adhoc

completed
2026-09-22T18:01:51.134760+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
182 s
total steps
198
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the left bowl with the left gripper, aiming to pinch its rim rather than span its full width.
move_to
left_x0.4000left_y-0.1400left_z0.1700left_gripper1.0000right_x0.2940right_y0.0010right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0257, 0.995, -0.0181, 0.7925, 0.6018, -0.3805, -0.0166, -0.0334, 0.9977] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2943 right_y=0.0012 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977 state[joint_eff]: [-0.6906, -1.5111, 10.1402, 1.7558, -0.0415, 0.105, -0.525, -0.6769, -1.3333, 10.3316, 1.8926, -0.0952, 0.1587, -0.2613] 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":0.4,"left_y":-0.14,"left_z":0.17,"left_gripper":1,"right_x":0.294,"right_y":0.001,"right_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper, aiming to pinch its rim rather than span its full width."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl is visible beneath the wrist, with its rim close to the fingertips. I’ll lower toward the bowl’s left rim and offset slightly so one jaw can enter the bowl.
move_to
left_x0.3880left_y-0.1050left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5163, 1.4376, 0.8989, -0.1585, -0.416, -0.3058, 0.995, -0.02, 0.7967, 0.6018, -0.3931, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.3881 left_y=-0.1341 left_z=0.1509 left_yaw=-0.0176 left_pitch=-0.0593 left_roll=0.0254 left_gripper=0.995 right_x=0.2929 right_y=0.0007 right_z=0.1755 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9975 state[joint_eff]: [-0.2803, -6.5846, 9.0462, 1.7753, -0.1734, -0.1197, -0.5201, -0.1162, -1.6479, 7.2274, 1.7802, -0.0562, -0.0513, -0.0269] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.388,"left_y":-0.105,"left_z":0.065},"note":"The left bowl is visible beneath the wrist, with its rim close to the fingertips. I’ll lower toward the bowl’s left rim and offset slightly so one jaw can enter the bowl."})
tool
executing move_to over 6 steps (0.6s)
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 bowl is still ahead of the fingertips in the wrist view. I’ll advance a little and move farther toward the side rim before closing.
move_to
left_x0.4080left_y-0.0750left_z0.0420
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4297, 1.5585, 0.6388, 0.168, -0.3588, -0.2619, 0.9947, -0.02, 0.7979, 0.6003, -0.3923, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.3774 left_y=-0.1008 left_z=0.0568 left_yaw=0.0015 left_pitch=-0.1262 left_roll=0.0507 left_gripper=0.9947 right_x=0.2929 right_y=0.0007 right_z=0.1746 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9975 state[joint_eff]: [0.3487, -6.2017, 6.106, 1.8437, -0.1148, 0.0708, -0.0415, -0.0479, -1.347, 7.159, 1.7314, -0.0317, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.408,"left_y":-0.075,"left_z":0.042},"note":"The bowl is still ahead of the fingertips in the wrist view. I’ll advance a little and move farther toward the side rim before closing."})
tool
executing move_to over 3 steps (0.3s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe jaws now straddle the bowl’s side wall. I’ll close to pinch the rim, then check the opening and test the hold with a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3168, 1.6585, 0.6559, 0.2584, -0.3019, -0.2108, 0.9946, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.3988 left_y=-0.0717 left_z=0.0392 left_yaw=0.0399 left_pitch=-0.1357 left_roll=0.0511 left_gripper=0.9946 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975 state[joint_eff]: [-0.8274, -6.8718, 7.3778, 1.7167, 0.1978, 0.0904, -0.0269, -0.0889, -1.3197, 7.0632, 1.7216, -0.0415, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now straddle the bowl’s side wall. I’ll close to pinch the rim, then check the opening and test the hold with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe gripper has closed to a thin rim-sized gap, but that alone does not confirm a hold. I’ll lift about five centimetres and check whether the bowl follows.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3008, 1.6737, 0.6674, 0.2829, -0.2642, -0.1909, 0.0415, -0.02, 0.7986, 0.5999, -0.3931, -0.0162, -0.0341, 0.9975] state[eef_state]: left_x=0.4057 left_y=-0.0738 left_z=0.0406 left_yaw=0.0131 left_pitch=-0.1251 left_roll=0.0355 left_gripper=0.0415 right_x=0.2928 right_y=0.0006 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9975 state[joint_eff]: [-0.0889, -6.3658, 6.2701, 1.1697, -0.232, 0.2173, 1.3553, -0.0889, -1.2786, 7.0085, 1.7509, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper has closed to a thin rim-sized gap, but that alone does not confirm a hold. I’ll lift about five centimetres and check whether the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe left bowl rose with the gripper, confirming a rim grasp. I’ll raise it to a safe carrying height before moving it over the middle bowl.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3012, 1.5402, 0.765, 0.0311, -0.2619, -0.1989, 0.0451, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0345, 0.9975] state[eef_state]: left_x=0.4025 left_y=-0.0734 left_z=0.0844 left_yaw=0.016 left_pitch=-0.145 left_roll=0.0344 left_gripper=0.0451 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.0013 right_pitch=-0.0206 right_roll=-0.0006 right_gripper=0.9975 state[joint_eff]: [-0.294, -8.3487, 8.9094, 1.6386, -0.1685, 0.0122, 0.6667, -0.212, -0.759, 7.0632, 1.7167, -0.0317, -0.0855, -0.0122] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The left bowl rose with the gripper, confirming a rim grasp. I’ll raise it to a safe carrying height before moving it over the middle bowl."})
tool
executing move_to over 7 steps (0.7s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe bowl is securely suspended by its rim. I’ll carry it sideways toward the middle bowl while keeping it above the other rims.
move_to
left_x0.4000left_y-0.2200left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3008, 1.4342, 1.0412, -0.3702, -0.2615, -0.2062, 0.0459, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.4037 left_y=-0.0737 left_z=0.1689 left_yaw=0.021 left_pitch=-0.163 left_roll=0.0347 left_gripper=0.0459 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975 state[joint_eff]: [-0.0889, -8.1846, 9.265, 1.6337, -0.1197, 0.0024, 0.7448, -0.1846, -1.0598, 7.0222, 1.7118, -0.0073, -0.0659, -0.0122] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.22,"left_z":0.19},"note":"The bowl is securely suspended by its rim. I’ll carry it sideways toward the middle bowl while keeping it above the other rims."})
tool
executing move_to over 14 steps (1.4s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe carried bowl is almost over the middle bowl, slightly to its left. I’ll shift it a little right and lower it toward the opening.
move_to
left_y-0.2400left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7021, 1.6978, 1.3781, -0.6033, -0.5091, -0.5152, 0.0463, -0.02, 0.8024, 0.5999, -0.3939, -0.0162, -0.0341, 0.9974] state[eef_state]: left_x=0.3941 left_y=-0.2159 left_z=0.1751 left_yaw=-0.0002 left_pitch=-0.2027 left_roll=0.0485 left_gripper=0.0463 right_x=0.2929 right_y=0.0006 right_z=0.1729 right_yaw=-0.0018 right_pitch=-0.0252 right_roll=-0.0004 right_gripper=0.9974 state[joint_eff]: [-0.3897, -8.1436, 9.5111, 1.2821, -0.4664, -0.0757, 0.7302, -0.1162, -1.5795, 7.1316, 1.7118, -0.0366, -0.0806, -0.0171] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.24,"left_z":0.095},"note":"The carried bowl is almost over the middle bowl, slightly to its left. I’ll shift it a little right and lower it toward the opening."})
tool
executing move_to over 6 steps (0.6s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe two bowl rims are closely aligned, with the lower bowl just ahead of the carried one. I’ll move forward one centimetre and lower gently to nest them.
move_to
left_x0.4100left_z0.0580
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7475, 1.8153, 1.2243, -0.3996, -0.5259, -0.5495, 0.0462, -0.02, 0.8043, 0.5961, -0.3931, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.3876 left_y=-0.2335 left_z=0.0952 left_yaw=-0.0046 left_pitch=-0.2429 left_roll=0.0801 left_gripper=0.0462 right_x=0.2926 right_y=0.0007 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9975 state[joint_eff]: [-0.5265, -8.5538, 5.9966, 1.3309, -0.3834, -0.1294, 0.7546, -0.1026, -1.3607, 7.3504, 1.7411, -0.0513, -0.0171, -0.0073] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_z":0.058},"note":"The two bowl rims are closely aligned, with the lower bowl just ahead of the carried one. I’ll move forward one centimetre and lower gently to nest them."})
tool
executing move_to over 3 steps (0.3s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe carried bowl has settled against the middle bowl and their rims now overlap. I’ll release the rim so it can seat fully.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7174, 1.903, 1.2148, -0.3012, -0.5114, -0.5423, 0.0468, -0.02, 0.8047, 0.5957, -0.3931, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.4032 left_y=-0.2323 left_z=0.0651 left_yaw=0.0111 left_pitch=-0.2505 left_roll=0.0752 left_gripper=0.0468 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9975 state[joint_eff]: [0.3214, -9.6479, 5.8735, 1.2527, -0.2759, 0.3199, 0.696, -0.0479, -1.3197, 7.2137, 1.6777, -0.0317, -0.0317, -0.0171] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The carried bowl has settled against the middle bowl and their rims now overlap. I’ll release the rim so it can seat fully."})
tool
executing move_to over 10 steps (1.0s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe released bowl is resting in the middle bowl. I’ll lift the empty gripper clear before parking it and picking up the remaining pink bowl.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7052, 1.9244, 1.2129, -0.2577, -0.4988, -0.5205, 0.9937, -0.02, 0.8089, 0.5953, -0.3965, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.4101 left_y=-0.2334 left_z=0.0596 left_yaw=-0.001 left_pitch=-0.2431 left_roll=0.0688 left_gripper=0.9937 right_x=0.2923 right_y=0.0007 right_z=0.1685 right_yaw=-0.0015 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9975 state[joint_eff]: [-0.3214, -9.6479, 6.106, 1.2918, -0.3492, 0.0415, -0.2857, -0.1436, -1.4154, 7.0906, 1.7314, -0.0415, -0.0562, -0.0171] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The released bowl is resting in the middle bowl. I’ll lift the empty gripper clear before parking it and picking up the remaining pink bowl."})
tool
executing move_to over 8 steps (0.8s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe first two bowls remain together at the centre. I’ll park the left arm and bring the right gripper above the outer rim of the pink bowl.
move_to
left_x0.2950left_y0.0000left_z0.1900right_x0.3800right_y0.0750right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7048, 1.8538, 1.5127, -0.6598, -0.4953, -0.5243, 0.9944, -0.02, 0.8108, 0.5945, -0.3969, -0.0166, -0.0341, 0.9975] state[eef_state]: left_x=0.412 left_y=-0.2354 left_z=0.1504 left_yaw=0.0044 left_pitch=-0.2688 left_roll=0.0851 left_gripper=0.9944 right_x=0.2923 right_y=0.0007 right_z=0.1676 right_yaw=-0.0015 right_pitch=-0.042 right_roll=0.0001 right_gripper=0.9975 state[joint_eff]: [-0.0342, -12.7385, 9.1692, 1.2674, -0.3297, 0.0269, 0.0562, -0.1709, -1.2239, 7.0496, 1.7167, -0.0366, -0.0611, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"right_x":0.38,"right_y":0.075,"right_z":0.15,"right_gripper":1},"note":"The first two bowls remain together at the centre. I’ll park the left arm and bring the right gripper above the outer rim of the pink bowl."})
tool
executing move_to over 21 steps (2.1s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe pink bowl is just ahead and to the left of the right gripper. I’ll advance and lower beside its right-hand rim, leaving one jaw inside and one outside.
