqgCJYjHeHeE57BZQn3eeiGfXOvoCgg2Zc9j4F9n7_MWQSizf7WX9Qd294XnHsKhvmv5NYTIMkSNS1rWhaItXrpdNViLkKiYInx0Frqvi60yVRV_HN8Xsk6bpbWz2zWY3oRUBPAdqYNnLjF5Z3sLKHzAhjH4ta9wy6TTRoWW7HekRPRXnYPt7PieCZC0LuXaq19DKbaBHhHx-HTHj_yZW3YAeCa3aD1Ab1-0OmwKKF5zCp8HlUk3D3NlLqHgvB462Xi06aZsEhCIZZD1NP0l60IfjZBfakgtBeoKaWG9MKRR3KAD4s6vKm693u_DYQ4PgquyDBA-r6nKx0Ydiy9EZvv_uEuc0xQ3MYkGECD3HaVaPAjEaaq_Ltmurxl0hgnTkEf5bKOLM2U6VW40NY7YAJq9IgNfI0qYqk3IbljY1HHyFxgwL4D0i9wIGpLn9KMKy3-aUIZ2jg_cYZsJj03ciB-9MrCVjUwjKIWmwbo2i4d-KQV5TCoeMQMbf2exd7sQOKJ1D-0Ogc6IoecRTP5J5LJetuMgRuVXzJIFEALAvUKUXprUG8bcbGgVRaxOyEzb5SgaAyzJ0tglCQkOIa9ZfMEMAUKTELfrPIv5VuSstD2t8-m8X-9Pq4nZ4PT1MuKk5cUyUZIbqs_vA8XhWUriy-ry7PILmporuwgAaljwODVNLyFBe7m1BrvAWe7x2A1BRDVQqdB02kBxNTMMGusH5o-YZn0t-XxS2OP_fo5AL6su8ihlIXOwYRRzY5OdRJop-qzw6Oy7-11a5hefSyAEwd09J3Gx_Wc3Jw3CPit4ww2y0hWpDc3uThwMqU8S0UdA22o_hQGHeCDTr3RYE2TFCemSWIjkehLRe754RE9eiOQdScXn2o0M7tldy5QenJjNQwDGj021P2Nq056AIzpiXTxg4J8fcm8Dn2g-2gTkRPNqX7Uycq1ZL82kFRJeQEcuH2F6LR2N57h9F2ViSqKNPZumWy-l2Qlo8dOV4kWvYz2AqZzlPuMAPOnbtzjUeTOzy2sw1abElw7GsEQJKyY7FjbHAoJnpt3CQ1C8CvXc08CwOiFbrL",
  "id": "rs_031429d59637e80c016ab2b909a9a087d0ba38b6e96239332b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.08,\"left_z\":0.065},\"note\":\"The turquoise bowl is centered in the wrist view, and it is wider than the open gripper. I will lower toward its left rim so one finger can go inside and the other outside.\"}",
  "call_id": "call_EhJTakFmoqq0R8TSwBQi4s7T",
  "id": "fc_031429d59637e80c016ab2b90e888887d0863c3f1513b53df2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EhJTakFmoqq0R8TSwBQi4s7T",
  "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]: [-0.3428, 1.5272, 0.6041, 0.1616, -0.3046, -0.2138, 0.9939, -0.0216, 0.8093, 0.6415, -0.4683, -0.0158, -0.0414, 0.9989]\nstate[eef_state]: left_x=0.374 left_y=-0.0734 left_z=0.052 left_yaw=0.0186 left_pitch=-0.1544 left_roll=0.0573 left_gripper=0.9939 right_x=0.2881 right_y=0.0002 right_z=0.1749 right_yaw=0.0041 right_pitch=-0.0679 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -6.612, 5.8462, 1.8632, 0.0562, 0.1343, -0.0464, -0.1709, -1.6479, 7.1316, 1.7558, -0.0366, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9e792f338eccd58590bbe950390a8eb62f8b1b7778220c7640319960faf284",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38e4ce04b31496f42d831497a4a2ffc74afc117322490a198f3c85b2f2d2ddc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:105b297c6dec60d8ae3202035613fa4105ad4ff38ed85002b1b3ddfb2d2c529b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.127 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]: [-0.5236, 1.2766, 0.6945, -0.1265, -0.4164, -0.3046, 0.9943, -0.0216, 0.8043, 0.6418, -0.4572, -0.0158, -0.0383, 0.9989]\nstate[eef_state]: left_x=0.3467 left_y=-0.1135 left_z=0.1295 left_yaw=-0.025 left_pitch=-0.0723 left_roll=0.0326 left_gripper=0.9943 right_x=0.2894 right_y=0.0001 right_z=0.1786 right_yaw=0.0024 right_pitch=-0.0515 right_roll=-0.0038 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -5.053, 9.0872, 1.7118, -0.1685, -0.0269, -0.6032, -0.1709, -1.4017, 10.8103, 1.8974, -0.0659, -0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrkZUOklB1D5ec2kA_zaet8Dl7q8XFmR7vc8Pxja11vkMjsWdsU9nlEncKeMxQBSvzIKvlJpkNaX-HyiLaIKjLNx7Xqrz12ZDD15ibr4HDfoXNpExrvvQFg7HByIkZ0M6FsEOu0ZTsgSC1fNVeSjPyISpo0iTC_cCqyRTjRBiF_OlxkI80gjIoJK3Bhn2HFryCc0N8lAyD8tNjqCZnQetmT9OkZs7WE3kYuKsB5IIcrip5WTjhWgJK1VxQrg8SeHnTvBoeshTlEo3IJ1DOpJT0pY1mEucznvbo5ttf0ZNEp4ZaHvHC1cFCNA_GzzJfeyynY5gXfbjLsmK6GkbX73AVJNuxQaRQFi_RpwX_1VFpn1mywBjVGneub4_AI2vTA0ciD5e8OafdtFjWHDs1-t1ZPS5cyP57iq-XckErIJufyBJSWAGJBuaP8wA27YZH_UQtPFVkCFjleHPu8-RA4Tz7GbYac66_VYbz0M_y7ALEHl99qiqU_9eR1RXkoWWWnQWVHrf44-fLgRinOWDK63F7Z9cuPWD1wneGFiH_8XWAFSXne_V5zIo7Siv8xgQZuL7L1abOvvYWfLrexq_LHVZjH_yqn8l4G5gHFxtCpvxXPWN_dNtq3D0CrdHVZYo1eCBSFjPy3K8ZbuI1w-yNVY2dDaA2gwWKvT7hpJWnpHe3b1ujJ2HDFOGS9WpTx9jfth6KaEJUKz9JJkEAe9fdSU3PMEKKBmwMBi57cmwoPfTVKDXWlhbP1jLvqYlU-DNi1ScNoPWKh3dtTjpQSapPE2kRMKiLewiPYGaYACoA_c-6msLymIYipNiVtQnXDj3AQ9etbxQCRi4-5KYsofkEkSs7351mFBbd6i1GvV2D3D2AwvyJZv4s7y9coXwy7zxGc3feu9-zX0JGAVfCgpk2oOjB8fN_Cck5sQmh_zev8l2Zz3vHgCMfT5g7CjcJ8s1HN7q8n5-C9n0bTUIq6yzZq6A3l-i6eYg1O9nk3w7QFyF7uCo8cLiu70Mp1zelTJQnks1ulL29NpHZUoKjGZmT4CmB_cydG_QhLAZTapNWBo82h2NwTDpUUsE_BwT-hvnLsq2ZJpeztgLL6NeRB4zjjHmE3oTmB4cj_cWw4gwCvuuCCS3-DbboQN5-YNgaOeftOvbj8SYYTrCaWypt7m0-FFbgpCN9JNdHHvvTMNbQEuQ-0Kmx0krsh62fLtzQOpYK8fniaw-28STC0C8_F6-T9GrlHMEBnf7Yxt5XdgsRTRUdFCeQfbM483K91jOT8qPA_pylaQS5Yu826pyLL4uTIn1IkAi-LSiEMDAaqwAK-Y4ORNSYlb6t9mIJaR6hw2kXtzYK2HnyoO1T3tG1074XNktbBJTlq_Zv-2d8J150YadnmSjq56HqfaW0ENo352i4TUGNyxkeSIA9QuHVTsgyqq0yyfb_ts0_Y-WGV5qgNWhnn2k-nu0O_PdYb0UbOLfJW63s2QmQU5Pu5CleJ_bBooYoKr2x-n6nHnt0wqdJ6boZ9JIPMaW7Iqbk5-Cb81LKh_00Sb128idc5XXVy9zXnfm1-LvV5vtDs9bcZvHHI38p5DZ_KuyT02FbiqQHT399oYutajSpjszyQs3JS47YgNZ-l_7tzzOObeZtFZ5rsMpDnYo_rdN3twpCMUoUZH5QF8s7vkK4k9Uh1OMTu-fxu_oC7IigNqn_eHu3IHrd3SOhPvkuH9D1bd2hvQ-Z_qCV-12jphTsdA71HBf34BV-LNKG2R0X7U3skAV7BmvszLOG3CDsw9qxILO70AIOGx73txvSenrligglrLT18Abe_-mArbtmww4mp3qU7Ka30jA9iQbPzMya54vcjfzm7ThYSoSclaSr5Ti_HaOja0eaSDUeEIdAKegrhDzDWV0B_dzFApLjjwnlfnJSiCu-Y8FaWCepD-",
  "id": "rs_031429d59637e80c016ab2b91324d887d0ab2f8b2206cac856",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.05,\"left_z\":0.032},\"note\":\"The near left wall is still left of the gripper’s centerline. I will shift slightly outward and lower a little more to straddle that wall rather than close inside the bowl.\"}",
  "call_id": "call_owg6y05xYvo0yDDD4F4lp78h",
  "id": "fc_031429d59637e80c016ab2b916dc3c87d0938110abe1315ae6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_owg6y05xYvo0yDDD4F4lp78h",
  "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]: [-0.2691, 1.5589, 0.5491, 0.2611, -0.2577, -0.178, 0.9939, -0.0216, 0.8101, 0.6411, -0.4709, -0.0158, -0.0448, 0.9989]\nstate[eef_state]: left_x=0.374 left_y=-0.0527 left_z=0.0366 left_yaw=0.0333 left_pitch=-0.1539 left_roll=0.0496 left_gripper=0.9939 right_x=0.2877 right_y=0.0002 right_z=0.174 right_yaw=0.0059 right_pitch=-0.0717 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -4.9436, 5.4496, 1.9121, -0.0024, 0.2125, -0.022, -0.0889, -1.2376, 6.9675, 1.7021, -0.0611, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e142210fea96e675278a5d8290f0b09d65005e16e4119669fb012b2d2ced1e3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:558b4138d9d6fb7197c49c29468aa709691974b5116206df10daec249cfd8c16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcc8d60d1f69378d5d4bb805e39ef1ee025a67a69b4ae3e85a96f7fa03812f36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.194 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]: [-0.3428, 1.5272, 0.6041, 0.1616, -0.3046, -0.2138, 0.9939, -0.0216, 0.8093, 0.6415, -0.4683, -0.0158, -0.0414, 0.9989]\nstate[eef_state]: left_x=0.374 left_y=-0.0734 left_z=0.052 left_yaw=0.0186 left_pitch=-0.1544 left_roll=0.0573 left_gripper=0.9939 right_x=0.2881 right_y=0.0002 right_z=0.1749 right_yaw=0.0041 right_pitch=-0.0679 right_roll=-0.0059 right_gripper=0.9989\nstate[joint_eff]: [0.3624, -6.612, 5.8462, 1.8632, 0.0562, 0.1343, -0.0464, -0.1709, -1.6479, 7.1316, 1.7558, -0.0366, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left finger is outside the turquoise bowl and the right finger is inside it. I will close on the wall and then check the grasp by lifting.\"}",
  "call_id": "call_MOisWKF8AmV19P0QPycfu0f4",