move_to
right_x0.4050right_y0.0600right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0967, 1.0348, 0.9268, -0.7322, -0.1482, -0.0624, 0.9944, 0.289, 1.2949, 0.7223, -0.1429, 0.2096, 0.1238, 0.9977] state[eef_state]: left_x=0.3001 left_y=0.0007 left_z=0.19 left_yaw=0.0538 left_pitch=-0.2621 left_roll=0.0766 left_gripper=0.9944 right_x=0.364 right_y=0.0736 right_z=0.1245 right_yaw=0.0303 right_pitch=-0.1256 right_roll=-0.0253 right_gripper=0.9977 state[joint_eff]: [0.1709, -3.2615, 6.188, 1.5458, -0.0171, 0.2173, -0.0073, 0.4444, -4.8615, 10.3316, 1.9512, 0.3785, 0.149, -0.2564] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.06,"right_z":0.05},"note":"The pink bowl is just ahead and to the left of the right gripper. I’ll advance and lower beside its right-hand rim, leaving one jaw inside and one outside."})
tool
executing move_to over 5 steps (0.5s)
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 right rim lies between the open jaws. I’ll close on this thin section of the bowl and then test the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0382, 0.9234, -0.7448, -0.1322, -0.0528, 0.9944, 0.205, 1.6047, 0.654, 0.1394, 0.1551, 0.0738, 0.9975] state[eef_state]: left_x=0.2975 left_y=-0.0015 left_z=0.1853 left_yaw=0.0365 left_pitch=-0.2835 left_roll=0.0737 left_gripper=0.9944 right_x=0.3853 right_y=0.0559 right_z=0.0341 right_yaw=0.0161 right_pitch=-0.2282 right_roll=-0.0467 right_gripper=0.9975 state[joint_eff]: [-0.1573, -2.7419, 7.241, 1.5409, -0.2466, -0.1538, -0.0122, -0.4581, -7.3641, 5.8735, 1.9805, 0.0269, -0.0415, -0.0269] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The right rim lies between the open jaws. I’ll close on this thin section of the bowl and then test the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe fingers closed to a very small gap around the pink rim. I’ll lift a few centimetres to distinguish a secure rim grasp from an empty close.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0397, 0.9234, -0.7479, -0.131, -0.0525, 0.9944, 0.2028, 1.6108, 0.651, 0.1589, 0.1272, 0.0788, 0.0392] state[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0354 left_pitch=-0.2882 left_roll=0.0737 left_gripper=0.9944 right_x=0.3868 right_y=0.0603 right_z=0.0336 right_yaw=0.0352 right_pitch=-0.2216 right_roll=-0.021 right_gripper=0.0392 state[joint_eff]: [-0.253, -2.5368, 6.7214, 1.4823, -0.1197, -0.0513, -0.0122, 0.1026, -6.0239, 6.3658, 1.1013, 0.4518, -0.1294, 0.9451] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The fingers closed to a very small gap around the pink rim. I’ll lift a few centimetres to distinguish a secure rim grasp from an empty close."})
tool
executing move_to over 5 steps (0.5s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe pink bowl moved upward with the gripper, so the rim is held. I’ll raise it above the existing 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]: [-0.0956, 1.0397, 0.9234, -0.7483, -0.131, -0.0521, 0.9944, 0.2024, 1.4704, 0.7761, -0.1291, 0.1181, 0.0704, 0.0425] state[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0352 left_pitch=-0.2886 left_roll=0.074 left_gripper=0.9944 right_x=0.3827 right_y=0.0609 right_z=0.0841 right_yaw=0.0465 right_pitch=-0.2449 right_roll=-0.0239 right_gripper=0.0425 state[joint_eff]: [-0.212, -2.7419, 6.8171, 1.4139, -0.1343, -0.022, -0.0122, -0.335, -7.5556, 9.0188, 1.6728, 0.0855, 0.0269, 0.6325] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The pink bowl moved upward with the gripper, so the rim is held. I’ll raise it above the existing stack before carrying it inward."})
tool
executing move_to over 8 steps (0.8s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe two-bowl stack is clear at the centre of the table. I’ll move the pink bowl left and slightly forward to position it above that stack.
move_to
right_x0.4150right_y0.2400right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.131, -0.0525, 0.9944, 0.2024, 1.3964, 1.1137, -0.58, 0.1173, 0.0586, 0.042] state[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0355 left_pitch=-0.2893 left_roll=0.0738 left_gripper=0.9944 right_x=0.3815 right_y=0.0608 right_z=0.1749 right_yaw=0.0522 right_pitch=-0.284 right_roll=-0.0378 right_gripper=0.042 state[joint_eff]: [-0.0615, -2.4137, 6.6803, 1.3993, -0.0757, -0.0562, -0.0122, -0.3761, -7.6239, 9.7573, 1.663, 0.0171, 0.0904, 0.7643] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.24,"right_z":0.2},"note":"The two-bowl stack is clear at the centre of the table. I’ll move the pink bowl left and slightly forward to position it above that stack."})
tool
executing move_to over 15 steps (1.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe pink bowl is centred above the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.654, 1.8305, 1.6466, -0.8127, 0.3668, 0.3908, 0.0446] state[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0352 left_pitch=-0.2894 left_roll=0.0735 left_gripper=0.9944 right_x=0.4072 right_y=0.2369 right_z=0.1842 right_yaw=0.0897 right_pitch=-0.331 right_roll=-0.0613 right_gripper=0.0446 state[joint_eff]: [-0.2256, -2.7282, 6.6803, 1.4139, -0.0659, -0.0464, -0.0122, 0.1436, -9.6205, 9.388, 1.243, 0.4274, 0.1929, 0.6862] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The pink bowl is centred above the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening."})
tool
executing move_to over 5 steps (0.5s)
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 upper bowl of the stack is slightly ahead of the pink bowl in the wrist view. I’ll nudge forward two centimetres and lower until the bowls seat together.
move_to
right_x0.4350right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0405, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.6563, 1.8496, 1.3914, -0.6125, 0.3584, 0.3923, 0.0457] state[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1841 left_yaw=0.0352 left_pitch=-0.2898 left_roll=0.0736 left_gripper=0.9944 right_x=0.3936 right_y=0.2295 right_z=0.1047 right_yaw=0.0825 right_pitch=-0.3972 right_roll=-0.0965 right_gripper=0.0457 state[joint_eff]: [-0.0615, -2.6188, 6.7077, 1.4335, -0.0757, -0.0757, -0.0122, -0.4034, -8.9231, 6.9538, 1.3944, 0.1832, -0.0269, 0.5983] 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":0.435,"right_z":0.075},"note":"The upper bowl of the stack is slightly ahead of the pink bowl in the wrist view. I’ll nudge forward two centimetres and lower until the bowls seat together."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe pink bowl now overlaps the stack closely and is down at seating height. I’ll open the gripper to let it settle naturally into the other bowls.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0409, 0.9234, -0.7494, -0.1307, -0.0525, 0.9944, 0.6041, 1.9812, 1.4315, -0.5476, 0.3279, 0.342, 0.0487] state[eef_state]: left_x=0.2968 left_y=-0.0017 left_z=0.1839 left_yaw=0.0352 left_pitch=-0.2909 left_roll=0.0738 left_gripper=0.9944 right_x=0.4202 right_y=0.2252 right_z=0.0662 right_yaw=0.0781 right_pitch=-0.4369 right_roll=-0.117 right_gripper=0.0487 state[joint_eff]: [-0.0752, -2.7556, 6.694, 1.4042, -0.0659, -0.0464, -0.0122, -0.5538, -9.7162, 8.8957, 1.16, 0.1734, 0.0073, 0.6032] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl now overlaps the stack closely and is down at seating height. I’ll open the gripper to let it settle naturally into the other bowls."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe pink bowl remains on the stack after release. I’ll lift the empty jaws straight up so they clear the rims without disturbing them.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0409, 0.9234, -0.7555, -0.1307, -0.0521, 0.9944, 0.5972, 1.99, 1.4452, -0.5415, 0.321, 0.3214, 0.9958] state[eef_state]: left_x=0.2957 left_y=-0.0016 left_z=0.1829 left_yaw=0.0352 left_pitch=-0.297 left_roll=0.0748 left_gripper=0.9944 right_x=0.4252 right_y=0.2261 right_z=0.0673 right_yaw=0.0916 right_pitch=-0.4315 right_roll=-0.1174 right_gripper=0.9958 state[joint_eff]: [-0.0342, -2.7145, 6.6803, 1.4725, -0.0904, -0.0269, -0.0122, -0.5949, -10.1949, 8.2667, 1.2967, 0.2173, 0.0904, -0.1148] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The pink bowl remains on the stack after release. I’ll lift the empty jaws straight up so they clear the rims without disturbing them."})
tool
executing move_to over 9 steps (0.9s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe released pink bowl is stationary on top of the others. I’ll park the right arm to expose the completed stack for a final check.
move_to
right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0416, 0.9234, -0.7563, -0.1307, -0.0521, 0.9944, 0.5999, 1.9789, 1.8877, -1.0161, 0.3061, 0.3103, 0.9962] state[eef_state]: left_x=0.2956 left_y=-0.0016 left_z=0.1826 left_yaw=0.0353 left_pitch=-0.2985 left_roll=0.0751 left_gripper=0.9944 right_x=0.4249 right_y=0.2305 right_z=0.1786 right_yaw=0.1084 right_pitch=-0.457 right_roll=-0.1221 right_gripper=0.9962 state[joint_eff]: [-0.0068, -2.5641, 6.8718, 1.3846, -0.1001, -0.0171, -0.0122, -0.5402, -11.6718, 8.3077, 1.243, 0.2759, 0.0708, 0.0317] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The released pink bowl is stationary on top of the others. I’ll park the right arm to expose the completed stack for a final check."})
tool
executing move_to over 20 steps (2.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteStacked all three bowls together at the centre of the table and parked both arms clear.
done
hindsightThese bowls can be lifted by pinching a side rim; successful rim grasps read only about 0.04–0.05, so verify with a short lift rather than rejecting the small gap. Rim-held bowls remain visible in the wrist camera. At long inward reaches the actual tool pitch drifted substantially negative, and placement required small forward adjustments guided by the visible lower rim.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0435, 0.9234, -0.7563, -0.1307, -0.0525, 0.9944, 0.0101, 1.1961, 1.1168, -0.9539, 0.0406, -0.178, 0.9963] state[eef_state]: left_x=0.2957 left_y=-0.0016 left_z=0.182 left_yaw=0.0356 left_pitch=-0.3004 left_roll=0.0751 left_gripper=0.9944 right_x=0.2986 right_y=-0.0006 right_z=0.1864 right_yaw=0.0637 right_pitch=-0.4682 right_roll=-0.1285 right_gripper=0.9963 state[joint_eff]: [-0.0615, -2.7145, 6.694, 1.3944, -0.1001, -0.0464, -0.0122, -0.212, -4.5607, 6.3385, 1.3748, -0.2027, 0.0171, -0.0073] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the centre of the table and parked both arms clear.","hindsight":"These bowls can be lifted by pinching a side rim; successful rim grasps read only about 0.04–0.05, so verify with a short lift rather than rejecting the small gap. Rim-held bowls remain visible in the wrist camera. At long inward reaches the actual tool pitch drifted substantially negative, and placement required small forward adjustments guided by the visible lower rim."})
tool
done: Stacked all three bowls together at the centre of the table and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.41 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]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0257, 0.995, -0.0181, 0.7925, 0.6018, -0.3805, -0.0166, -0.0334, 0.9977]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2943 right_y=0.0012 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6906, -1.5111, 10.1402, 1.7558, -0.0415, 0.105, -0.525, -0.6769, -1.3333, 10.3316, 1.8926, -0.0952, 0.1587, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8eea1f57390c66cf19e557092be36f0d3d628e2a1504303dee830698c5f6808f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3ef596a5ccabf7424b678032f4fc7cdcd55fcf93d6169d608c1abf4dd251f2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a08b2e362074eade299cbf05d4104a296382993a36900782e8b2c35ff4c6756",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 8eea1f57390c
wire blob b3ef596a5cca
wire blob 0a08b2e36207
call 1 attempt 0 · /responses · status 200 · 11.19 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssKlXq_SU2n33cnSVj6gP3_6uabVzpjSeC85gwHgDsvM3N9WwBaJJWsKPf00yUDdJCmFQ173aPoQ6-Ih6h12HND7nfnxj9fybCrR0s8sKzZb7MRbVa9bHeTLlNq_BjNZZi3bxEG6Ec8bjueCtUBxOfrbP5pvqWY4mVLbbB9uTAvstu0frGW7mdwr4pRarW13ztU2H5RZ7PBzwhVxwd0rieNZ8rRcfUU5_FwIOhY20LnV5M4tXMTYoRTBlDViGetAFPZOpLVGHFp7SutpHvg-VmdY4o57zRzVhX8RIsBd2XWi8wPJ0D_Qspp2pYjRIRcIGESvxGJhqTS67eAtMAG9RlcHg0IYUBC9T9MyHfP6c_d0Z7nSTBc9E5loh5fzogwx0p2iHqDfqovaoOsaULOQCbnKw5LM2xWiDT1rDI6lGOKbDqTzF9fjPQkzeHUFkVraJPrqepjoQUGA4cHTUuZPKhCqitJLU0MtFmbqapkHCU9cDFXobYf0i1xVi-AwurUdesmXcI001fhMBWTKIQwdlDKN8jEZKcsWj_MHlBaBME17IBhDWFCRSH9Si-TXhGrVyKJQS7BVWfWNStwpezeBXuAIPBWyIrZ0b1LyZAswO_wTLluw1o08e-f3SzWA2iQHMIRupSZ3mmET7UG1MxIUluFB7SRNSEJ6BeH-EhVq_qIdC8K9BRyNs7ei5w55AEDuS96c0E2eAKRlwMtMhvo_n8pMjGcaVYnsEyIeJa9GV0KR125s5znHGcDXNOB5nIEtXxRQZzEjS4da_92SREtEIcCYWiAQEUiKOqYQdzuDrZjHLwyrjkiV8jpJlcvnubsCNLPjunmti8lWJBva2EO2NU2lNonUr6da_YsZN68zOUnAwpfhCATYpP2HT3asKJaaIGHYA1bv40o95xRvAT7nbvMoTBaem7CV4gaHCfcKPvnwz0Xw9zN-svdy-e8WJEJh3uxsFu1-h9jz2AyTr23nYGzjrz9RQ73AuK6RqPfL-GDAbOve9LDdzKnIWAZ5eA2aTeMg9bGQ89N9ZesIV-_M1-2jE7Eur2uMs6vAujkH3X-FeVtUYtOTHkc7QbUzCfNFQoFbR9iY9CD5FSvbo_Yu2JE-bKbMITZX_pIdTGHCOvELh0172aYgiI5S2ihwBTiwl3jYK-t_4Q36xNXQElMDGQ6c-xW4E8H3oHTZQ5XL3yHnos4LEzvQQu3cIrUICm4YF06EQy-s9K4W0ybXZsB52cdt2VIOU3rsdNBg3xemzCegSA3IMaZpM6hjyWsytX0L9UaIj22d-ihnFaho532mDHQbjXqroe0h4Rq4P_JWpJCotr1GckjdtzwA--fcaTycJbmiEn08bvkdkRYmDh7nNG0Il1I-P4Zr3Ihe7GumRGmAMJQLkW7dLFQB7TX-JTjxXYjs6wUSePlfkrllaPhjADIGvMKn_nFULbYgZGJ2TgVX71at90BP2V8toXJl_FsKIBjrNvDkNWncM-MbMNIx6T13yfUd3s35ABP8Mwx6-Q5LvomNA6wWx_bSDoLR3XcKx6TOxyphdBeXB-l2xi3q3SB7_8Pume2tjv09SytwUYWBXb5JDbj230qYf3Z99WuI5Z1wy6jdqcFIQOuw91j8oNyRaQMKNqObEyhsn3c4aVVsbWMb9piOJS2RCDubn0WKTNTmQNZSg5q-JqiSsXDWFyFpnIbC6OffChnxCRDtoj_kAlVq-HNo9R6ZqQzDs_34StFsG0CmE4cHQBQsnTDrfNG7uQ==",
  "id": "rs_0b68478803193a59016ab2c29e4c6887d0bb37ca60770190ad",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.14,\"left_z\":0.17,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0.001,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper, aiming to pinch its rim rather than span its full width.\"}",
  "call_id": "call_JJyb3RMD6EoBhpPn48dKekSN",
  "id": "fc_0b68478803193a59016ab2c2a30f3887d08dcc2571b5980875",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JJyb3RMD6EoBhpPn48dKekSN",
  "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]: [-0.5163, 1.4376, 0.8989, -0.1585, -0.416, -0.3058, 0.995, -0.02, 0.7967, 0.6018, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3881 left_y=-0.1341 left_z=0.1509 left_yaw=-0.0176 left_pitch=-0.0593 left_roll=0.0254 left_gripper=0.995 right_x=0.2929 right_y=0.0007 right_z=0.1755 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.2803, -6.5846, 9.0462, 1.7753, -0.1734, -0.1197, -0.5201, -0.1162, -1.6479, 7.2274, 1.7802, -0.0562, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37058999be11f97afa010963bbef05273dda8ddc0ee9c621af2fd00820ecebfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe00d678e5dbd6d67024fdbb917e76a9f1b9067881541d7b5f660be407c06714",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0fb7770dae30539e4e467fc9b2dbc59491fdeaf0a3b1d2fefa1ed812fcd2b8f6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 37058999be11
wire blob fe00d678e5db
wire blob 0fb7770dae30
call 2 attempt 0 · /responses · status 200 · 14.59 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]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0257, 0.995, -0.0181, 0.7925, 0.6018, -0.3805, -0.0166, -0.0334, 0.9977]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.995 right_x=0.2943 right_y=0.0012 right_z=0.1792 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6906, -1.5111, 10.1402, 1.7558, -0.0415, 0.105, -0.525, -0.6769, -1.3333, 10.3316, 1.8926, -0.0952, 0.1587, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssKxDalbUdUtTYtL5yv0jgPOeMGYRq7Fvxxb4HF78CNhczSpaJuY_PYWwrmqV58flFjIQL1pdHOBZ1DQdjMsWT3EhB1O9wCPS3J6FgaiucbBm-UoZPxSzf7PqFYZn-UHMxXmDjof9-Ymu1BF32meuhHXV8E3DMXhF0uA5pXVkw-IWACocLfhpLhsCcqqKvC7qLQAPTkdSFdi-2gNYpSWcr-meDarlU0ODu_m-IrbFHR8j_d49B6hDpgbM_6cGAqtwc4n1K5PqEr5beFm3VR6kaxk22ghJdnrco_Wm33sEd24u0tj5kbyO8XQKhUicd7kowq5gzKCzNG_RLLewEttZhfv5xzXCYZ75qJYHcLWMlHLlsNGOcKUMIFJCtNypa4-K4T3Qk53D974lVSrt2ysQYMAGmxhKuKOyWgQ9ngeE_hp9WXnUm1J4e_P9xxmRZR4h7bVY_EApLJdkKb1ccyJm2pzuwduzr_muFhTnG8fFJBaEJ4y4H6JkZVMarC3rLJRDlj5Dhe880WdIJydIDHq3XX8oGS-wkZIe4TEA1agWAuZM4H1FCHfiNUCrW5-5W3dDqTakpokL7WLaUqV6dJu8LWcqHtjFhfCCPCle3Z8YzZ0DHux238piXXPiTSEapjO69YyT4lMMJ-C7f17ED8HKIiybXHGyiJtBMXVpn_g-Prxj5BlisSW05Ayyoc56t6ftUHwKx7Ex_ajeF9EpUlMoWpKdwzGYjeB7WoLVbCak3hBjLJ78Gy7Kloes_iRoNehlt6sVwTjN3bv3ahvgYUmWwCC4qiFa8f8KLWunDMIZ04C_wn2utxyZZ8Twa7IYZLJvWiF3WAAVnvob23jPrYlhQMiExQGoce9TkHD5oKXwx54bKnOb6jo8JHHW_FRphV-hFEtKXto_KWsXEjSQM6eqUHMaq75ZFGl-znh9NWVXVJ-DrUknDKQ1TsvAPi09lIg44Vg0d4qo7jgk0HuwTtlzrP4m_8YVOozxCkslgbhL0NIlJBvmzobDCkuOxe_aqw4FVIOo19BzQ22uYzRjYJZZS1zG3-GenUSQI_RpL06c1gXL-E87OGde4RyeSKNlDGptsKt5QvZdCsBHIq9U6-IkeqEbxC6TKTMxETVT57eW2q0aLGjG0dwbRrEN0skfKlqLBr2c3WB8C8WCOomDhsjT8srhVABo6AXZIglnhOI71QDl26pSGtnweyxHiSakPIDvi02M_NPJoX2uKbewuaJ0AkIvqYDFT874-PhcEAXlQRFwlstkUcEwOZw69_mlYyN8mrcosuAecyWuudN_ckfcbhWmizoNzFzoG57e_FgskXrfFxMtgLrpB27jkLuPWazGHQC0_riV7b_P5BqbSRkhreeSx2MpSl__E11L7Ed4j6I33f7Da-00ZzUXetubpJKChiBKYMsi12OsOi6svJ0bED_8xdafCkZuTfsgGbHtCKVWWNuLWOOJJy5sH3Ge24_4ucO7izCHj1oy5al6xLC_jqdbkn2Nw9vzgO-vYbdgnsdQswq5OpAkTFhgUH5qUvTX3iXOqnHQzTprJD8KqfxMnDWevWNz7ctC4H4FNXwV3m-L-nuq7Z4oPaq8x7EgT8UFBebdPmtOm_0KwZZ6z6kZYtqOHkxT5q6tBjs0tJ3g48Q_Nrzo7bAMW0YOChilw2csPPtPjdi6a00wrLVqL39G_S5vHRQsj0XhFfRBxX2jv2QZOHHYI-w1MM_e6_Pu19mNTvOVCeCtiKzzdO7K-cMM9aRKz-3fFJRP9GRqBOtsqkdeadWEVaHupUfjPsskh5rQSANKoVZuJ7GOkxfiemjnP9JxJKUS5rlkuvy8X98uqZmqZpyL2A79SeQkoq9QAfGQwVPUaJ8piq0NbpzalGMZDeAkPbGKPWSk99qI0OQQ5REsq66x4-7MyjVDucBinJWV968U-_sBAogoHqogZ87Q4v9U97g-zH2rD9u9oGGE-OqLUor_6w8JT4C9Dyhqe-XlSRU7_RdTeftltJKEgZujTPTzKqLUOa3NIgsS4CD_YZHS9w5tt05f73UjUwx8g6Ij5Fu",