  "id": "fc_031429d59637e80c016ab2b91b15e887d0b878c2d2b9a53afa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MOisWKF8AmV19P0QPycfu0f4",
  "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]: [-0.2516, 1.565, 0.5381, 0.3099, -0.2394, -0.168, 0.0417, -0.0216, 0.8108, 0.6407, -0.4747, -0.0158, -0.046, 0.9989]\nstate[eef_state]: left_x=0.3783 left_y=-0.0503 left_z=0.0387 left_yaw=0.0289 left_pitch=-0.1273 left_roll=0.0362 left_gripper=0.0417 right_x=0.2871 right_y=0.0002 right_z=0.1729 right_yaw=0.0066 right_pitch=-0.0767 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -5.1487, 5.5453, 1.0965, -0.2173, 0.2076, 0.9206, -0.0479, -1.1829, 7.1863, 1.6825, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb7d87fe7613c120c6deebce480eab139880d8b0825ee15cdd583baeb09b6470",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dacb7eca1fea189e08ebf07d2d1ddc1eda1b93badd6750f999b7dd4de679424c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92effad1800b16d3ee7904f185276918fb239540a9267f55fd4017fd2a77ccd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.872 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]: [-0.2691, 1.5589, 0.5491, 0.2611, -0.2577, -0.178, 0.9939, -0.0216, 0.8101, 0.6411, -0.4709, -0.0158, -0.0448, 0.9989]\nstate[eef_state]: left_x=0.374 left_y=-0.0527 left_z=0.0366 left_yaw=0.0333 left_pitch=-0.1539 left_roll=0.0496 left_gripper=0.9939 right_x=0.2877 right_y=0.0002 right_z=0.174 right_yaw=0.0059 right_pitch=-0.0717 right_roll=-0.0085 right_gripper=0.9989\nstate[joint_eff]: [0.3214, -4.9436, 5.4496, 1.9121, -0.0024, 0.2125, -0.022, -0.0889, -1.2376, 6.9675, 1.7021, -0.0611, -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_z\":0.1},\"note\":\"The gripper has closed to a thin gap consistent with the bowl wall. I will lift about five centimeters to see whether the turquoise bowl follows.\"}",
  "call_id": "call_MVJm4LuTkqw9gs32pRRxFkng",
  "id": "fc_031429d59637e80c016ab2b91fc0dc87d0ba793d88ace2e7be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MVJm4LuTkqw9gs32pRRxFkng",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2523, 1.4136, 0.6369, 0.0692, -0.2359, -0.1761, 0.043, -0.0216, 0.812, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3786 left_y=-0.0513 left_z=0.0868 left_yaw=0.0293 left_pitch=-0.1186 left_roll=0.0251 left_gripper=0.043 right_x=0.2872 right_y=0.0003 right_z=0.1726 right_yaw=0.0083 right_pitch=-0.0779 right_roll=-0.0112 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.3932, 8.5538, 1.5214, -0.1538, 0.0366, 0.9988, -0.1299, -0.9641, 6.9675, 1.6484, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a33dc426adeab5d89ad6d0e54b1fc25fcba391b4e35c1b740230afbc2e10826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:437bfc51f1846b02ab11b2d6b398728048a55e95694bc7fbe33483330b34a116",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba3ad21ec9f74c6f8412af1b9175c6891054ad5d6042844ed5bc2ed23086a010",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.055 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]: [-0.2516, 1.565, 0.5381, 0.3099, -0.2394, -0.168, 0.0417, -0.0216, 0.8108, 0.6407, -0.4747, -0.0158, -0.046, 0.9989]\nstate[eef_state]: left_x=0.3783 left_y=-0.0503 left_z=0.0387 left_yaw=0.0289 left_pitch=-0.1273 left_roll=0.0362 left_gripper=0.0417 right_x=0.2871 right_y=0.0002 right_z=0.1729 right_yaw=0.0066 right_pitch=-0.0767 right_roll=-0.0093 right_gripper=0.9989\nstate[joint_eff]: [-0.335, -5.1487, 5.5453, 1.0965, -0.2173, 0.2076, 0.9206, -0.0479, -1.1829, 7.1863, 1.6825, -0.0513, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrko95fZW56e41JSfy85z5sVwI_P5j8cUXLrl3q1tVQiBCsgAdnn41cmqlm9kNr-NncWp41ojkVt1FqFO-p06AsHh9mAlTGXi6aV9nZ6WbJoPKbWSnm1yseKjmB7sVWWOAJXAy0gWOeNRCi41T5j9Sje-EzVdDmDpzYvyKE2bDNMCRNRrKpeUD_C3JIVly27uSa2WB2k2vHU46270mA6NnO18Y9ipGZBz-k2rAK1jrxkAYI7puWOsMsuVpaYgWTT69gjzwenNYQsbkY58SOneJ799wHnLP3yQ9kduIa4DJsR_85Gk_GuaFwQTuzYpwZeWbalvUl44iSdWt8VRepBpl5dmM_Elx00wn2iOaYHbV-BIs6D6Y3kdr2mv4B_GZ1nT7QgyV89phqWOnw6q8Ub7ufY4C-pJI4tnxxksKyeT6grQaEXhCpzLLR7u3uKV5qOTzw8JN5tuHt5NVQw02HjrBekTJtrtvyUfkeZKYR0fuM54zyKRPhbt0ISeCJ3rXK_Ckarx4jPlKe-6RNl0OrbCvSWrYA7yyvc8QYQ1nf3sGMCNXav9jTVAq945fiBEu4I2dfEIeSUNbgQ1bjnUl4opW_MCiKXdwtW-Qtl2JgToczqJUCIxTMyoaxnYekFmJkZhAzoI8wFE3JDjmVk4UbqQtOpb_3-yN8Qu0y-FRgYcbZ3KrU8I4dsW-2phgunHmQ-Y2TBEMuCg5JD68Pnk_1NliBRD9s-KmNJK2fV6NmkKZPxnEQekCzF6StX_mBPR7ys5nfrIo4Xe67_1YuhdEwUu04eSoiXuilt06eAWuGSZaCpuz9eHd356JZNZgjTkNpdLu9hLs8PvHoI-UJ3iv5LQmwpaBJU_QKabhqbxT2DtNmzACf_p21xufAR5WbTfOBdevPFgHCt-_DQdDv9wxN_kMMswkqJOIoRQzWs_hlpxDvfEM-BT6IXDO6IKDVvp2Bts5EPz7MACJqdhcxX-tbf9_ZLASlk32xh25UiNhPcGN4lz4gnvxMOBknxgKVRnGQWy6TFjAJFZwkzHJTFvCwsWpMcRCnpEymZ92mTnocgEG7HouX7uteS1-rodzF-iMybJckldDcs37vmwwZ5Q0-qdrmtF2ezleeTWbKTSs-wz7zwpELMNwRuwQ033G0LC4uFWA0XytYx6GLn-ceK65glyraY7ByRClrhUIhYisMNUWspHEZKePbWt7KdXeRw0XEA6auCAmJhqzJzARyvsjyYn_ar8XRWKUtNLMDYzB02y03dTJhFYOFceMMtZF8IEJjOXClWNcKLOn3j2sTKLvUMoaAPTOYc4zeix4m5uTyKv0s37fHG6MNRMv0rwPoCzUxEkWktZue4GSk5U87OfAg6sFhP_wGgOof4p6TZmOkZaxB3jkbfFVgMXbOPwnvR345ZfeNVGdYkXQLGVpn3vD6p1tyKekccQj39Dum8_I25Hz67loYS6nLmoIgEx_cB4I6x1ucf6oCPb9fgfum7XYp5EeuVQVn0hJzrR3TdYhRy3iOr47donNvGbvunuAY6vutA3tAR6DLXoRaURWJwpG7qJanZzf_1ZGxephNmi7fmks59ldU=",
  "id": "rs_031429d59637e80c016ab2b924818087d0a97b79e40520df36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The turquoise bowl rose with the gripper, confirming the rim grasp. I will raise it to carrying height before moving over the blue bowl.\"}",
  "call_id": "call_mhNselUN50xALGGXExauAJmj",
  "id": "fc_031429d59637e80c016ab2b9278bdc87d0a886ce78dc091ecf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mhNselUN50xALGGXExauAJmj",
  "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]: [-0.2523, 1.2991, 0.9192, -0.342, -0.2356, -0.1829, 0.0445, -0.0216, 0.8116, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3797 left_y=-0.0516 left_z=0.1715 left_yaw=0.0332 left_pitch=-0.1325 left_roll=0.0236 left_gripper=0.0445 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0083 right_pitch=-0.0775 right_roll=-0.0112 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.6393, 9.3333, 1.5116, -0.1148, 0.0464, 0.8816, -0.1436, -1.1009, 6.9675, 1.6825, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdfe562c1fe9795507e3b027f712bd73fde320445f6ef0962c9391520eb535e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a33c16698ac368cdb28eefa929d8e11dcbdd7a0bc2318029f3e8987a93d8267",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84109066e10d3f6d592558bc8cbb805a55ab050588196b61f502d057c5c04a2d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 8.833 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2523, 1.4136, 0.6369, 0.0692, -0.2359, -0.1761, 0.043, -0.0216, 0.812, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3786 left_y=-0.0513 left_z=0.0868 left_yaw=0.0293 left_pitch=-0.1186 left_roll=0.0251 left_gripper=0.043 right_x=0.2872 right_y=0.0003 right_z=0.1726 right_yaw=0.0083 right_pitch=-0.0779 right_roll=-0.0112 right_gripper=0.9989\nstate[joint_eff]: [-0.212, -6.3932, 8.5538, 1.5214, -0.1538, 0.0366, 0.9988, -0.1299, -0.9641, 6.9675, 1.6484, -0.0464, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.205,\"left_z\":0.19},\"note\":\"The turquoise bowl is securely lifted, and the blue bowl remains directly to its right on the table. I will carry the turquoise bowl sideways over the blue one while maintaining clearance.\"}",
  "call_id": "call_971hvkzbfxIXi6r8Keggb6yT",
  "id": "fc_031429d59637e80c016ab2b92b438087d08ff24196d683c532",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_971hvkzbfxIXi6r8Keggb6yT",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7166, 1.5917, 1.2385, -0.548, -0.5369, -0.5266, 0.0475, -0.0216, 0.812, 0.6407, -0.4751, -0.0158, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3738 left_y=-0.201 left_z=0.1736 left_yaw=0.0089 left_pitch=-0.1745 left_roll=0.0431 left_gripper=0.0475 right_x=0.2871 right_y=0.0002 right_z=0.1725 right_yaw=0.008 right_pitch=-0.0783 right_roll=-0.0114 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.5145, 9.6889, 1.2381, -0.4908, -0.1587, 0.6227, -0.0889, -1.265, 6.9949, 1.6728, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a556cfed3b601c8bf74717874f26053b00b0d900e53d1bc836fe7969cd202a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4afff02dd506cfbb47f5a765c59e0fb75ae8863fb669dfdb30beb69a5886214d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e617bae99eb34014ff70d8395ec72c50eba1b743587aeb4a45ef7d491725299",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 3.412 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]: [-0.2523, 1.2991, 0.9192, -0.342, -0.2356, -0.1829, 0.0445, -0.0216, 0.8116, 0.6407, -0.4747, -0.0162, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3797 left_y=-0.0516 left_z=0.1715 left_yaw=0.0332 left_pitch=-0.1325 left_roll=0.0236 left_gripper=0.0445 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0083 right_pitch=-0.0775 right_roll=-0.0112 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -6.6393, 9.3333, 1.5116, -0.1148, 0.0464, 0.8816, -0.1436, -1.1009, 6.9675, 1.6825, -0.0611, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrk3qVt5tkCItcR5lMfa7k672jMz5ekIB-XLlQIgpHIn8sDEVBqh-9cINiDDAbmgG0lp9sg5RWkNjF0UXjF0Z8j6nuO7UEZBS7vnqqEO-T5SUM7NnuZrulcha-bAIKCUhZ1TUlUKAyaobxcXcrbdqaDXg1Ecq-pgxqFwm0yPPQp3bZbO8Yix2QafTtx_MYWWUt8VsyV0Si7M0jEDvSL1d2zfur62qy_9BNUs33RSyFwKJ3pkXknxNDS2VXDo5nDk0XWg8X8MsLDp1TcxU8y1eTspiONXMocTyUgPvhb7Ku2nJQyVoCG5QQnE8akHhgSqlsnWjhXv5y9Skhralfdk6yTF_gvxFi4nC304uQiIorYxld5G7ByUkDMZ3LKwwnKMZ9HUZzXce0dBLBQuNjCBk8J-_0pFmzFy_JGBMDZo-tQaD1ziDgHxI-mL9dbqUuoWuSGM4U9fXL6Bk22apG3bn9XVG9mXpT7kBsXWaokYkLuPXOSAUiWlJYa-GyV6MhixirEo_81q0AQXEwzzUW6s3buerb4FZdj9VRlkquDDNxkdbqUH9eE8fzX30mg2ht5uNz08CBYLeyinUXMkgiIMTsfPZNeFIE5ZI_k7JMi0XPF4Oae_5ImAeKH-0Ec4cS87q-ME80F7JvX3ZVRq029nEZEN5GeriuyjFJv38Brwy7T-S937bEc0W61sEP3NZ_SSzyEvNTzVI9RtHwAGVR6k3xISZabTNSzytXkQCRMyyjEZqBbD799ZffqQP4IH7aC79jHqb9Z70cqdbZYNG_CHEWHipUAR8NHmNz28Yj4nVBxN2Rks-uhnJQKwSTYfcExbAa0GlsFhDWT7fK8L5LlVq97BPhNQ7ORVbSP5jK_sm55F3kYrx7rXWRUfx74Y59-f_k8MTo8XQmcow49vaP1AalGP0YUVHxoETPhcV_zU2FiqIIQ94lVfDGlUaDKE60WGhVSwy6mAIli3-3HRFbnwn7faFZYW4v24EAek67fniwm9PkwAZW29m9QY_p2BpQUnUHh36hwLGCQwpxFMTHorapdKfjopcsoLLNRosjOiT1YaetXkbfsNB4BH5vDYNN-BI0Ade7Hk-qSITtE3DMgOO7tHe-awHt2Z7DQzVSfGz-3EhRULH-g7i_tQnGMEVogeeLBI8sgJEdkTkAi8CACzit9Yy_X2ZdLPb_0ODsllYQw6Kmb5uaOdXnKX85cq5twIzhy4e_5BH-HhFg4974YU1osQ-WOAfn4CAn_TGTsEOUkMPNoT5JwfV0DHzneJe7cvCLh0Eyou_VCpkHmZ3x3MQ6GmSWaVAOGX0UGzqfAlJj_JANRUp_KFK4bkdbGw8UKIOIs4X0ZNsq8f06Ycs288I24ol-TIiy0a6UOvs-az9OQk24A66985yf-w2plLirS_Ul-LzCHZOOW_sFOjWgNMzcPH-oJqjMl7VBpluWIpYnFNLyxCIpV2yTvatyc_F7M3hhdTgLLPANFskxlZAHMgth-GJYNdivvD6AwljxS95vziz4UCfxgWimkHtInEnl34fSTlAwrUdwIUSreH71IgIMSbfgquGXhDcQj6pZ3f71Mx560o3q5LkjDdH5aQg6ByRMtqVJVY45lYcj2XfwI9uYWzL2kfWshSMBBchlwzKNqUuP4OgaABLXwjiVzSjkC2OB8RxgFHdkaFFmOUbVfSsPXcIQ==",
  "id": "rs_031429d59637e80c016ab2b9311e6c87d0a7f25f856269b67c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.225,\"left_z\":0.09},\"note\":\"The lifted bowl is nearly over the blue bowl but slightly left of it. I will make a small centering adjustment and lower toward the blue bowl’s opening.\"}",
  "call_id": "call_b9svfoPGusIdoZdSFkFXhBZ9",
  "id": "fc_031429d59637e80c016ab2b935b09087d084861203c416efbc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_b9svfoPGusIdoZdSFkFXhBZ9",
  "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]: [-0.7246, 1.7943, 1.1454, -0.3164, -0.5327, -0.5404, 0.0472, -0.0216, 0.8154, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3887 left_y=-0.2195 left_z=0.0866 left_yaw=0.014 left_pitch=-0.2239 left_roll=0.0741 left_gripper=0.0472 right_x=0.2872 right_y=0.0002 right_z=0.1711 right_yaw=0.0082 right_pitch=-0.0828 right_roll=-0.0116 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -8.4581, 6.065, 1.6972, -0.2808, 0.0806, 0.5836, -0.0752, -1.6068, 7.2274, 1.6972, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:849d425573f366d968453f5956aca0d4f86a3333be1b052229366789caadf1cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a807b24fdbc6f995d47568a33f5f8f8d632cb6aab76d161e22fb73244597d79a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab4b5bd031cb965e51e674853026bc8a30d401523b7cc09de9ad97500ac00108",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 2.96 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]: [-0.7166, 1.5917, 1.2385, -0.548, -0.5369, -0.5266, 0.0475, -0.0216, 0.812, 0.6407, -0.4751, -0.0158, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3738 left_y=-0.201 left_z=0.1736 left_yaw=0.0089 left_pitch=-0.1745 left_roll=0.0431 left_gripper=0.0475 right_x=0.2871 right_y=0.0002 right_z=0.1725 right_yaw=0.008 right_pitch=-0.0783 right_roll=-0.0114 right_gripper=0.9989\nstate[joint_eff]: [-0.3624, -7.5145, 9.6889, 1.2381, -0.4908, -0.1587, 0.6227, -0.0889, -1.265, 6.9949, 1.6728, -0.0122, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The turquoise and blue rims now appear aligned. I will lower gently so the turquoise bowl can settle inside the blue bowl before releasing it.\"}",
  "call_id": "call_n6wJo0CWdqmLO6BSBBJd9Bcy",
  "id": "fc_031429d59637e80c016ab2b93a381487d0a3c68738ef0a3050",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_n6wJo0CWdqmLO6BSBBJd9Bcy",
  "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]: [-0.725, 1.8435, 1.0763, -0.1917, -0.5327, -0.5449, 0.0499, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.2198 left_z=0.0576 left_yaw=0.0152 left_pitch=-0.219 left_roll=0.0663 left_gripper=0.0499 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.008 right_pitch=-0.0832 right_roll=-0.0113 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -7.6786, 5.5043, 1.1648, -0.3297, 0.0513, 0.5788, -0.0342, -1.3607, 7.0222, 1.6337, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18f223698a7eb86592db0795890b613098dcb4339492902fdbd27f6dd4976d97",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9115b5b6543725c4388fe4c0546695c4534f951ad6e315e2a1f4af7637dcb746",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90d0af6b6407e9862b711d9301ef96ca58b3b27dcaf5a299acaf4d7a8dcdc252",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.029 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]: [-0.7246, 1.7943, 1.1454, -0.3164, -0.5327, -0.5404, 0.0472, -0.0216, 0.8154, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3887 left_y=-0.2195 left_z=0.0866 left_yaw=0.014 left_pitch=-0.2239 left_roll=0.0741 left_gripper=0.0472 right_x=0.2872 right_y=0.0002 right_z=0.1711 right_yaw=0.0082 right_pitch=-0.0828 right_roll=-0.0116 right_gripper=0.9989\nstate[joint_eff]: [0.3487, -8.4581, 6.065, 1.6972, -0.2808, 0.0806, 0.5836, -0.0752, -1.6068, 7.2274, 1.6972, -0.0806, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The bowl has stopped descending near the expected nested height. I will open the gripper to leave it supported by the blue bowl.\"}",