  "id": "rs_0b68478803193a59016ab2c2a9922487d09d91cfb3213151d1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.388,\"left_y\":-0.105,\"left_z\":0.065},\"note\":\"The left bowl is visible beneath the wrist, with its rim close to the fingertips. I’ll lower toward the bowl’s left rim and offset slightly so one jaw can enter the bowl.\"}",
  "call_id": "call_gumm5otFjOBivzwZD1vXXivd",
  "id": "fc_0b68478803193a59016ab2c2af837487d085d993164f90fd6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gumm5otFjOBivzwZD1vXXivd",
  "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]: [-0.4297, 1.5585, 0.6388, 0.168, -0.3588, -0.2619, 0.9947, -0.02, 0.7979, 0.6003, -0.3923, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3774 left_y=-0.1008 left_z=0.0568 left_yaw=0.0015 left_pitch=-0.1262 left_roll=0.0507 left_gripper=0.9947 right_x=0.2929 right_y=0.0007 right_z=0.1746 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [0.3487, -6.2017, 6.106, 1.8437, -0.1148, 0.0708, -0.0415, -0.0479, -1.347, 7.159, 1.7314, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:999f028f68c07a389328bc1272004234a08634ba88cfd9fb2cc98864a029b731",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a136dbb8f1dcd332af7f4ac7b4643137f8278dbff07e64776fa78ed43c1b57b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:385a72366db00adf7e49c65fe13534135eba152b5c37bc7df15c42671f26ca35",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.39 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.4376, 0.8989, -0.1585, -0.416, -0.3058, 0.995, -0.02, 0.7967, 0.6018, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3881 left_y=-0.1341 left_z=0.1509 left_yaw=-0.0176 left_pitch=-0.0593 left_roll=0.0254 left_gripper=0.995 right_x=0.2929 right_y=0.0007 right_z=0.1755 right_yaw=-0.0015 right_pitch=-0.0168 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.2803, -6.5846, 9.0462, 1.7753, -0.1734, -0.1197, -0.5201, -0.1162, -1.6479, 7.2274, 1.7802, -0.0562, -0.0513, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLAzgHyKqlSfH4TEdR0awAWA1uMbLjDhLsYVrtuYuaWBd4Upv7oeZRrnm067_OkhXNTG2SrUA5SeDQHv8wzmVBmpd2zPPipz1cbRE0ut76pvj28UDi6bO1lADReQ9277tNnw7V0U6ifiG_fzqTBjy4iKwZSH1_Xvt6CtVDXAyPkR7ZXg946sS1JBta_i6a-K4f_QMQnhU04r62c33JR_AmU-8YXOQkASzkh-mWcDmkhVd_pU5xzVuItLYIPPRWOl15wtW-QgflWgpju3nU5RmCN4-YHd4W6ksdaiptfiLBP-vCTNNIwFdwerQSEeZ4daZhJTI8lL97c2JMzF-dCRd2aCnMGkFW0n_uabpiMz9WxSjTL1uwBus0zHSG0R3VNml4vu_UIlTrqozsCMT3w8E5DsnHat2EjtZMFRzz9hDjTe_FwyXu7LN8z0rTKglv_KigcOKl1W5VsXHg6gENPI5jzgqGR3CrwjmlT5cdC2Kk9t-kC4y-8ZAFlAK_4naj3V6P6HBLDgxV8Ne-Hz9rCm7GZYkgmTnU6gfAxZ_H_TzkdeS9LjH6Sl-Ocuqr-Pn9Onv5gWMklzzSBGYWQb2Mz2AoNTSsFS9L_qiMBa4ul_5lrBM_P_DnTl3zdYc1VZYEwFJ31NWR1RW1bYZMDoHnKfwdxKiwAZdaqtO_3aD5ihiJ_0McipEfoEwTqJ3LMyXo6oGc_ySJMRIRMU_5j6v7xAYfr9NgyGc66AqhAay7Fv92FNMCw6cnoM81Y-vKKVCeXRECr6VJuQtQTcX-YVDq3a5lWJMQyB1tBdW6Co38_q50bEREdCDjkk93mA5DX8_RfLsxhShYkwH-5A_Hp2scjx9mcfl5diwsLnPk-CTXsPKX-zy-YT8w1_qPQ1CunNElFaxuSBqlLQj4zwoWOnmnwB3XCH7m40YqGkyn7-phzwlLE6TMPbBft3YEpVZKOONMdQXHoiYnI1bASv21rwMKrcBc_rhCzdcAG5yHUfX4jj14lxWxUCyzS-MdWFg1EUHSSloqWaZhBQqmSEl1O_3YdtWQVibNmb3KKEA9Z3jyu-KT-nYrJ1tQTgHKV54IPNMBRhMahrckAvMmqSJpkPrH_mg8E9EKoMJ_69U2Qd0qCNKGQ6KXaZE_NkyJbvxWdGGR2xZP1YhCSaIvtsCx_mKmvOTyGmeWxTFrcoXQ33MxEEEVnPn6j2X7Tafbh9QDo1GcCrVhqKH79uxH-lKvEquzG_-u0EXBEEUoagmFF7Our8Lfjha6VwhArZf71Du8uyp_gMfHEw30Q_dPc7i6rEuzQAlbFQMFaOFkziI2hpgDt4S_RItafY4BvMldaTjtMPT86UdCRZE1sG18IrdSZSfqSpOs3KF9lzvLeGfmQ5dBpwFCqz3HF6CDpozNiHAh17oc848hIzy9xhS7sZW-p-R5g-MJf0R6534vPwFuX-12lAz9HUgIEbNs4TC5VlZzQjQVBzpRzOTXv87REru2zKUPo4wUhARYYaoS6MUYijh9qQ1op88443fP3Bfevp4GU3w-Nc8Qp7i3bzy4H4HOGtab0d6hk--1wetPxS138r_WZCgI4CgY1mbpIx9L1h8toWzfJmgUsxQihlUNaxsp6Dnu2SZBEfCy8DoMxd8U5IPYcc1seFyg4f2-5CEc4z0aAUkT1jb7K0TUIXZ3eceUJHiSuQcU4FPz1fLlWnR-gKMOfRL0G-ODupHorKpFdsYpOJp-krq-5a301Gk00QprFooGn3pe0nYF_wd7QXaC2KubjnS-14DsKUqgbD7KnlS7ftEQrfdqlmNPCRud-sOwMztvKfk32GEYmR8TrMeIDIdMQ3Armr_38xuOELQjGUfYtRKArfjyR2AhT82srJyofWLjl-3_3x5Gu1BsGwHsixeIbYYkhiV136Xv6KksSSzcV4lc9giXP9BtrUXsbBkns1FTEebF0InMssI3LouFvGYsye7cpflHfhcbWy9UwZNk6wZTlWsdkjJlRz7tUo4KgDxKacnr6IvkogHflMcVnoBDKD4DNg_NyannnTVXHv1ONLnc7Qd9gK_-QD0GQeJ2FOqH5Rg1XxmrjuIZAzjZIoulmm9-w6ecwI6q6i3iheZ_o1_DBUyfR6S6PpcfXVLAU1VWRR7K9dV5jMovjftB0BKAxf5LLW80X8ebq6WTJoV0ioY_p0CWNdiheMN1oqUAPG-k7Yt98wOe3cryovqoyIEzRJbTOV2y4tl4tXFSsK5UdLxP66qWkmCAj7KXGzqHceH_FaB_KVlp_yP05k8ZkR-bFeuAZDX90M7uAR2pbdUv3hrlQ0hYmcv9Tq_MJyZBhYmCh8U2zl6cmb07BHINowI42kGMLKP_B9Qg4TDGvUrWnTJtZN6rVlSrewShFd82sR0bnxJU1d7psQzRBr__lB7QeHHuv2xIKeFVm-BQsS2WA8qRc56k9DN02OmI5oa2jAYd5XnRVcjm0zfC1c8yOrO2i7GdCT-uL2J0uf7NoEHx-vf9dpnLld8TOsFyezoE39JI0wt7Qdd2pawc69I16F0BfE5Y_9GFFW968GZbiumkLAIkVRc8s",
  "id": "rs_0b68478803193a59016ab2c2b48a5c87d0b251883292572eab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.408,\"left_y\":-0.075,\"left_z\":0.042},\"note\":\"The bowl is still ahead of the fingertips in the wrist view. I’ll advance a little and move farther toward the side rim before closing.\"}",
  "call_id": "call_9okfxcSyf3JqszpoFxB0fe45",
  "id": "fc_0b68478803193a59016ab2c2bf410087d0b149b049c7a9db84",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9okfxcSyf3JqszpoFxB0fe45",
  "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]: [-0.3168, 1.6585, 0.6559, 0.2584, -0.3019, -0.2108, 0.9946, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3988 left_y=-0.0717 left_z=0.0392 left_yaw=0.0399 left_pitch=-0.1357 left_roll=0.0511 left_gripper=0.9946 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.8274, -6.8718, 7.3778, 1.7167, 0.1978, 0.0904, -0.0269, -0.0889, -1.3197, 7.0632, 1.7216, -0.0415, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3a5635fa253c0c8900f3d1852dcb47503d68f917ce6a4ad9f961e4a405c8e7b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f523081c56abce05e1655287aef8adcadd23b39c040345cb84954ac48498666c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e9f19606c9c592c02d2f409e5a355fa02fd783487c315d622bc5056f44bcce4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /responses · status 200 · 4.101 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]: [-0.4297, 1.5585, 0.6388, 0.168, -0.3588, -0.2619, 0.9947, -0.02, 0.7979, 0.6003, -0.3923, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3774 left_y=-0.1008 left_z=0.0568 left_yaw=0.0015 left_pitch=-0.1262 left_roll=0.0507 left_gripper=0.9947 right_x=0.2929 right_y=0.0007 right_z=0.1746 right_yaw=-0.0015 right_pitch=-0.0187 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [0.3487, -6.2017, 6.106, 1.8437, -0.1148, 0.0708, -0.0415, -0.0479, -1.347, 7.159, 1.7314, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now straddle the bowl’s side wall. I’ll close to pinch the rim, then check the opening and test the hold with a short lift.\"}",
  "call_id": "call_7MeSMzoCDF82bda5URuc6ZBv",
  "id": "fc_0b68478803193a59016ab2c2c3074887d0828807e4ec7590f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7MeSMzoCDF82bda5URuc6ZBv",
  "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]: [-0.3008, 1.6737, 0.6674, 0.2829, -0.2642, -0.1909, 0.0415, -0.02, 0.7986, 0.5999, -0.3931, -0.0162, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4057 left_y=-0.0738 left_z=0.0406 left_yaw=0.0131 left_pitch=-0.1251 left_roll=0.0355 left_gripper=0.0415 right_x=0.2928 right_y=0.0006 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -6.3658, 6.2701, 1.1697, -0.232, 0.2173, 1.3553, -0.0889, -1.2786, 7.0085, 1.7509, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:092654b549c53ef1a106e65c8ea944a639fbb6de92272481d30bbd256dce99b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21162020bccff425924fc2d30e341bdecefc10f1391661e204ee49f3136c0650",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58f1ec8d9fcecef28084117f3f0728cdd40278d3ca12e2b15d7fc9b95ebe9fab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 8.004 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]: [-0.3168, 1.6585, 0.6559, 0.2584, -0.3019, -0.2108, 0.9946, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3988 left_y=-0.0717 left_z=0.0392 left_yaw=0.0399 left_pitch=-0.1357 left_roll=0.0511 left_gripper=0.9946 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.8274, -6.8718, 7.3778, 1.7167, 0.1978, 0.0904, -0.0269, -0.0889, -1.3197, 7.0632, 1.7216, -0.0415, -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"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper has closed to a thin rim-sized gap, but that alone does not confirm a hold. I’ll lift about five centimetres and check whether the bowl follows.\"}",
  "call_id": "call_HKelFMeaRQU0DgCGi89iBfs0",
  "id": "fc_0b68478803193a59016ab2c2c8382487d091125463d44f3366",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HKelFMeaRQU0DgCGi89iBfs0",