  "call_id": "call_AKfSDyteuz8AIpS9IupOUCCY",
  "id": "fc_031429d59637e80c016ab2b93da2f487d0a0d6564f07ce48b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AKfSDyteuz8AIpS9IupOUCCY",
  "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]: [-0.725, 1.8591, 1.0607, -0.1524, -0.532, -0.5472, 0.9934, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3898 left_y=-0.2208 left_z=0.0507 left_yaw=0.0147 left_pitch=-0.2134 left_roll=0.0587 left_gripper=0.9934 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.0082 right_pitch=-0.0832 right_roll=-0.0116 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -8.3077, 5.7504, 1.2381, -0.3297, -0.0073, -0.525, -0.1026, -1.3197, 7.1453, 1.6581, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:720becf727274dab5cedcc53e6930bc759e23d09ea1e2d14a8d9d44a0703f66b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:493b6eb16ab7386d40737e7be0cd9bffbbce3c87317ba61fcb2a9a76ec2f76fe",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:006d829c341e4ceedab5704fce919a20b1df66b7ed2158298cd16e23a7988580",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.331 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]: [-0.725, 1.8435, 1.0763, -0.1917, -0.5327, -0.5449, 0.0499, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.0486, 0.9989]\nstate[eef_state]: left_x=0.3888 left_y=-0.2198 left_z=0.0576 left_yaw=0.0152 left_pitch=-0.219 left_roll=0.0663 left_gripper=0.0499 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.008 right_pitch=-0.0832 right_roll=-0.0113 right_gripper=0.9989\nstate[joint_eff]: [-0.1299, -7.6786, 5.5043, 1.1648, -0.3297, 0.0513, 0.5788, -0.0342, -1.3607, 7.0222, 1.6337, -0.0415, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The turquoise bowl is released. I will lift the fingers clear before parking the left arm and moving the remaining cream bowl.\"}",
  "call_id": "call_yleyhVPc8yhJc6xK1NWJrKhu",
  "id": "fc_031429d59637e80c016ab2b94558b487d09c4acf5f83f9b501",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yleyhVPc8yhJc6xK1NWJrKhu",
  "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]: [-0.725, 1.7409, 1.4151, -0.635, -0.5282, -0.5503, 0.9931, -0.0216, 0.8173, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3934 left_y=-0.2248 left_z=0.1683 left_yaw=0.0152 left_pitch=-0.2227 left_roll=0.0609 left_gripper=0.9931 right_x=0.2873 right_y=0.0002 right_z=0.1706 right_yaw=0.0082 right_pitch=-0.0847 right_roll=-0.0115 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -11.0427, 8.5675, 1.1746, -0.3394, -0.0171, -0.0464, -0.0752, -1.4427, 6.9675, 1.6679, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df43429fbbf99b3e99a98a4ca33b0295741e1fb8853c349f9ea9a982edd2f0d5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff85a60f0e95fc290681337eefff74e262cd6743acf61fca2bda2cb0e26d3b61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b4161acaf1afc1d25243c6544159e6df6dc40510f28f7eb13068800006ada6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 8.694 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.8591, 1.0607, -0.1524, -0.532, -0.5472, 0.9934, -0.0216, 0.8158, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3898 left_y=-0.2208 left_z=0.0507 left_yaw=0.0147 left_pitch=-0.2134 left_roll=0.0587 left_gripper=0.9934 right_x=0.2872 right_y=0.0002 right_z=0.171 right_yaw=0.0082 right_pitch=-0.0832 right_roll=-0.0116 right_gripper=0.9989\nstate[joint_eff]: [-0.1983, -8.3077, 5.7504, 1.2381, -0.3297, -0.0073, -0.525, -0.1026, -1.3197, 7.1453, 1.6581, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The turquoise bowl remains on the blue bowl after release. I will park the left arm away from the stack to give the right arm a clear working area.\"}",
  "call_id": "call_DjEUoCWrPLbLgZiw8YFPLG3M",
  "id": "fc_031429d59637e80c016ab2b94a221c87d080ca86f5d6ee911b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DjEUoCWrPLbLgZiw8YFPLG3M",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 0.9989, 0.9195, -0.7082, -0.149, -0.0875, 0.9931, -0.0216, 0.8181, 0.6395, -0.4751, -0.0162, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3004 left_y=0.0015 left_z=0.2011 left_yaw=0.0686 left_pitch=-0.2121 left_roll=0.0513 left_gripper=0.9931 right_x=0.2873 right_y=0.0003 right_z=0.1703 right_yaw=0.0086 right_pitch=-0.0855 right_roll=-0.0113 right_gripper=0.9989\nstate[joint_eff]: [0.253, -2.9333, 6.5162, 1.5067, 0.0024, 0.232, -0.0122, -0.0615, -1.2103, 6.9949, 1.6484, -0.0269, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ea86e4d8f2d02c1861ed4e9f4aa10eea919eda8dea5a2cb00d6ca368c369aa5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:babb2e6e1f0da1bba20ff48732e9dce377ad83d3b76fa1a1acfb0e9643ff7ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24088dbfb1e4beff64cc7b60a72072456bf9af0927a033982865e00e2c79ef4a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.963 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.725, 1.7409, 1.4151, -0.635, -0.5282, -0.5503, 0.9931, -0.0216, 0.8173, 0.6395, -0.4751, -0.0158, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3934 left_y=-0.2248 left_z=0.1683 left_yaw=0.0152 left_pitch=-0.2227 left_roll=0.0609 left_gripper=0.9931 right_x=0.2873 right_y=0.0002 right_z=0.1706 right_yaw=0.0082 right_pitch=-0.0847 right_roll=-0.0115 right_gripper=0.9989\nstate[joint_eff]: [-0.1846, -11.0427, 8.5675, 1.1746, -0.3394, -0.0171, -0.0464, -0.0752, -1.4427, 6.9675, 1.6679, -0.0415, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrlWF4UNziiOHkWceRXDrMiLNIboQJmP3eCBikbcU20AsEDus5vq0X8f3vABG4rj79tkoSIAuGp-VMtHBISVNO9gnDvPZ9Mvx4pX8Xp2EQAVRvYqKdVVdwFim89n6v1K-mjWDKMJAPKlHA-Anf7TsLfAMwgRJFPNBqDyNJBCNuHS4gJzqWwk7tEJ01KCxCtH7f3qR5XOIxVDEFi9en7WapoeaXlCrZKRWf5WUFXVpqAICb05OEGYQ3Ukvbks9eWMaNHw3Rtjyhs7tkx_1rI3XV3qfLjg63rDSuNhZ2qa-B_omb-EPNxduZMehrqjjJctad_D32lqoQ_3DkXKJN6GPbAvtHxi_4I9OgSFxBUq-xw7Y2sBI_1o9r13ffuzZoTFjtDA_lv7wKGtDB5ggftKHrF9kup8iveLOuOVb6WIDZf9GZ3FMNOolexxitWWzVGsM7o52K5sGc5CRB_ghdJcMmoxFeFlteDjqdXkYNCehYAF3U1cvsDhAmGjawj3fm2LLRxaKKqE8X-CN_YU1X_8D-CIxLnFNZ-Lshmo72fQKzd0eH4gl_916Vk-tTnwvucpkHZe-yJtQef7c5yFEz3xPv28Xx9UXD7GCt1_EtF-jyFfkQnbN2b4BIwfpiKD_cFuxnWzsoQ2qULE8d1AqDGax0hD132JamINnw-T8dpZ3JKZ9cRCL6R9mZ486-0ieLx79FKFizy2pAV8q6C_ja0Ucp-Ppq-AH3U-tJ_eCnviUR1tZV97P1zKk_jZHXjifXmxB1KhSqs--eBNZ7uyL9BtI5GEvGQrhQF5losx6brxCVn0OlN2FugAfmGAHDqAJ_z0CgJSZiOrKZdg4MGw9dazNvgF-wVm-KtUVkgGMVFshYfCu8eND0KLTaRSpXl8NSaFK30iSQuvjgl5e0GufoJNZNUhK8BN7JC0EsZ4lAlMv5z0lKdTMZp1UWKFzrtCo09KXXyrR7UFAZaTgFoWR9VaabJplcFNxefo3yaltWfmHCyJaltI3xGWadVulRVHdp81COa4Ju0t9nJLzh7icFGMzjx8cBgiSb8KUJxNSJ-uJaxPtxUqtF8buWfrctD7b3XtPgpkZa0K54Abh0DAJzML2owbmsH5qY0ygVyZsgGpNqgvGoqnWhjCf4Y-jSwMkrwkNy58EYMvGnIC4YwCZqJKx-f6lcNQLnoaha88fa1FAAjzmPnK6MX1mBezxMMpeROvXpurpP-odkJvhFsmsbg3dcDnG4qDmuWpZyX8QA3bOIpKWJTRCk3DQP5b0YJTwVHBxG6eYhywc2z3l72KmIPIkck0FyieTjWNMWhdA_ICbi1rADNSVYieODnKPmMibEBNHtrskEVzcDmcn1aq4hkPvq_Pn_QBBzMfdekgnUKNM2jFQ0bvtzeOI5nqW9bCaJ19QxMLx9olSSUDc_8aEqH7MyeXV-9i6nPVpObgdQtU1iubwS72A62eFtFFXaFfPf_K48I5ovrQKMXl2gQBfFkT116mWigNJDPp8OX9focsJLNiIbuiWLJn30r2GwSRRVqRDJaCRZ3CCmZtlc_J2cbuHEJiOYxhxRR7Bb7jY01qtg8xCIg3LiQJ7PYzvL7M8gaKNJ6ubM-yGL_lhbaO4681g7HK4yf2KThJOQUJFPyJDX0pcrnLCdudw6hFKcDQug6LtFn-",