  "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]: [-0.3012, 1.5402, 0.765, 0.0311, -0.2619, -0.1989, 0.0451, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0345, 0.9975]\nstate[eef_state]: left_x=0.4025 left_y=-0.0734 left_z=0.0844 left_yaw=0.016 left_pitch=-0.145 left_roll=0.0344 left_gripper=0.0451 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.0013 right_pitch=-0.0206 right_roll=-0.0006 right_gripper=0.9975\nstate[joint_eff]: [-0.294, -8.3487, 8.9094, 1.6386, -0.1685, 0.0122, 0.6667, -0.212, -0.759, 7.0632, 1.7167, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c3324c41d6a4656f196a991b28a0e8b631556e050e9f8379bd872e7edf6ced",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3b044e732c799f4ac02b3b41682fd8b1a347b57b2974fd2b44d8f5a05dcfd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8b10a707b8fc8ff5781b388636adb782d2c53b7906aa626f5efd5fe66209fac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.531 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]: [-0.3008, 1.6737, 0.6674, 0.2829, -0.2642, -0.1909, 0.0415, -0.02, 0.7986, 0.5999, -0.3931, -0.0162, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4057 left_y=-0.0738 left_z=0.0406 left_yaw=0.0131 left_pitch=-0.1251 left_roll=0.0355 left_gripper=0.0415 right_x=0.2928 right_y=0.0006 right_z=0.1741 right_yaw=-0.0018 right_pitch=-0.0206 right_roll=-0.0005 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -6.3658, 6.2701, 1.1697, -0.232, 0.2173, 1.3553, -0.0889, -1.2786, 7.0085, 1.7509, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLSFPdS5-0pruOOwnyKzWDIH8iGXw52OtNEj2FlDUCVTiB7HHpyde1CKjx5ED-qU7XIiuvfLX1Kx6aq7JPoVaIQSsr1gnxCVXiS8mlFSFqGcUh04z7ljH1-g_VEuMwqpt338p_D8eI5T2KN2Kgu5Yy3952a67K0tr81coaDsLj2J9nQZDQWaoq5Hbgm17gyI_KC1RNbCfqnXzaXlpEtHHb6TXpCcUypn4urmjQkAJl80vOYVLHqRnkajDjxF3KLVK-tVnCvFf0ZLZeezAyJ37PK_6PBvecmj27vV9Lkc_PN6IqElFKFH5SOpF1mOYQ1UOZLHOsosKW_z7hjKksUG_6PzgwCKzQlkPnNCf9yMTYM1VPU_U3taaje396UsTVsWahoaGyqb6U8IBZ9SJSOWCLSjIkxBSqw3jeUJNnuD8xGKXVNa2RtAcYByYCEL5Ap3KAS-T9iNQ1sFyXm7XwjeLmTk9lMFmcvkQMUHPUGhTvpPVqwEXEn0cf3_eKbMBOKnIccB3pUmQB8b-3z6yOeUqrMydvboprFl3YLYFIfgwdokAbjKg4W_luYSTKjdJOOc3y20gX8Uvv4OLJt2lmEe5jv4NLb2j0VXTz8qDF-1_bQocWs5oHfIRn32dwmwOtxY26eBRgkhTIBk0yHUJOpvu6wYBAdPU9ropviDOQwnJH3MPUKp6P8Y50pQZrkFbm_oelfCSTQpCF5OA1KHa3DOOJ_qDwCk2BN3m3_BZT3pGSS3TnZ007j8OuZcM8d1KsftIZZBJdwgXUGeWNCdGAVJbi80HJxoebWwGtKs72pJAfwARtE4UVWUCTrxYnOSOSnQBQK0RxXEAOGeRXmMHQcOZHnN29JufPAiF5Uwg5Dwh_a7aj-ZB9hwjMnomqvtyXdTmS44MiF4S6B8XjZHSd3NR6nph7J990bkUtI62x8vzkD8DOLSff9KsmkdL8u6MEYPdjv4fAP6yxAF7z622aJic27TfDLb9Y9dkQupco1kJlDQf5Z63EvmnVv86HvGIDglaxByDB7lDF9ttO_9d7LJCPWeZmvGG9Ux_swLeyKwaQmdR9OFw8L-Vm4KBA8gvINnWnTh38aOFYrR6bTYOCJTV0cbSEAr7J3t1JT5ZR4ZJKOoaBABH5hLxzcgmMcVXN5WNBVcbpLdXfZQ-oghVJdsWV8iS9nNjlGFZ5XSn8uVC0l92DIWt_SIX-L8n4WyWgTdLH93PR5-BpJLVlLZXzzhzIfNJFB4NDjDk4PtAv_CyXhaCs1MVSZC1ca8_L7xq1jtG7bZhcg6d1uZpUJfR-ucoWlO3wQySERMM-PD37sZa6Waw13EiTVq47BsiBOTc1_rkehX5MH3Hpl5LOCDtxNS3Nw-_H4iJmIJPoJ7IH4CMfy9sUKXYf3HZ5u-vZXaafwa6chKfv5XFKtgB9G3BJvlMkiKUyDe9RrnhhqUYAC458rjp1OTuFuHMch8QOUwzRM3oVqCZCT-jL3qPpMMhvgIqjd9pHOD_rdZB6t8CungjHA1WV1pc1kjznokQbN0t8036z6bfJwDza4wuK4rDIspfVykNVb3vklL8vaaUjOmd9KPTRHeokWQHAR2cQ-nXJu2ZUpiOVul3-h0oah2g_kD-Jxqg==",
  "id": "rs_0b68478803193a59016ab2c2ccf59087d09244298a51868984",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The left bowl rose with the gripper, confirming a rim grasp. I’ll raise it to a safe carrying height before moving it over the middle bowl.\"}",
  "call_id": "call_UomI8EUPiLSEAUYK7KpnZRm0",
  "id": "fc_0b68478803193a59016ab2c2d1443c87d0b1b386e1370ed551",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UomI8EUPiLSEAUYK7KpnZRm0",
  "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]: [-0.3008, 1.4342, 1.0412, -0.3702, -0.2615, -0.2062, 0.0459, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4037 left_y=-0.0737 left_z=0.1689 left_yaw=0.021 left_pitch=-0.163 left_roll=0.0347 left_gripper=0.0459 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -8.1846, 9.265, 1.6337, -0.1197, 0.0024, 0.7448, -0.1846, -1.0598, 7.0222, 1.7118, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b7d0a34c20f975016913007b616760a12a6db08e09fadae83000df409bb531",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16aedc87f601fe3c5b9d8fc08172630bd709aa4b9363440e22a797a57722325",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47459816a32f06d5954ee65bf90077163c8ddbedf3faf8b72361a1800539a093",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 9.227 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]: [-0.3012, 1.5402, 0.765, 0.0311, -0.2619, -0.1989, 0.0451, -0.02, 0.7986, 0.5999, -0.3931, -0.0166, -0.0345, 0.9975]\nstate[eef_state]: left_x=0.4025 left_y=-0.0734 left_z=0.0844 left_yaw=0.016 left_pitch=-0.145 left_roll=0.0344 left_gripper=0.0451 right_x=0.2928 right_y=0.0007 right_z=0.1741 right_yaw=-0.0013 right_pitch=-0.0206 right_roll=-0.0006 right_gripper=0.9975\nstate[joint_eff]: [-0.294, -8.3487, 8.9094, 1.6386, -0.1685, 0.0122, 0.6667, -0.212, -0.759, 7.0632, 1.7167, -0.0317, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.22,\"left_z\":0.19},\"note\":\"The bowl is securely suspended by its rim. I’ll carry it sideways toward the middle bowl while keeping it above the other rims.\"}",
  "call_id": "call_lqiODKhfESY70zmESwSjECuO",
  "id": "fc_0b68478803193a59016ab2c2d6141487d0945e427f34b93cbf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lqiODKhfESY70zmESwSjECuO",
  "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]: [-0.7021, 1.6978, 1.3781, -0.6033, -0.5091, -0.5152, 0.0463, -0.02, 0.8024, 0.5999, -0.3939, -0.0162, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3941 left_y=-0.2159 left_z=0.1751 left_yaw=-0.0002 left_pitch=-0.2027 left_roll=0.0485 left_gripper=0.0463 right_x=0.2929 right_y=0.0006 right_z=0.1729 right_yaw=-0.0018 right_pitch=-0.0252 right_roll=-0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1436, 9.5111, 1.2821, -0.4664, -0.0757, 0.7302, -0.1162, -1.5795, 7.1316, 1.7118, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3ec550105071c369b730639676c90d73d1f092fabea94a67fed9c4c5df2821a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ba079c56c26f702219006143af1bb3f27c5832236fd6dd8764f06cb12667fc2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2be61f9900f5b1be8ba653a7ba8ede9f7952c672cfda681a692f07a150279f1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.253 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]: [-0.3008, 1.4342, 1.0412, -0.3702, -0.2615, -0.2062, 0.0459, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4037 left_y=-0.0737 left_z=0.1689 left_yaw=0.021 left_pitch=-0.163 left_roll=0.0347 left_gripper=0.0459 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0015 right_pitch=-0.021 right_roll=-0.0003 right_gripper=0.9975\nstate[joint_eff]: [-0.0889, -8.1846, 9.265, 1.6337, -0.1197, 0.0024, 0.7448, -0.1846, -1.0598, 7.0222, 1.7118, -0.0073, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLiJG6mCu8C3G4oc1NLFX6wkQtaaZ-bIrZxS7nq5hTvFHNeZeGhC-jcxVYDXl3FGy7QTGkrS36ZimbQVL91FUr9g4rNeX5QSnDMNfZfF-nZTiW-z0HutGBzR5cOjZBERfO5erq2LT_TZilMtHNHhdya71bvtkUo1hlQ7ocZgxKXsCj3Mvt66j3t5dLcaqzQXm9lScr-chcS-_iFuAhHSSyEiWN3Fp47uDBFNyoiUeruxvqieW5V043mAkD0pR8XW-A5S9sCg3HgJGSOlz3LQrTG4q-YUE9DFhgoC4pOq0M87Vy8LqUgC2W0fAlBAmmHmzmesay0p81_KBBi9B9RGX9TFDPipcauRRuHjwLmkQNhnH6LdpjEB7JHbK-jsr8X2XsSwZU7y7jhPgGFTHwUuXFos-eGG5WQUTzCkN_Su10pMLkXSatL87jkOC_3lUoCEogAOMF_CnvmOBlv5hSBTH4EWZnBgRXZCArTElWTyYAax8dCIp09FFmaUa1qK0JELqY1nzbPeG60ZD_UUlI53dBOxV8LLCwHR1B1xtRUs6NO4z60f4didIN84isafrOCQClOnXagdrCywFbhjCoVe_XYaXlWm14Va5DcTncjJVEI86rEwJxVeXGRzMUz5cAxypMJcRu6lopXqtNM48Pl7hqZWo2WCYVatSnX6wNvvLSaepns3Wp-kMNBYaz3MD77skneffMVpA_dftkgp6zPwd5FiUqIaCpUiLLc_v6id7oH0KiWR-zrVjJZUZw7aYIJi7fAU2CTszT1bU7YJpas9SxfTbXjEb6E-NXN4E0QA1GiOzvrtXHX6lH9FTIMbb9Je7H00Wkc4BsU14c8o-fXPgWzGlaiP1NspNPMH1U4wsrBTrM7T9ql24Ym7mGTzIVVtcB5A5Z060pjjcZQyzl0jiLbgV3Y1utOwPt7GA9nQUAxKF7zxAoF03jgSeNo5k9RhqtXso-SdjiEMiP9zyFKQhmqIKuNnJnK1NxuWc76KJuRTlRrlcbEcRCLISFNuCMXTacdWzr613zUSdc5Z2GfSRuVVPZTr8Gvlxmz3b29Jha7tg1zl0CPmyrDwbjlQIh9noalnGmBIcgjns0W-vxn7zfb_f4YEAMpzzkuodZf9BxnWvMP-VwfCBt7V2wF2ZGTkdUXhJvcTfUTzi5cEfFP2RswTPaM-t-WDx4m3CCxcjV6RcIz48-jymJgZh8U_wla3sNakOtoVFSgeKrco8ijLAJciAMIEew62QKzo0xBZm2r2I1USIGToONq8t2nZXidbFp3CKW_bffPbsDT4cw71a8Z283AWT5gAGcRR-dDfBguoHSLd024qFGXPn8Ka_6UlQj0geKkFe8_7k5PBkuRQqKCQuth9RNaJYdHuGekgj0ohOPLYEVOu4XIqekDWZAVo8UB8wJXviU1s9bDpnJ9OrK4lrvrld60iP1QCK75ScuzF_dm5P5hJsb89l6IvXEE4qznpFY_W4VhoYPTUb9e10mTDVPd_XwRNQ-kOAZdNkGU7dn16fNdFaJ8h1Vp_rLBX5gsaE4VscnX7v_2h7iVPgJHkAPex8ZkGJnG91RUDf9Lvu2R8thuBRxSdG7v3sp2cdecUmxdpJrGhe-8y45scwTCTbQ2yrLHCz5ES1tWs9LkJzE3skHpPzFxDEe_oQGxHPPrId6mxyfMIN9PTpcSqSaNv3w4wSpfoJadak7bTdhl6EXg41E5Lfzkg3I3d3HpiWzT9jSu4I-yNKgCBnSlsbaQb0OJGzPuwh634F4TafmCqiK6loZXsFyYA6bdaB3kc7SBt06Tv9DcCN0dU6AvaCYdGB6A3n-FAR_Ieb0uho2-_NxtAFt-NORHIggk31zl14bsub41dCJ_IOq6vpFLbDUtrA==",