  "id": "rs_031429d59637e80c016ab2b951b48887d0afa4a6ea787abc49",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.105,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"Two bowls are now nested in the middle, with the cream bowl still separate on the right. I will approach the cream bowl’s right rim with the right gripper.\"}",
  "call_id": "call_ptA1df8VJz6wAUXTKteViO99",
  "id": "fc_031429d59637e80c016ab2b954f0a087d08726fb43443c5ef7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ptA1df8VJz6wAUXTKteViO99",
  "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]: [-0.0944, 1.0023, 0.9157, -0.7246, -0.1322, -0.0788, 0.9931, 0.4572, 1.198, 0.7063, -0.2989, 0.3153, 0.2169, 0.999]\nstate[eef_state]: left_x=0.2973 left_y=-0.0012 left_z=0.1954 left_yaw=0.0502 left_pitch=-0.2376 left_roll=0.0492 left_gripper=0.9931 right_x=0.3238 right_y=0.1022 right_z=0.126 right_yaw=0.0602 right_pitch=-0.1748 right_roll=-0.0479 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -2.5368, 7.0359, 1.6679, -0.2466, -0.105, -0.0122, 0.1573, -4.5744, 9.3607, 1.7558, 0.3199, 0.1783, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4886b97e601ad0f306b1c190ca42692ba7da55879f2dfc7b1e053badfb3943c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45e10281f3057a6085f440d7598502e8b6783e3ed816e042237dc1f2ba64208f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:689d308ed7efdfdfc0a3cbbf5b398a02a1015372fe7e8fe8088a1da89d186627",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.03 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 0.9989, 0.9195, -0.7082, -0.149, -0.0875, 0.9931, -0.0216, 0.8181, 0.6395, -0.4751, -0.0162, -0.049, 0.9989]\nstate[eef_state]: left_x=0.3004 left_y=0.0015 left_z=0.2011 left_yaw=0.0686 left_pitch=-0.2121 left_roll=0.0513 left_gripper=0.9931 right_x=0.2873 right_y=0.0003 right_z=0.1703 right_yaw=0.0086 right_pitch=-0.0855 right_roll=-0.0113 right_gripper=0.9989\nstate[joint_eff]: [0.253, -2.9333, 6.5162, 1.5067, 0.0024, 0.232, -0.0122, -0.0615, -1.2103, 6.9949, 1.6484, -0.0269, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrldYETBAUqUgDjLOUEiyy4E3SkIXRfBuBm5e-CqZ-vHToebohoBt5_0f3doPBnJSRxKkRLuxm_3IPNqTogoL-XpCKNRJRS2FGcczUHKJ-IJBph6q47MvoyLpqAIi8CI3dtv5cqcdXNrh04WTjFp1p4udbO2kzD_OJ28eh_4TQDVz-YQbZHUn809afexxm8BriglYB2Kqs-YM9Q_w29sp-nis2cWoBi_9W2KDdMfbF8XMjaN5Kygqpsc-r_DDLDhBgmijfyk6yEnaAmPX4GtNWRnQOty5XqNxTX7kD_ZOIb1z_4Y0CosCwQqkO-xNoaygGPkC5pNaGCprw4ZRSXLSJWK7pi3L_NzATp8n-hL9vfj7BbztOJ-DsOhaIeYQxEB_FX4_a_RnMjwsaHLZhPsOWQa_OFTUwdUnkIleObKNXDoRLWH_RxnWAVq-FQtGlKtgabMRG5G9a_KLXWdLp-Z3FKGafd-tWwGCoM3URfWTq0nEcIZxHnClUTV4JtH2v-GtuEv8tGg0hmOmR3XX0c_EHP1tv0FAwczzwpfZvz6se1FSjd3Zpz2fiR_4cdr0dUnM6rrFcbF_SMCgKM_Yz-rHRj7V7g6DaC513I1JXYB61Po35qOziYhhZzWoHT4_Otm5YclD8NF6C1ZVWRjumWH5YyD_AACTEKX0Y_Gdm3AixOAqO1IR2kxAki7ELasbmHNltN6C1a9FgDCQk2Uh-j1A2JWWOZHLFnQjwnkz8H6Mi3rsVxj8RlA-6Ihz6OpHU_fH-KA1Hnb2Qtel94FOQ8PQzoXT5DjWzDxZSZg6ElNPKr6e9CW8rJIUN6K2-PX1X2z4xJyD1pM81-jJ22gdKn4a4neU3sWbGIV23vO-hWqKTSuP2R1t_q4GKYVqjg9znHHyXfJ_zItGpYouHpBzSTgPlMyqqgRM4uAbNVQwRi5i8ufrWy1Yehox_JQMGlX-donBJ1BsV5mv-XKBzmZa34TPdE3kQkt-h_LpPAWpAeOoBCKckY0FwYN7oSUdCfG8XeA8HIJhuzQ5selD9CRxV4e4EtOd3FJYYewkhUWsdTGIbILIyWinfFICRLhpqlrWcIkPkR7PZ9nU_mTFtfeQJtwqUtLQCQNVVvMLbUalabwEuWhJ63LPgMKfrn7wMXdJhrFAPbsKVueZDWyMB8VyjHMzzJP-Amao_qLPIBLC9BtFVgL8yolWGHl_IJJFZ8Eaqz11xR31viel5ntk7t7bTK6Dx1H9Srfhp_T2GbqK-Anv5LL4D64xhE8K6-D1w60a_0KhwX9uGQLSAFGXNB9Wktwu3JkXFtOFrf4m3TY6zHQFjev1btaqLdR7AtFeECUfSDhgj_kieg-XZQM2KFtFyh3yTJfU3o4p_1HooUe_eE5Cauz6Icl12MQ6045uHpZwfZeXq97xVqe45x6DC5vm8LbPROFpz39LuthcK4gWur_z9dhXUZARQMidBO_PXbYSon0lxMXTBJ8OLEyrcBKN8d-AU-DAg==",
  "id": "rs_031429d59637e80c016ab2b959687887d08be03e70cc92385c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.105,\"right_z\":0.04},\"note\":\"The cream bowl is slightly left of the wrist centerline, which puts its right wall near the fingers. I will advance a few centimeters and lower to rim-grasp height.\"}",
  "call_id": "call_8VL88T7NcUF6wQWa94TOpzFb",
  "id": "fc_031429d59637e80c016ab2b95b9b4487d0994b21877c965b7b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8VL88T7NcUF6wQWa94TOpzFb",
  "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]: [-0.0944, 1.0061, 0.9157, -0.7265, -0.1314, -0.0784, 0.9931, 0.3878, 1.5753, 0.625, 0.0826, 0.2684, 0.168, 0.9989]\nstate[eef_state]: left_x=0.2972 left_y=-0.0013 left_z=0.194 left_yaw=0.0495 left_pitch=-0.2434 left_roll=0.0497 left_gripper=0.9931 right_x=0.357 right_y=0.0991 right_z=0.0283 right_yaw=0.0504 right_pitch=-0.2609 right_roll=-0.0785 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.5778, 6.7214, 1.5116, -0.1001, -0.0073, -0.0122, -0.3897, -6.9128, 5.8325, 1.6093, 0.0708, 0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eef89c75b4be34791adbf726321da5792a6018f1c69e389df4e893a4e97c22d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72b3b1fb1d9c9b7f3834a7abb8f7141221326960c4ecb5077db59b474f9cf2c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827c5007c2d8416dd8f28da554062a2d5080a1b5f1bcdc8c7936b921a1db4de8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.701 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.0023, 0.9157, -0.7246, -0.1322, -0.0788, 0.9931, 0.4572, 1.198, 0.7063, -0.2989, 0.3153, 0.2169, 0.999]\nstate[eef_state]: left_x=0.2973 left_y=-0.0012 left_z=0.1954 left_yaw=0.0502 left_pitch=-0.2376 left_roll=0.0492 left_gripper=0.9931 right_x=0.3238 right_y=0.1022 right_z=0.126 right_yaw=0.0602 right_pitch=-0.1748 right_roll=-0.0479 right_gripper=0.999\nstate[joint_eff]: [-0.1846, -2.5368, 7.0359, 1.6679, -0.2466, -0.105, -0.0122, 0.1573, -4.5744, 9.3607, 1.7558, 0.3199, 0.1783, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrljr_VsXFqLiEI4shWwz92cj0hiBPAX7Qw4g45twmRCym9fHTB5gzc3EK30Mv2j2w4IrkoTJfpeJ9ybjB6z86Fvmmk9j7wN3_G1xsEgyO23Plqon58-L98_w5mA_akMZaHfFXWcjlFhHpG7xGR-tGjMrfgqUeWgVp4I3N5T8wQkSevbnMhxqzilatKFP9sV4vn2GyuSapY3HHNQhb3UqxGAC0zohYyBkVg56AWsrbWC2Ka4vYkLQqCb5D5Ca0SkOzLHVVTlcDfdqTy7YNOuKhFfVygJWbM8C1C18dzoiTLUYFDDns5ccvVJttodHh1ARRI-_TXwjer8GGTYxZ6LcVo3mmg9Z9ehirt6YreOfT-SqcYegamoIWFL_M4EGL4DMcQ3n-wcyAiuonu8B78tXbKpCY2nQpuZc-2q2blSX-MvlVqdCq3oDNoXCe6QU55SyBQda1BMqWXJn76VhfLyR9XDcIUsLzl4jFBWH4CeR5s-QQxZCvoBcwonRSkCOZFEAnXvtn7UJW2AzV6mPhPS9boCmudmaJ4--0fWeRTI-pZCVp6ixLM8wg-LZIpQBeCBYSkduzYJxmQ01g1eyGeR8mb0MAPc2FeEEH9D2dGyAjQh8r7TRjoJC4hXhidL0IPTFPdGTl49sdKpCMsNlABT6-WGlbcXUPF_hI3ifG8-ZVWTyMwOc0aJif3x0PeboaJcOQGzhEPVWa67dcbyRJ5Cs5nCLzQp6F6IJsqxMAa-Y8gUGlF3NnGISWBNo1putvWF8Kk3VuAeCz3-KsdMr_fDdKAISlrcibgtpHaWu1TlWbrzIoiXM7zReBXfPodZ3S5PHzB1epA3IRUE2fFB-jxn1a1zNPbig6BkyCAldwDdYhnj5vbN3WcQ1zRH7ODnNz1rfDE07yKNTffc4Kv3V4o-YLujc6EKbyUPLa-WsDlIBu72aX79i1CeBbVEEgatbOlYPw67emG1zSbeAdG2VXUbQZBiDAcM1nFLH93XUhoTl8NXYFLwcnp9usP47gq03ygpB2bNBGq3FswXkFSP1PMibwKRiLcJEmnqQmFHYSZznZ7P68UQ5IwqVh7wiAmSb9-jD0-Xk3btgcAwrezskgx-blzTAW_nCYiaWGkB9ueGcxGRVGyFBnZe8bVlCGFq6a7VQgjWDTSsEH2TiLuqrEXuq_omgDIFoGkiDCGW8y74fkIEIAs8xl4BJircVs_TkwF9MNReg17YABfs4wPogu0AQzgetUE0CIYd6O0jfy2txevPiz6XlvqXeTrGknOuqaQILLcutc5WbGF0fZAvO7fzWLjNKaCkvac07aCXNAxaIITNOJyeJpXWdaW37hlgK6l7re3qSh6dEMHvaMAM6lkz0cP8ivbh3byJTOzcPbS7W1czcCQXyhGXAfO0iRou7NNdHcsSQQVh-o7j0L0zYInc1phuiA==",
  "id": "rs_031429d59637e80c016ab2b9602db887d0987705c09ceb4ee5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.085,\"right_gripper\":1},\"note\":\"The right bowl wall is just to the right of the jaw centerline. I will shift the gripper slightly outward to center the wall between the fingers.\"}",
  "call_id": "call_yGaJjVbM3GdvaMOe5uHLyZB6",
  "id": "fc_031429d59637e80c016ab2b9620cac87d08679e67b838ad3cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yGaJjVbM3GdvaMOe5uHLyZB6",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3573, 1.5822, 0.6102, 0.1356, 0.2417, 0.144, 0.999]\nstate[eef_state]: left_x=0.2972 left_y=-0.0014 left_z=0.1939 left_yaw=0.0492 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3626 right_y=0.0941 right_z=0.0283 right_yaw=0.0581 right_pitch=-0.2384 right_roll=-0.0657 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.0991, 6.8171, 1.4579, -0.1001, -0.0757, -0.0122, -0.4171, -7.3504, 5.4769, 1.5311, 0.0269, -0.1294, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:758350aaa760215d808ed0ad731f1c19cbfb967486be0768054cdbb944dc7582",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1071ff91ec8b58cc4ed7f985666d1523b5dab122960c6a4179bef75f3d15ec0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06011a633b7866876293c1ca11aa2e07b09bda6bc498abe713cbd760a39166a3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 3.995 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.0061, 0.9157, -0.7265, -0.1314, -0.0784, 0.9931, 0.3878, 1.5753, 0.625, 0.0826, 0.2684, 0.168, 0.9989]\nstate[eef_state]: left_x=0.2972 left_y=-0.0013 left_z=0.194 left_yaw=0.0495 left_pitch=-0.2434 left_roll=0.0497 left_gripper=0.9931 right_x=0.357 right_y=0.0991 right_z=0.0283 right_yaw=0.0504 right_pitch=-0.2609 right_roll=-0.0785 right_gripper=0.9989\nstate[joint_eff]: [-0.0752, -2.5778, 6.7214, 1.5116, -0.1001, -0.0073, -0.0122, -0.3897, -6.9128, 5.8325, 1.6093, 0.0708, 0.0366, -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": "gAAAAABqsrloG11vJPWhbpvmk6n63W4De-qBVZgjBbHWir1a3HI3VACyA0ZSAHAKmavqnyxu1o8vd_W8mM-2V1jWs7XkHq5s7UB2A7y0kUHrzMjRy1Lc4paGnmlji-YtDz2-IY4WmRR6nMhyeOKr0zX1vFNH-0nDLQZA4-3TFCoVuenHZzgtdQN383pcYDeSOUn0Janxs8dIOmDtoz8aoyjuiuW8XCoFUv7VuPafuvpPDcen9lITWzpeFtXTFolqOOkzX-2HlSgqA13RASlwxqYWl78W4ggxiYf8XpwuqgaImXig2u8hKC5SifO2im6qvElL0Or2RuzJulddjvSia83iUAtsU33J90U2ZlJ35Yb26IrrXheUZEx3W8vf3QjZwKCrdz-u9DDNWUN1SFwqGybLiWZRXH7Cs8TUPk-kMEJGlySlwurF5g3Y0OYLIU_SUnLV6AryIcUg0kdnDSeplT0Y4laIehqrcN6w7Ycsb0wG27T3vwTLdbb3xJuU1ssf2MlB44fTkEWWcmsNlxdiVqfe6uw7F5fEHdN7z-dtCpQfZYEXhIRCSlDPx-8AXMfVcxah-HLefLQQilZRrx_8FPsM8lK0OW2fakn7qLDxmc9BXAPiv9gB7HaYG5swP9JPFBYKLOjJpBnnziv7urprhB2THhLgPbB_YE7oary26I4mhSwIH75PwpeIWq3uSd4lMuMEFi_cXcTxPmQ_2pzQN1y2i1OIocv6Vn0LxNmfhqeP2pjkuZ3V1bctLci0aRYswP8C-AB0xA8Q6V7stJhhx8-3kU0uFpNnrB4d44-_HmKHmhU2vC-xWIlOYu3soHvxc4tW6w4cZK-MXoZq9uRmazA9J171OyFVSxZqpoPTZIIi24KbgIi8V5xXiO8YkliO2YZmk72Hd8OjywtW7_gsnMiVavVLqE9FbQb2gt-RW_VqenfvUYG0mcYZNpfmMaQQ1VjME6yhTDsZEfLKINPSb5tLmMpz5owJfy5uDis0pUOldjMUd2MHcapf7WQ50LYgkOxMSxotQXyvwP9vkJObQmWW6PI5d0lAJ_ChErmJPf6LX1h3Bn6b5LS21ID2LmpS-Vw2qzoQK2hBLj5bKOL2CPw70Yr-AO22yed3iocUD6zrQaJ2HfIZLZeYO6PjzK3YOubKsgJf9pP6F5F0zeKBNTW00_zTIGEbwZCujr3bcSBOyKTDgpI7C5lXQuGvlTiTq99JdH-FQjde-fnUaiNgaugyvuPn23G3i34Za5-RjkYKsuiVr48NIGs=",
  "id": "rs_031429d59637e80c016ab2b966a2f087d09f013b0053130a7b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is inside the cream bowl and the other is outside its right wall. I will close gently on that wall for a rim grasp.\"}",
  "call_id": "call_CPNHoB2DaLiXx8vM01XlWHIo",
  "id": "fc_031429d59637e80c016ab2b96785a487d0b65a4d20eed8b3fc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CPNHoB2DaLiXx8vM01XlWHIo",
  "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]: [-0.0948, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3599, 1.5696, 0.6094, 0.1474, 0.2184, 0.1501, 0.0418]\nstate[eef_state]: left_x=0.2972 left_y=-0.0015 left_z=0.1939 left_yaw=0.0488 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3642 right_y=0.1 right_z=0.0337 right_yaw=0.0786 right_pitch=-0.2205 right_roll=-0.0376 right_gripper=0.0418\nstate[joint_eff]: [-0.2393, -2.1675, 6.8308, 1.5214, -0.1001, -0.0366, -0.0122, -0.1983, -4.7795, 5.5726, 1.0183, 0.2906, -0.0952, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b1fc1266f04de5bc32a3fa1ca37eeff8476e3bf7a26bb1726692d9e46e58927d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02faffa1ead5ac3d492bc248d1be67ede074022e1e1dde6edfd38059b7c667a6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:663a0704baf822869829d282744c07cd9e373b17a795bbdf40185d059d68155c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.151 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3573, 1.5822, 0.6102, 0.1356, 0.2417, 0.144, 0.999]\nstate[eef_state]: left_x=0.2972 left_y=-0.0014 left_z=0.1939 left_yaw=0.0492 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3626 right_y=0.0941 right_z=0.0283 right_yaw=0.0581 right_pitch=-0.2384 right_roll=-0.0657 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -2.0991, 6.8171, 1.4579, -0.1001, -0.0757, -0.0122, -0.4171, -7.3504, 5.4769, 1.5311, 0.0269, -0.1294, -0.1197]\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\":0.095},\"note\":\"The closed gap is consistent with a thin bowl wall. I will lift the cream bowl a short distance to verify that it is held.\"}",
  "call_id": "call_Y4SpYcSumjdK2p7BdwUmhnq0",
  "id": "fc_031429d59637e80c016ab2b96be3c887d0ac36e8a128683a57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y4SpYcSumjdK2p7BdwUmhnq0",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 1.0073, 0.9157, -0.7269, -0.1314, -0.0784, 0.9931, 0.3595, 1.4391, 0.7132, -0.0841, 0.2153, 0.1448, 0.0456]\nstate[eef_state]: left_x=0.2973 left_y=-0.0014 left_z=0.1936 left_yaw=0.0492 left_pitch=-0.2449 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1002 right_z=0.0803 right_yaw=0.0839 right_pitch=-0.2186 right_roll=-0.0385 right_gripper=0.0456\nstate[joint_eff]: [-0.0752, -2.3453, 6.8308, 1.4628, -0.1197, -0.0611, -0.0122, -0.1162, -6.612, 8.7453, 1.4676, 0.0904, 0.0513, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6c92d892c56ae97f6a80bbd6f902245148716c60823c88d3229d97a308755a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e212986a367c29356be016a96cbdc42f8d41417a2aa5aea6a36a0c0b9bb6e8b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c68c8e81399afd4877c1ce0ca7745fadd0f4ec2f0fd9d97be85b9207276d9fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 8.256 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]: [-0.0948, 1.0065, 0.9157, -0.7269, -0.131, -0.0784, 0.9931, 0.3599, 1.5696, 0.6094, 0.1474, 0.2184, 0.1501, 0.0418]\nstate[eef_state]: left_x=0.2972 left_y=-0.0015 left_z=0.1939 left_yaw=0.0488 left_pitch=-0.2442 left_roll=0.0496 left_gripper=0.9931 right_x=0.3642 right_y=0.1 right_z=0.0337 right_yaw=0.0786 right_pitch=-0.2205 right_roll=-0.0376 right_gripper=0.0418\nstate[joint_eff]: [-0.2393, -2.1675, 6.8308, 1.5214, -0.1001, -0.0366, -0.0122, -0.1983, -4.7795, 5.5726, 1.0183, 0.2906, -0.0952, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The cream bowl lifted with the gripper. I will raise it above the existing two-bowl stack before carrying it inward.\"}",
  "call_id": "call_owqsmO2M798X1blgOfLBxMv9",