  "id": "rs_0b68478803193a59016ab2c2db4ef087d09f91462fa440ea27",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.24,\"left_z\":0.095},\"note\":\"The carried bowl is almost over the middle bowl, slightly to its left. I’ll shift it a little right and lower it toward the opening.\"}",
  "call_id": "call_sNWlh1b4ckiPonbkFtsdKMcB",
  "id": "fc_0b68478803193a59016ab2c2e14aac87d09ef9b2eb8c7e01b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sNWlh1b4ckiPonbkFtsdKMcB",
  "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]: [-0.7475, 1.8153, 1.2243, -0.3996, -0.5259, -0.5495, 0.0462, -0.02, 0.8043, 0.5961, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3876 left_y=-0.2335 left_z=0.0952 left_yaw=-0.0046 left_pitch=-0.2429 left_roll=0.0801 left_gripper=0.0462 right_x=0.2926 right_y=0.0007 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.5265, -8.5538, 5.9966, 1.3309, -0.3834, -0.1294, 0.7546, -0.1026, -1.3607, 7.3504, 1.7411, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6361a72c47691b9db30f41e3c4625a554de92313f56bce3cababc03aa0a7152",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f8e41050cc6605f1e8f4d0a518ec79c3e6e3530ae8a6b44a207e98a7285fb78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9693b7e327bf1ce4c841eef38317cad42f3acb685b85aaa236a7079f9dc2d4de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.876 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]: [-0.7021, 1.6978, 1.3781, -0.6033, -0.5091, -0.5152, 0.0463, -0.02, 0.8024, 0.5999, -0.3939, -0.0162, -0.0341, 0.9974]\nstate[eef_state]: left_x=0.3941 left_y=-0.2159 left_z=0.1751 left_yaw=-0.0002 left_pitch=-0.2027 left_roll=0.0485 left_gripper=0.0463 right_x=0.2929 right_y=0.0006 right_z=0.1729 right_yaw=-0.0018 right_pitch=-0.0252 right_roll=-0.0004 right_gripper=0.9974\nstate[joint_eff]: [-0.3897, -8.1436, 9.5111, 1.2821, -0.4664, -0.0757, 0.7302, -0.1162, -1.5795, 7.1316, 1.7118, -0.0366, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssLpioZFFXC96sfO95AbH04mV6Gnp5_QYnsN6kU9_CaTJ5svDhJtM8VnRdUgrGyaKFUQItNtz7Bc1YS0XKEx4ZLesvv4gJjQ5p1iF0o0usH3EWq_8IwzDcv9KmSlHmLCj1yZhRFXpQILVwaxTd8Ns0XRSIeV7vOi2ubBV7m_EzGP2w472KLL8YYDOed62JjDH4fNvdm416L7jp6vgv4-bGN51xWf9kCxhigXwQDv8_YPcByUBXTAuNyiwLZJitUJm1CGohaWTkiSQ4y1Rjjx6wmICDjEaosOBtgPOYDhOGjUOu7COFN6u4ALyph5S9yeyp-zk9PBzoR83IlKl5wG0KrLD8Cgoiezu1VXIijiPbuaeQs8DZ7CM-pAY8JdG_Kga5az1lt5NWnqdD5j6aj5Eb5yFpC3msQ32FBD-LYWJ5iUF1HNJVlLto9nO2rnyWM5mn-xNsezDdnoAH-QNo40qS5HZnc1leO2PeB5T6gkNC-xpeA2IYUWpXWdQgI1yxeXjEDyUGWkSVGGec6IMOj_I-WRaZs8b0JyqbOs0BZpAXE30eBgFNQMr3900tubjYDiilVRp8NxXuciGHs4Tg2sa0s-qZF4e1nT7ZlqubkuP9JsTVyodB3HzXhydxhxd1SPH08WDIuciKqneBWwIF7RaQ459mQpJVIfcoiQiyxTrzgNApy0TaGMhnYxG6ictZe9NIoCcQEz5ateJR45XbU9bLv_Z-D1DRLOIHLUf1JBKdl7Jy_5SwCTEY5L7ubI2nSdveIc7wwBbakcZkdfViH8m1UjVqJ651ZfhpwpUXK_tnDTM4GK10y4WwRvas8s8hw4hRoN5kWF-CHhXEGZ3pp_LcYJEDcKSWDCZNi3f-HjG-rjZKxpF6c7ELUdyD1noWVefrVxoAu-wLsaOrjEqPL_sU41exrjEZNnlYztn2V6YmqN5ZfKqxVwOZVISwilPalqvnG8jZtcQS27DyfK2EZrk9wY4zmR7jYu6CqjQYNIiPOnN9iBorpmFNS021Q9xqLjPvx1Pvz7ZkD21al-O1PgJYQo4Fbus8Ca5Q2K6GciB24qETE4DEWayQr4XSztL8VwGJckZF9Ws6Dj3auEy_BGDuHKteO9l6SdUFud9jXNRfJlo2rNGPisvvaODNs4fl6UqzmD_qWVGHtpJuIijfUSGmzPvGVoFeSMUL4mIyOceAoc8lu_n9RVvHks2nrnFNTz97caoopuYPFae8BB5xW3lXeActqlppJjcRIcqoJyOI5L2TxslaMCGinZcvkn7B0M_VA2xdbC6P3LgS8riee4xum9ZB6UlKQDiJANCTMnP0cSVG5UferpXVNCtHp9kYxUpHTFxcrvF-sqOqcn-a4eaDUCj8bZEZE43azrtjKZ4bfA3jAKZc--DVfVzuT0VYOO028ankERgd6AIJyeHVrChsA4wZ20dHyIC7rLOxA2CQ6bVYxC9pX0djPY-XNQCPwL8D6n",
  "id": "rs_0b68478803193a59016ab2c2e54f5487d09dd57da653105ba0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_z\":0.058},\"note\":\"The two bowl rims are closely aligned, with the lower bowl just ahead of the carried one. I’ll move forward one centimetre and lower gently to nest them.\"}",
  "call_id": "call_BMfgZya9YGhK1euN64507G8d",
  "id": "fc_0b68478803193a59016ab2c2e7a8c887d091442a5b150c65cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BMfgZya9YGhK1euN64507G8d",
  "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]: [-0.7174, 1.903, 1.2148, -0.3012, -0.5114, -0.5423, 0.0468, -0.02, 0.8047, 0.5957, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4032 left_y=-0.2323 left_z=0.0651 left_yaw=0.0111 left_pitch=-0.2505 left_roll=0.0752 left_gripper=0.0468 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9975\nstate[joint_eff]: [0.3214, -9.6479, 5.8735, 1.2527, -0.2759, 0.3199, 0.696, -0.0479, -1.3197, 7.2137, 1.6777, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8ad2a5e48d70a198fbfdfedcc92745a30461ec8ac6ac678029d22d3c879cc6e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7218c85ed2143ccca39c8406cda63e4f42b54cc9e99d05bd564280f99f2cc991",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26d4bd89737854eab86e12466550f21de424d64be09424857ba4c052366d80c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 3.873 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]: [-0.7475, 1.8153, 1.2243, -0.3996, -0.5259, -0.5495, 0.0462, -0.02, 0.8043, 0.5961, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.3876 left_y=-0.2335 left_z=0.0952 left_yaw=-0.0046 left_pitch=-0.2429 left_roll=0.0801 left_gripper=0.0462 right_x=0.2926 right_y=0.0007 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0301 right_roll=-0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.5265, -8.5538, 5.9966, 1.3309, -0.3834, -0.1294, 0.7546, -0.1026, -1.3607, 7.3504, 1.7411, -0.0513, -0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The carried bowl has settled against the middle bowl and their rims now overlap. I’ll release the rim so it can seat fully.\"}",
  "call_id": "call_edZ1G5FsrdM5N8SrWAiS2TvD",
  "id": "fc_0b68478803193a59016ab2c2ec02ac87d099a6622cc6f77b18",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_edZ1G5FsrdM5N8SrWAiS2TvD",
  "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]: [-0.7052, 1.9244, 1.2129, -0.2577, -0.4988, -0.5205, 0.9937, -0.02, 0.8089, 0.5953, -0.3965, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4101 left_y=-0.2334 left_z=0.0596 left_yaw=-0.001 left_pitch=-0.2431 left_roll=0.0688 left_gripper=0.9937 right_x=0.2923 right_y=0.0007 right_z=0.1685 right_yaw=-0.0015 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -9.6479, 6.106, 1.2918, -0.3492, 0.0415, -0.2857, -0.1436, -1.4154, 7.0906, 1.7314, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9a0679349f166142216bfe827e66791e2b7ec037d986fe5cf8bd7a799dd1884",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67aa5ed005dabfe157397843e43374c1f42b0bbbd62d4ad6a780ea74d8f6a5ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e8a277650655a4ba2f3c84bc52a5bbb39dc2263142422d01e7f6f41723dd949",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.919 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7174, 1.903, 1.2148, -0.3012, -0.5114, -0.5423, 0.0468, -0.02, 0.8047, 0.5957, -0.3931, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4032 left_y=-0.2323 left_z=0.0651 left_yaw=0.0111 left_pitch=-0.2505 left_roll=0.0752 left_gripper=0.0468 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9975\nstate[joint_eff]: [0.3214, -9.6479, 5.8735, 1.2527, -0.2759, 0.3199, 0.696, -0.0479, -1.3197, 7.2137, 1.6777, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The released bowl is resting in the middle bowl. I’ll lift the empty gripper clear before parking it and picking up the remaining pink bowl.\"}",
  "call_id": "call_HYzE6sN3F6JfQSPJhekaNuZV",
  "id": "fc_0b68478803193a59016ab2c2f0c62087d090dc2809c408163b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HYzE6sN3F6JfQSPJhekaNuZV",