  "id": "fc_031429d59637e80c016ab2b96ffad487d09ffe58c3783a9aea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_owqsmO2M798X1blgOfLBxMv9",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7284, -0.131, -0.0784, 0.9931, 0.3595, 1.3449, 1.0622, -0.5529, 0.215, 0.1337, 0.0484]\nstate[eef_state]: left_x=0.2971 left_y=-0.0015 left_z=0.1932 left_yaw=0.0489 left_pitch=-0.2472 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1003 right_z=0.1787 right_yaw=0.0888 right_pitch=-0.2436 right_roll=-0.0532 right_gripper=0.0484\nstate[joint_eff]: [-0.1846, -2.5094, 6.8855, 1.4921, -0.1148, -0.0366, -0.0122, -0.3624, -6.6256, 9.5658, 1.5849, 0.0464, 0.0952, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1db2309a898c0d583f8527b6cec72031d8381fc9930cc48f45408436c16704af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:055cb7d5757fe502752452ec275775e2ee1f041bd22c3b2615d4e4e08ef5e125",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2acb45bcfae8edcdeb805c537f51fcb71382be3f94e974b97cea0303d4382241",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.944 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 1.0073, 0.9157, -0.7269, -0.1314, -0.0784, 0.9931, 0.3595, 1.4391, 0.7132, -0.0841, 0.2153, 0.1448, 0.0456]\nstate[eef_state]: left_x=0.2973 left_y=-0.0014 left_z=0.1936 left_yaw=0.0492 left_pitch=-0.2449 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1002 right_z=0.0803 right_yaw=0.0839 right_pitch=-0.2186 right_roll=-0.0385 right_gripper=0.0456\nstate[joint_eff]: [-0.0752, -2.3453, 6.8308, 1.4628, -0.1197, -0.0611, -0.0122, -0.1162, -6.612, 8.7453, 1.4676, 0.0904, 0.0513, 0.7106]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrl57WG1irO_RJDz2DhQs1KO9HQgc_TGc9eBpwR81eyak9oSnCymixRh9LvRHUornzRxX6JT-mJGYE8bIXOfXYuttdWOElTg8NJZw-LFQ4cPVuz7P_AYURYr11wrOpLiC2lCj3BATP0O8FgWyYXqV77fbup2Z5Js-xBPMgzWFXWG6Uov9eDRIqoa3TzyOYGdNwhpflQj7SLj2tTNaF5e4E9cP0YA3P8oMpsxW30_Ik0kYXlneUdSwNhhr7BIT_FIYCqQkUD1bYC0BurPPiAM7IVdkHq8ZyVaDfOA_LHxvu-o7e3j_Gw2x2QqxUqcjoh1lvh30m8DXd69Ljw1BDAfeAoEBWcUF3UThUyE3un7dsIQpzgsWkCTIlP9K0H8hO0ANY1VNnZTyi7B4w96T41kQpYeeDLpJT3atZfmDoAkdqKSRCqMn-Pjhm2bKvrfgHhnQZ6_fEdJaqhAlr3XLQcJaOET_sBTc2j-SpYVgK-4YDiKZ50NLd8vLjH2LokUG87zEtem4gI78AtD0ZQ3P0P7QIAJsxL4hcgqTxVlBJAvSnTJFfLaEYh8XYlwpXnS36ffEWiWKRbBcHs8GM_L1FIgARB0TfyvXSechU86S7an60q3CWnP0GhInmxUBVkcW-4RrrzOs0WtmfuRVFJjXycBt4miDOaMx_hgdwL024X5CVi4AjUNPYt7FcLzwoF0QtX4m07SlSLfwEo4jt2jyFM2csJQklqpbxCkJJtl7jZ8JoFlmnPc2XipawpL4lWzk7uI0vdFJVUgXg-aRZqrqNgW3qm6Gk3VK7wDtMqn2ru8JrrTKY6hJuqOyttaBxOHSyNWzNRfxFKSnyiBdrc0XEbYk6zfNYIR0iNvh-acojOKGUWmG-jIHdaZBijP67u1dARLNe9UzV1XpN-TeFTNMd6PE6pYH39nJXOM-59kH9M5qqvZYCVfiuM-xfRFnFzs_xpKRJF9G2j_LBqagibatqqdoXJEolp6Bt5xVQ8yiEJ0AZgb11YoCzJ9qxgjjdr9FfL03_Zt6H0H-wZoGPSFhXxfmBGAWO2mGgKPp1SiBXeyvENAhCvQJCaoZkvznmj6nh5dZuglioEPfLti24kbiSOEXrM4pj4fJCzCwmaVmgWPn36P1eGFFE3Ls-gNiqb9Zg_2zK_0Zd50plVEeTz5W2rLDkeA24RWeZiesfk4GZ6jMInp0Zbx4E0sEvoMV9C7nAdSO2AESvUVcTE1vLKxMKBJLEZ6vMR146phHGR2vtq1ARg17UYVn9yszPT_8uWpopAGhQIzkWC8YPnuDzSntMeEgqmp1Ct3zzkTQOB5qi6XoMMDn9k=",
  "id": "rs_031429d59637e80c016ab2b97583fc87d0a33b1e7ee514bf72",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.255,\"right_z\":0.2},\"note\":\"The cream bowl is clear of the table, and the nested bowls are to its left and slightly farther forward. I will move it above their center while keeping the left arm parked.\"}",
  "call_id": "call_7tCg6mxPJGrhsqYBmBAXdAU5",
  "id": "fc_031429d59637e80c016ab2b976de5887d09cd84108343684ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7tCg6mxPJGrhsqYBmBAXdAU5",
  "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]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.6891, 1.8313, 1.6211, -0.7517, 0.3946, 0.3679, 0.0509]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.4063 right_y=0.2514 right_z=0.1835 right_yaw=0.1256 right_pitch=-0.2934 right_roll=-0.0769 right_gripper=0.0509\nstate[joint_eff]: [-0.0615, -2.3863, 6.7214, 1.5018, -0.1197, -0.0659, -0.0122, 0.2393, -9.7162, 9.1419, 1.3211, 0.4957, 0.2173, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dbef604af08136d98237589a8ca9239aac3a61bd32cbd36aaf06f4e5e3acb3aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:89d963314599b53be0a473e8779a9d7bf00ae63946031ec50003c69b4ac526ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7a65deb1f413cc6c1b96464e3265fa160000fc6970ca54d82d2c74fd5030f34",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.061 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7284, -0.131, -0.0784, 0.9931, 0.3595, 1.3449, 1.0622, -0.5529, 0.215, 0.1337, 0.0484]\nstate[eef_state]: left_x=0.2971 left_y=-0.0015 left_z=0.1932 left_yaw=0.0489 left_pitch=-0.2472 left_roll=0.05 left_gripper=0.9931 right_x=0.3637 right_y=0.1003 right_z=0.1787 right_yaw=0.0888 right_pitch=-0.2436 right_roll=-0.0532 right_gripper=0.0484\nstate[joint_eff]: [-0.1846, -2.5094, 6.8855, 1.4921, -0.1148, -0.0366, -0.0122, -0.3624, -6.6256, 9.5658, 1.5849, 0.0464, 0.0952, 0.5397]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrmAVZcUJrr8qTQrjEXzMdVhmtcxb5uMlRQwBM937y-cFsDvlrOi91kcrmT5g1VCdANHNAsfRscOSfRu_bM2pxTau2LTpTZQ4Sv21ppZWLMcUS4jRL5i5TGOHyxeMqRrHWxwGlciwAkAJ-ln16gH9qnChIc52JEGA4a4J92m_-9Zz3EE4g8GUIPq-FIEHjsr0WnD0KBtFW3w86TLYMdsA3yMTZkIMyZEdkjc0Pc3beD_SRh53Avk3uZ_d0rgX_05lXX3xoVgyJhIXzCfBHG7neezRM2xZbUaDifuXGxLQ7GXlcOf2w8LL9rx39ax3dGTTcFr9oLvwR4N5oH1sW_I5DKW2CVn9DMW_GF4xy2I5XCIdOcY267ZlFtwuXBHCCM7kFwU-enOI0BA51Lw4TEdPuWl8-gXGzNv42tyXX644JNLrLqXMPYkk6j1G5ZqVZ-mKKSBu5q3RiCvIfmjMI_a3xxk9ZCoMzCb6-tcY8QYl6unLavT8EVAEgwEm8IYWh6zPZT2ZVHPJdkyZU0SsrcjGvYeJ6siPcU_q2NZcml3z7jiVETatXbsTETMp5OipLcp6HqLS7sAVQZIiXVxf-4jB-Js7j4RYT8R6f8qnHyQaWduQHcdIOQbTQEiK_YOHSzVpgmDIGnT9RU9W5Ozi80c86AnbDfoQISJ8PdcjUlH4ulDVP163ypw9-IuN2hx_ZdpPrBRQ7GFKiJCGv2_d0mb0yPMt3tKdmWE_B_QEVI3qeN3BLYaH-fdXDetfazfONBKPz_Uloptqay1sFRc7YZ6QV3c0wWQyQ9lbilTReNPUGpftrni1ZtPTxJi3OgbjCJ-jxoPCvEZhSjz_AJwPWxWQ-izCBCBhUf6vWp_IPzr32EhtvnU207lzhwkvTJKF0o3qaOMMkrWhxERcpxn5DX5eG5iNnojCeq4spKL-wENEcm6Gu-Zy0j9Yrt96PwUF_TRbROt9fe2v0G3M15W_giqgNbjIcuqPIBktmOqqGixwFGugRZakqgefqY5bYIp-8b9gxJM3LRE4D-wAObnPC0LfbHdZXo6lD2QEVqGN5qFvBidzQAW86Pf4dBYqdBnCLHcJT7G8RKqQZXLGsQ3mwYT8FKaZ6sY03vDCC1skXkHYw-9VctUsvH7nxyQxXUCTpaavsfGePRLlt84Br4g_FOaO3u-9CKSSQARLTx-DubdSRx-NeeDrD4oZIelaZ1-FGi9dHlXyFgqy8nhBpzu9P8N8Yc8n3woI2FjCNJ6aljScaQT8hHu-y485dJeEFlzaNRavHT_iebL1ZkOni7yskbYLu78PPHGcF3TNX-P5dGDlcTIlEQ=",
  "id": "rs_031429d59637e80c016ab2b97d13bc87d0b244473b01725453",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.272,\"right_z\":0.105},\"note\":\"The cream bowl is above the stack, slightly to its right. I will center it with a small sideways adjustment and lower it toward the turquoise bowl.\"}",
  "call_id": "call_TEp3YVoqqDE3BKka0Jeh0juw",
  "id": "fc_031429d59637e80c016ab2b97ea5b887d0b7165c6593cab064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TEp3YVoqqDE3BKka0Jeh0juw",
  "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]: [-0.0948, 1.008, 0.9157, -0.7292, -0.1314, -0.0784, 0.9931, 0.7193, 1.9148, 1.4448, -0.5571, 0.4042, 0.3862, 0.0534]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.1931 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0504 left_gripper=0.9931 right_x=0.4007 right_y=0.2633 right_z=0.1042 right_yaw=0.1262 right_pitch=-0.3428 right_roll=-0.1093 right_gripper=0.0534\nstate[joint_eff]: [-0.1026, -2.3316, 6.694, 1.4823, -0.1197, -0.0269, -0.0122, 0.3487, -9.2239, 6.694, 1.3846, 0.2564, 0.1099, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2307082997c50c747593a0503049c4b454af645dc2975fe475c07d8904f924",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:170010d283bc75222a00dcdf1f550e0a0eea4ad96bf344c0b0179b8544b6f2b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff742d9f04a374b51aec56ea56092d832cdcd6e650b397dfd1d0d9d1c3b1a4c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.686 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]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.6891, 1.8313, 1.6211, -0.7517, 0.3946, 0.3679, 0.0509]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.4063 right_y=0.2514 right_z=0.1835 right_yaw=0.1256 right_pitch=-0.2934 right_roll=-0.0769 right_gripper=0.0509\nstate[joint_eff]: [-0.0615, -2.3863, 6.7214, 1.5018, -0.1197, -0.0659, -0.0122, 0.2393, -9.7162, 9.1419, 1.3211, 0.4957, 0.2173, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The cream bowl overlaps the stack’s opening, with the lower rim visible beneath it. I will lower gently the last few centimeters to seat it.\"}",