  "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]: [-0.7048, 1.8538, 1.5127, -0.6598, -0.4953, -0.5243, 0.9944, -0.02, 0.8108, 0.5945, -0.3969, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.412 left_y=-0.2354 left_z=0.1504 left_yaw=0.0044 left_pitch=-0.2688 left_roll=0.0851 left_gripper=0.9944 right_x=0.2923 right_y=0.0007 right_z=0.1676 right_yaw=-0.0015 right_pitch=-0.042 right_roll=0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.0342, -12.7385, 9.1692, 1.2674, -0.3297, 0.0269, 0.0562, -0.1709, -1.2239, 7.0496, 1.7167, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd07972a13a8f179c587e686ea82b1a1ba2db8f0fe49dc922249106f3521d43b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:544d682369c7d967650e153897e06b0d671d03c0e011f934fe15da66047da708",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78bbd8f97ff4202ecc64febd35cf541dc03c672cdee59098e199940c14b4a772",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7052, 1.9244, 1.2129, -0.2577, -0.4988, -0.5205, 0.9937, -0.02, 0.8089, 0.5953, -0.3965, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.4101 left_y=-0.2334 left_z=0.0596 left_yaw=-0.001 left_pitch=-0.2431 left_roll=0.0688 left_gripper=0.9937 right_x=0.2923 right_y=0.0007 right_z=0.1685 right_yaw=-0.0015 right_pitch=-0.0389 right_roll=0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -9.6479, 6.106, 1.2918, -0.3492, 0.0415, -0.2857, -0.1436, -1.4154, 7.0906, 1.7314, -0.0415, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssL5M5W2Jy4xvOjiK62GU3wf9ud179L-s1QZ1hSFIE2f8ypZBc27y_mMDiCSj2-wfeYqYueZKbWfFFmY2jWZV61F4VqA9cpl9F31_6TrpNP-Z6PXn0ojGYeWdbMxhOxJ1QteeHaPIEPLD7JrDS2f-SYVxOZ_EgtNAzJquqkw-shMpJRIN5yyS3BgZFOQPYQfxZSMh8tXAVqeUC1jPDyBGNyujSSdYHqhs5shqMs7xfULcFtRCW5hCXbWvrJ_Mf8G6nRSSY5e4NWSfhuut44fwRJJcs8Ypkfe-JfCd6gm8fm1X3cqzBbF3birlvJ4nTVC3ievtl1BFYlmjMqAjecM2PuLyA4HwHrGXHslgbD3QmuCOIMlHd63viqd43THcVkP0r1Cp-CPqzsHG9qJRi0gNSUTVYVOsrdZc5LIvzBzLq7BDAeiuWcfmbuG2CJWjIRmhv0qBoQ1cRpXCaes9sRHEvaWZy0YJGSmg8EwXdCgZi6hgQxzB7AHp9jkMC2yg9JfEPVeAw06YNbHFFZkn7Ah-EsAewL-_4tAS5YOhPUOtIyBawfVSRHx_I1NZlRHYKJ0acsqtDoa5Lq6XAv8nSqY92dC4W3Oz0LS6OpqnVGfszI5EJ762iFMyADFnI9zZulaj3lQ9ZB15Pk48WKqwPLba3dvgAgUYsmZXCShAHis6meXot8MwqQNgWMN9b3OJKMjuSQ9ROqynFZpkc5xNjWUd4BHES8fQmR0G4su4fDOQdLazK98cSG1-kLrrJGIGy_3cDA3KMnY6m8OWRqRJydSiYY5Qgi6cNusCNlJF6wA43YDry6FQVA3xcTziOqb2CdmdHzRuOS8jjRitI-r3JVW7v1H3iUts6fxosrFpMO2evmLGqMJwxSUZ9dB0KBmCp6xjoNXTAqeZc1VPoGYG3-S1435g2UsOPM1Hgs6GeFS1hyRPBqFUCELjDIL0sq5_hsVwAlTrI0lPJ4iwVynnw8RoARiYyrzYGbT3JjE1RrZEI1xlItJPOLAEBWWSP4zkEctaPDPqppySy1o00-qmjqhVgqLL0y7dcVYnZ9TYxcpw5DgVv4_Aj74URVxNjAXf9CQYbFgyPH_1VI9mUzbnbWlhGNOQuKr_0oNAOh5HdJPveXwud0kQPIXg3ocBPjCPhLK_xdyZwSmQfhCgbe_Gv5H9Ae4Lp0douSiNPmsT8ALf9GKlBqM1ktrPNK4gBjM6dbAsgP_vT_4p1f1_U7dtCLF-ZIbYZ__fIKOaO4-tx-LmbjpSfIhlYZzP_un8ytqXQanLRd2sko_nfEYd87epFkeWCchXrqI4fHsAStsbOaM01YhRZsaVspHivq9vYwmn4qc5_lvD1l99hToxbj2mLoPjakZjhGYwsYSmHOSOqch4sh4tK556lDxEn8rwsOB3OsVTaqCg5-ATJDNakyQlpxQvgWAZugR4I9AEaWm-PgLPUUYuQC1KMAOOfxX8QyIvk11CV9-XB0cpLd5BHvHryFs3G6VDWvCdo48_S846Au-SnXuAYo=",
  "id": "rs_0b68478803193a59016ab2c2f5108087d0949f25dc4a7d53d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.38,\"right_y\":0.075,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The first two bowls remain together at the centre. I’ll park the left arm and bring the right gripper above the outer rim of the pink bowl.\"}",
  "call_id": "call_WQwXUMdofCeN4BckB6E0odok",
  "id": "fc_0b68478803193a59016ab2c2f78b6487d0a95cf182eccc9afa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WQwXUMdofCeN4BckB6E0odok",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0967, 1.0348, 0.9268, -0.7322, -0.1482, -0.0624, 0.9944, 0.289, 1.2949, 0.7223, -0.1429, 0.2096, 0.1238, 0.9977]\nstate[eef_state]: left_x=0.3001 left_y=0.0007 left_z=0.19 left_yaw=0.0538 left_pitch=-0.2621 left_roll=0.0766 left_gripper=0.9944 right_x=0.364 right_y=0.0736 right_z=0.1245 right_yaw=0.0303 right_pitch=-0.1256 right_roll=-0.0253 right_gripper=0.9977\nstate[joint_eff]: [0.1709, -3.2615, 6.188, 1.5458, -0.0171, 0.2173, -0.0073, 0.4444, -4.8615, 10.3316, 1.9512, 0.3785, 0.149, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e3ff4889568254d27a03722b0a97d1512401427a8fe7156b77111d230f4e106",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a43c5412532fc39511a5c94f6589db81618216b207c64ad9b3eae6f7b4858c29",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c49a807b61a52e456a89442a95dad8e40f9c44a37c9592364310b369631bb0fc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 9.11 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7048, 1.8538, 1.5127, -0.6598, -0.4953, -0.5243, 0.9944, -0.02, 0.8108, 0.5945, -0.3969, -0.0166, -0.0341, 0.9975]\nstate[eef_state]: left_x=0.412 left_y=-0.2354 left_z=0.1504 left_yaw=0.0044 left_pitch=-0.2688 left_roll=0.0851 left_gripper=0.9944 right_x=0.2923 right_y=0.0007 right_z=0.1676 right_yaw=-0.0015 right_pitch=-0.042 right_roll=0.0001 right_gripper=0.9975\nstate[joint_eff]: [-0.0342, -12.7385, 9.1692, 1.2674, -0.3297, 0.0269, 0.0562, -0.1709, -1.2239, 7.0496, 1.7167, -0.0366, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMDIyB4MktPTuQMmClflUVNraz1vhLIT_1UmrVDgegbJgsBlD0B53T39xBrfLGfNv5D2ROptRDhjSimYF45XJh6O34Maf3AoSLqHX64aJtDn-XB9jNHuPwnDEQrWyDPJnQ98NsMdPDRA3pw1MKi54SV3zgHyuqA_1x8wFtuL4HOAoZf6wNIzuTUV0PjEmPRB2oyVjVpgfpMm_4AHBEecF24YVeQ8hOF70SuEbgWrA7sZCydtdmKe9_ORRKKvBiUkhIIygW3fhX1w2jeq93tOj5jzSCqrYSu8MaH6ic-DPwrZVMr3Jk1SWPrO1oRobmTGCJ3QNWlru7X49wrtxtGchyFhC4T656iuRXvuybxH5KfWDqU8cOd5ue98tvk23hwcbwtxpLXO9gYOMsRTT2vZbV4s6LFtLR7BMv_ZXN3440nqh0bcgNLiA_3hLH56Cmm_WZxQ63TZWQeZ6FtY55LF1JTnIhLC3p6PoG9DSM-fI-4iL1Fukvbh4aonQ37bDxnGXcXWRKAR8S3YC_7qkGgEL2iVeYCFZn0yW5bwiymIe8eOv1fZ2b_QSzCusraEkq_e0RW_zQv4uSG4Xyv-Y5Q6to4ECXaf818dJ-u3OUNul2lmxik-1yc1QeEGZl9PPpvj5eJuw4gr4I9jbbd-BDl43yyE__KHGERVePWAh8O2drqGDE6J81jAUiDoj7xXGla7ghmU6iNU62Dy-qOonJlI9xRR1PRv79CubBmG9h7eHy8okcSjRawBM_aO0uZH3YVafB0TlN7k00HpetygfwfTL3eLwIK3l99SIzMVt-mH5ev3KRcUVTN7_ZR7cA8PsgdJ9XNvc0oSxxvpnL4b6d8NtCXlyVJjE8Kb5zz5KYtgw77O9Nm-YsbW9HzFqBuBfyxVFCZTCPAKNUimL3drQWjiZGNPnkbkjuvUP70Wj7mk4gG-yMV87u6ynlJfsAudGfaRAV9WbWCSZyrUYTLSSQvViqOI01ZsYC5ZAhpRMjhqI3t-jCSpcaPWM90V5sva9WgGMSBBJPMa-Ov9YSc2OepVYa4aDdgBClPyJ7jtvorFDHS5Iz_ehKRWeMQ6aptACwludgRHH1khOZmfZyQUZugv7Gn4I1lA2BNzodTb7oWlu8JSBgPBN_r_1Tub3o7pfQxh_5I-NVs43pKLnPPZzC4rBcfVPgDNN1NvIiyOJmzdoou1C2iek8vH7zq8oazWIx949e6X2lj_OhcmW5wkpQweGXpohmN81IcaMCFHz6Wx0wEzHwkCVmFBwRSlClEjLDiQNoFubpyWAF4yIGWsNzOFn1mbDcXf3-GUXsIVBQzq5HkKi42oMLKTwYzBk2cIdOzf1F340-d1mTyfMPfr3pf7C5NanIl4aVu8bz43vfHi1p3jT8fWRfxoCupaEuQ1kbP_oTeQc4XKMJkHOGtALzk25Y8pbsnflW_8CXDk3bTG7sG03GlmA3GLgZUe8tIN-B8s9oQdmfToIesZh2MrGFtkh54Cmapgat6UOuwO0qLayhpFgmqUFFx0DLazXyxESYQ6r-Jo_CKm5QNyxriJMWEJJyHxQ==",
  "id": "rs_0b68478803193a59016ab2c2febc4487d0906fd8139ec32898",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.06,\"right_z\":0.05},\"note\":\"The pink bowl is just ahead and to the left of the right gripper. I’ll advance and lower beside its right-hand rim, leaving one jaw inside and one outside.\"}",
  "call_id": "call_53XjGpbwZPJY7iDVQrC7EraU",
  "id": "fc_0b68478803193a59016ab2c301446487d09846c7f354a57b75",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_53XjGpbwZPJY7iDVQrC7EraU",
  "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]: [-0.0956, 1.0382, 0.9234, -0.7448, -0.1322, -0.0528, 0.9944, 0.205, 1.6047, 0.654, 0.1394, 0.1551, 0.0738, 0.9975]\nstate[eef_state]: left_x=0.2975 left_y=-0.0015 left_z=0.1853 left_yaw=0.0365 left_pitch=-0.2835 left_roll=0.0737 left_gripper=0.9944 right_x=0.3853 right_y=0.0559 right_z=0.0341 right_yaw=0.0161 right_pitch=-0.2282 right_roll=-0.0467 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -2.7419, 7.241, 1.5409, -0.2466, -0.1538, -0.0122, -0.4581, -7.3641, 5.8735, 1.9805, 0.0269, -0.0415, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0be52ab4195383e7c530514203fee4466b202938602a2e447bec0c99fdab7954",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2b1dbc8039e73d1a954c6150060a736437f8e61918a034aa8484831a5d67dc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0ac69e3c1623012a74080fa74b2e2bc4f6a1797fc84d3f093560c8e3ecb92a8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.98 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0967, 1.0348, 0.9268, -0.7322, -0.1482, -0.0624, 0.9944, 0.289, 1.2949, 0.7223, -0.1429, 0.2096, 0.1238, 0.9977]\nstate[eef_state]: left_x=0.3001 left_y=0.0007 left_z=0.19 left_yaw=0.0538 left_pitch=-0.2621 left_roll=0.0766 left_gripper=0.9944 right_x=0.364 right_y=0.0736 right_z=0.1245 right_yaw=0.0303 right_pitch=-0.1256 right_roll=-0.0253 right_gripper=0.9977\nstate[joint_eff]: [0.1709, -3.2615, 6.188, 1.5458, -0.0171, 0.2173, -0.0073, 0.4444, -4.8615, 10.3316, 1.9512, 0.3785, 0.149, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMMzCnVk9JkvhkUWSWcwZRiJBeEPTecBjHQ1YeK7-A680x5xj1aRTPqNYmrkWvvfiFT-Gj9J6I_hfBQFprnZh883vQq4y4NjjTcgdl0PikOmjfq6C3TPfBAhcfSl3bYqDRFnyGf1Ju_EPQHBaPxoM70GIVmj1ZiVQnKERgQ9cdodBeT6AzoU002-1IyMMzlaPRu5oFwZaRSmo18gLi-5t_x1A8oiOAPCznk_zCfSsF_9zqqwU2G5kpIIspyrVB-MKn2yVy-EftwAlMz0yjdq_M281SwEDUkscfDqnmAXU6fPVsR4dWaa4kpgX4UcPHmBuQbLX4JztEtUHem4h5ay4UtA67azHJHzTBfslaHii3x91WctKp7A7zlj0iF9DEIOxESgbWa9FXsYhCdCz0qrzdlEmU5TUfrhzyLWEaKaCpqT11ejnJf30irOzt2xZz-8JFBmIQHlyIIYvBMkrwkgO8Qtht2-oS316Gzs8fJIozg5-y8EI-kCIH9a91qWfodz2nkKGw0MLQ4MlFLbqYeAHLV84KNSsMdZvfQp-g_C-Q3dLj_Ff6CUnwNkFGJ-wzxARhUpsEDbJWRqnl2jNqHB8oPGghqD_lR5ZwEmbSktBgqltfYRW0qhjnmcvaWwGf37YlW6cm9d5Y5atE-pSucJQVM1mSqQ7QhohPXwp5t9hHknm32sqhfA8QpZUWHarizQbO4t5PDUgSjNSOEUSH1oegAOrVbha2zkKqkfY35sRj494TRw7yLtP_mdhuu8fhoadfV520SgtfR4C2L6RhxLraZ3jc40Bu8X5ZMiCnNoT2QDCTg7UGV3OsaIoghwvFfFcQyFGsEta7Hvn3pR4xPXpiYFamHGM1tyd9bu6NkOhq1UdkaduU-B-9_BBm7jmOLJILLGIPTya2y6Bbo_HwxfPBnC17yJUOseAAFZ7o2vY22F3YvpHcEuDj9OkbR9af47CukFnmCukIHRx_zKHvrqPd99f7kJ3CgVNhzjT6sIM87xvr4sEtHRMUtDj-LLJJNUy6m3Oi_Joxi7IDbrQYKXWma38k0V9YmmrNPoD_QVpDLn77-r9NiTsdWSMKgrhSlUPMSQqQDSM9EwZ68-AxBKAY_Cav_tT1WFBOCrdzxh8sXqqV9zT_My34tiSDV8ThQUNodVyjYBlnCZznyGbLK8vcadt7KMU2F3gGEfnG6PqTOfVd4VYMF5eMTelKpM-Qud_gfLtWT1XsXqr7_M-bMmpY_l9QKfqDC1Vhbe5WEQKfC3VuAPKw2rxGU86VVTqi_PRH7pERXxudPS4iMk2w4Ej4EB5JfnBpxFeWHRXkpMri0DO44P8PGGZgjyiMCzIE3gl4U",