  "call_id": "call_a8EBEzTxHjw0UM7gGUzTE2vj",
  "id": "fc_031429d59637e80c016ab2b983185887d08c665184b8eac7ab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_a8EBEzTxHjw0UM7gGUzTE2vj",
  "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]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7189, 1.9427, 1.3579, -0.4545, 0.4046, 0.3855, 0.0563]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.398 right_y=0.2606 right_z=0.0725 right_yaw=0.1235 right_pitch=-0.3527 right_roll=-0.1173 right_gripper=0.0563\nstate[joint_eff]: [-0.1436, -2.1675, 6.8991, 1.4774, -0.1294, -0.0562, -0.0122, -0.0205, -9.1145, 6.4615, 1.3358, 0.0952, -0.0317, 0.2857]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bd956300b45b22cacc63ecd0bb39f34bea3eb8330a0db3e017b3eaad5d7d6b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8e8b184ef91273b48caa000eec1dec1f90dc6569ef7959f81dbbda838830db6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5c26ea91c6208fe0b09505d1a43ee193f5120ec574e7bee8258cba20aefdd52",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 9.175 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]: [-0.0948, 1.008, 0.9157, -0.7292, -0.1314, -0.0784, 0.9931, 0.7193, 1.9148, 1.4448, -0.5571, 0.4042, 0.3862, 0.0534]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.1931 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0504 left_gripper=0.9931 right_x=0.4007 right_y=0.2633 right_z=0.1042 right_yaw=0.1262 right_pitch=-0.3428 right_roll=-0.1093 right_gripper=0.0534\nstate[joint_eff]: [-0.1026, -2.3316, 6.694, 1.4823, -0.1197, -0.0269, -0.0122, 0.3487, -9.2239, 6.694, 1.3846, 0.2564, 0.1099, 0.2466]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The cream bowl is resting at the stack’s height, with its rim aligned over the bowls below. I will release it so it can settle naturally into the stack.\"}",
  "call_id": "call_MD0KKe35l7KBdrjhuynD6LzQ",
  "id": "fc_031429d59637e80c016ab2b987e77c87d08b88660abf72fb59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MD0KKe35l7KBdrjhuynD6LzQ",
  "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]: [-0.0944, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7181, 1.9526, 1.3441, -0.4206, 0.4034, 0.3748, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.3999 right_y=0.2621 right_z=0.0671 right_yaw=0.1318 right_pitch=-0.3454 right_roll=-0.1173 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.4821, 6.735, 1.4823, -0.0708, -0.0611, -0.0122, -0.0205, -9.8393, 6.2291, 1.3162, 0.2173, 0.0806, -0.2173]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b3d0cb75e0c6b71153fe7975c599e965881bb90826d0613fdaf3029c099581a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94276453f91928837456a1045fc1d235f4eaaac8b72185ad6f63de2d3c3c92b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c644a86d87ffdf98c172566dc28bf0a552112c893aa22ced2fe3504db7ddf47e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0948, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7189, 1.9427, 1.3579, -0.4545, 0.4046, 0.3855, 0.0563]\nstate[eef_state]: left_x=0.2969 left_y=-0.0014 left_z=0.193 left_yaw=0.0489 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.398 right_y=0.2606 right_z=0.0725 right_yaw=0.1235 right_pitch=-0.3527 right_roll=-0.1173 right_gripper=0.0563\nstate[joint_eff]: [-0.1436, -2.1675, 6.8991, 1.4774, -0.1294, -0.0562, -0.0122, -0.0205, -9.1145, 6.4615, 1.3358, 0.0952, -0.0317, 0.2857]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The cream bowl has been released onto the other two. I will lift the empty fingers clear without disturbing the nested rims.\"}",
  "call_id": "call_bSE8i6lt8svZ9f2x4z7wSqy8",
  "id": "fc_031429d59637e80c016ab2b9921cb887d0a03e683845855359",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bSE8i6lt8svZ9f2x4z7wSqy8",
  "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]: [-0.0944, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7189, 1.9202, 1.7496, -0.8867, 0.4, 0.3634, 0.9969]\nstate[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.4014 right_y=0.2646 right_z=0.175 right_yaw=0.1359 right_pitch=-0.3714 right_roll=-0.1386 right_gripper=0.9969\nstate[joint_eff]: [-0.1162, -2.4137, 6.8718, 1.4579, -0.0855, -0.0806, -0.0122, -0.3897, -12.3145, 8.8, 1.2967, 0.2076, 0.0952, 0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fa310616e679c9235c7c1a025a1222558ade3cf4ae6e50486f250227eb4025d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23a5f24ae686eaa2198296f7c4307679823281b99268cbb4b43add1e94c97e20",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d521d7827852ea97db691271d86027d0c8b9540e123884c3779404b3d63dd00",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 6.035 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.008, 0.9157, -0.7292, -0.131, -0.0784, 0.9931, 0.7181, 1.9526, 1.3441, -0.4206, 0.4034, 0.3748, 0.9955]\nstate[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2479 left_roll=0.0501 left_gripper=0.9931 right_x=0.3999 right_y=0.2621 right_z=0.0671 right_yaw=0.1318 right_pitch=-0.3454 right_roll=-0.1173 right_gripper=0.9955\nstate[joint_eff]: [-0.1026, -2.4821, 6.735, 1.4823, -0.0708, -0.0611, -0.0122, -0.0205, -9.8393, 6.2291, 1.3162, 0.2173, 0.0806, -0.2173]",
      "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 cream bowl remains supported after the gripper lifts away. I will park the right arm so the complete stack is visible for a final check.\"}",
  "call_id": "call_du2F79xQ5vxIDaHo0EpHSzCr",
  "id": "fc_031429d59637e80c016ab2b996e8f887d0a8cf87f198969483",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_du2F79xQ5vxIDaHo0EpHSzCr",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0944, 1.008, 0.9157, -0.7296, -0.131, -0.0784, 0.9931, -0.004, 1.1183, 1.0641, -0.8894, 0.028, -0.2165, 0.997]\nstate[eef_state]: left_x=0.2969 left_y=-0.0013 left_z=0.193 left_yaw=0.0493 left_pitch=-0.2483 left_roll=0.0502 left_gripper=0.9931 right_x=0.2972 right_y=-0.0026 right_z=0.1965 right_yaw=0.0846 right_pitch=-0.3844 right_roll=-0.1459 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -2.4957, 6.7487, 1.4628, -0.0904, -0.0513, -0.0122, -0.1026, -3.7538, 6.5299, 1.4481, -0.1929, -0.0366, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:505104c460e478a4cae237a0a7f11d3b9cf568f64c2ae9b8669b6c1f0a01549f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4c443f428b04ddd66c2e2542ed1939143580e98fbc13d9d4f2e881b9a8f3911",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:007b7c1921807c68355a83b7435e79e15b3a86044cd0f377b15de7e985592127",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]