  "id": "rs_0b68478803193a59016ab2c309b27087d08ef3a56da060bba9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right rim lies between the open jaws. I’ll close on this thin section of the bowl and then test the grasp.\"}",
  "call_id": "call_jVKSYDCSkXlzdj16nfPyGGE4",
  "id": "fc_0b68478803193a59016ab2c30b4bb887d09aa27db7c8f08f41",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jVKSYDCSkXlzdj16nfPyGGE4",
  "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]: [-0.0956, 1.0397, 0.9234, -0.7479, -0.131, -0.0525, 0.9944, 0.2028, 1.6108, 0.651, 0.1589, 0.1272, 0.0788, 0.0392]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0354 left_pitch=-0.2882 left_roll=0.0737 left_gripper=0.9944 right_x=0.3868 right_y=0.0603 right_z=0.0336 right_yaw=0.0352 right_pitch=-0.2216 right_roll=-0.021 right_gripper=0.0392\nstate[joint_eff]: [-0.253, -2.5368, 6.7214, 1.4823, -0.1197, -0.0513, -0.0122, 0.1026, -6.0239, 6.3658, 1.1013, 0.4518, -0.1294, 0.9451]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d73fa1a8cded251bcac08291ca6b9a8f23438807ea56c3fa61f200eccf821a70",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7fd92d2a60a1e161dd58de6d305ec01d0047ca2279770df056b5623ed39d8191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:235e93d6e5851bb1949ee50862b01bf3c62d653d2f0dc0251f7f89566204a309",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.299 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0382, 0.9234, -0.7448, -0.1322, -0.0528, 0.9944, 0.205, 1.6047, 0.654, 0.1394, 0.1551, 0.0738, 0.9975]\nstate[eef_state]: left_x=0.2975 left_y=-0.0015 left_z=0.1853 left_yaw=0.0365 left_pitch=-0.2835 left_roll=0.0737 left_gripper=0.9944 right_x=0.3853 right_y=0.0559 right_z=0.0341 right_yaw=0.0161 right_pitch=-0.2282 right_roll=-0.0467 right_gripper=0.9975\nstate[joint_eff]: [-0.1573, -2.7419, 7.241, 1.5409, -0.2466, -0.1538, -0.0122, -0.4581, -7.3641, 5.8735, 1.9805, 0.0269, -0.0415, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The fingers closed to a very small gap around the pink rim. I’ll lift a few centimetres to distinguish a secure rim grasp from an empty close.\"}",
  "call_id": "call_Hq9O7RWrvDAIP9XibVcAbQNE",
  "id": "fc_0b68478803193a59016ab2c31005e087d0b7eff194fe340bde",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hq9O7RWrvDAIP9XibVcAbQNE",
  "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]: [-0.0956, 1.0397, 0.9234, -0.7483, -0.131, -0.0521, 0.9944, 0.2024, 1.4704, 0.7761, -0.1291, 0.1181, 0.0704, 0.0425]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0352 left_pitch=-0.2886 left_roll=0.074 left_gripper=0.9944 right_x=0.3827 right_y=0.0609 right_z=0.0841 right_yaw=0.0465 right_pitch=-0.2449 right_roll=-0.0239 right_gripper=0.0425\nstate[joint_eff]: [-0.212, -2.7419, 6.8171, 1.4139, -0.1343, -0.022, -0.0122, -0.335, -7.5556, 9.0188, 1.6728, 0.0855, 0.0269, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:582220ea3d280c3f91c4dc4ea6d4caa0d0941a94e78772c3236e88fb83f76f36",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cea512f2f8324e7461d3576d874f364358941abcd12fd08fa4c1797bfbe55ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02a757a60e1169cab63397ec451c7c9e5b5b599e551e3a21d066e143a77a4c56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.486 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0397, 0.9234, -0.7479, -0.131, -0.0525, 0.9944, 0.2028, 1.6108, 0.651, 0.1589, 0.1272, 0.0788, 0.0392]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0354 left_pitch=-0.2882 left_roll=0.0737 left_gripper=0.9944 right_x=0.3868 right_y=0.0603 right_z=0.0336 right_yaw=0.0352 right_pitch=-0.2216 right_roll=-0.021 right_gripper=0.0392\nstate[joint_eff]: [-0.253, -2.5368, 6.7214, 1.4823, -0.1197, -0.0513, -0.0122, 0.1026, -6.0239, 6.3658, 1.1013, 0.4518, -0.1294, 0.9451]\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\":0.2},\"note\":\"The pink bowl moved upward with the gripper, so the rim is held. I’ll raise it above the existing stack before carrying it inward.\"}",
  "call_id": "call_KySgHuOOndEZO8yHycEQ1Vdu",
  "id": "fc_0b68478803193a59016ab2c3185a5487d0b0130846726c7eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KySgHuOOndEZO8yHycEQ1Vdu",
  "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]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.131, -0.0525, 0.9944, 0.2024, 1.3964, 1.1137, -0.58, 0.1173, 0.0586, 0.042]\nstate[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0355 left_pitch=-0.2893 left_roll=0.0738 left_gripper=0.9944 right_x=0.3815 right_y=0.0608 right_z=0.1749 right_yaw=0.0522 right_pitch=-0.284 right_roll=-0.0378 right_gripper=0.042\nstate[joint_eff]: [-0.0615, -2.4137, 6.6803, 1.3993, -0.0757, -0.0562, -0.0122, -0.3761, -7.6239, 9.7573, 1.663, 0.0171, 0.0904, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d30bb18b6037b1bd09a58740a4f9998f6eac25659b093f4853577137328452",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dddfb9ae4a890092a6562eda7ca69d1f24836618570faf994543bfc507e30788",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67ebbf1dd68555bf87819e5c9f7ae7d97fd4e11a794dbe2ab11eadaec815c024",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 4.988 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0397, 0.9234, -0.7483, -0.131, -0.0521, 0.9944, 0.2024, 1.4704, 0.7761, -0.1291, 0.1181, 0.0704, 0.0425]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1844 left_yaw=0.0352 left_pitch=-0.2886 left_roll=0.074 left_gripper=0.9944 right_x=0.3827 right_y=0.0609 right_z=0.0841 right_yaw=0.0465 right_pitch=-0.2449 right_roll=-0.0239 right_gripper=0.0425\nstate[joint_eff]: [-0.212, -2.7419, 6.8171, 1.4139, -0.1343, -0.022, -0.0122, -0.335, -7.5556, 9.0188, 1.6728, 0.0855, 0.0269, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMfJ7yfBvr0rNb7_4ejRwz440jgBQoQFobrBYT0fRZZOj7ftBz9TX5taHimkpQUrlKyj8QeqLRaBUFq_Do6yBTXy-uPTQIEvi7raXRFft40q-oGoHbe7CPbf2RmlNI-zGY4z5-j3BavhRSuEgev3iShORBQeT1kxBWjQWmAiI0hbLs-2LTAiyEnlatvNC-7gpqWBAsSyHJv_QbIdiYAnKXQSXwrWEmZCUtzGjjSv9-nrZJrcVA2fQnImvpCojx3x7dxlwbWXw_V7NPkh46CZNVQAc3pZUaD8P1ryD3x7qxzpG4Pz8aYGUHaGbUa6nXlZxNK38EdKa-CHxULSpOXW3mRpE7Nfl3kHArrvvDqPeooKF4Nwi0KpAO1u06G_Z6CURNinGxp4jG0vWJ_RNhSxwfqGFsJzftnmpqxooMHCjFhd2hJRkHauz1_HT7CGRIJkw-WJOt0fr4MalYdB5FdoymNu1nG6Z9HRPKVFH8GiQ08UIFUoaPyqD_iIltNqZ3v2LzmFdKxUrm9A7Ie8jYnx4nVGgNYjy_ElO890rinkDCd3Jj8S5nat8ZiNZzyfYOc17R0sxayhuEmjWH4Nb3o1xc9TujQWCp4wAxzwj5PJNxMbfV_ab5dHgHktKS3lwyNGsOpdBQp7FqLoy2v0C5GozO1_cQknlRdFF_qmG6V0ny11rPsLaQ-JIvf_LiGW77pvcGXKxOlW-sEbL8MPA6zGBlfgFRBcDwY-Rsn6YgArWdp8Wbe0yzWp_WAqvJOGwKYtMAXyXnMDPgVeyksoXK4cIqafNu_EtUKBtm_8lakykfIJ3ClVGlJsR0UqkRiLRrTubeJyL7ulGiEIz5Dn6N9GI1PlgUOuC1VONaVBELXi_JhnN4nfsqC1yUFhNsgv8x0QC1o4mPJVhOT81lv1R1gH2SSV9gb8AxwOsru3lBzpmyLeLascgdiQ_UuEb-Zbeiqq6ixG3_FuAzT2rqUtEvslk7agclIQcOUKd87mgijW8R8l85nxpKU5hJ-M7b2aQF1zZ-vwbFxPwdh9gpZO-vfvtxilB1taSYLS73RanJ3aS2_fzQBmYTcihRauuF8OH58Acurqou8pn8In54XQrBjimq6GD3iU5PTQJWDeZFBinHyA2342LcTcgKtCpvVpw-9_breZgB9UCbknv_1yhXFbKI9SbyRNb49GbhorntzpLKQPQiYA42KJM21huOC7glRd2KJiUbUeQq6uozGVhat_X4THEnhNKU32MqeXei-vJAN-n6K0Qvs1fo4ZhhTGSThx6Ql9EghKcYeSzbg2MT65UaQB-0rPbXOZzqWMtIaNljZXfl9F2gIVGrShxlQeIYAnDn7UapcsoaFEiTkahyX2uIbsNCW9lXQ3dCWXQ0y9XlbAsi4obJUfN3RbZ1FgtKkr2jc",
  "id": "rs_0b68478803193a59016ab2c31c6c4087d0a2166b8e1dcfee15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.24,\"right_z\":0.2},\"note\":\"The two-bowl stack is clear at the centre of the table. I’ll move the pink bowl left and slightly forward to position it above that stack.\"}",
  "call_id": "call_AUBlFe57UUqiFj2qhTOuuqc0",
  "id": "fc_0b68478803193a59016ab2c31e3ce887d0bb3371b76980dbb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AUBlFe57UUqiFj2qhTOuuqc0",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.654, 1.8305, 1.6466, -0.8127, 0.3668, 0.3908, 0.0446]\nstate[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0352 left_pitch=-0.2894 left_roll=0.0735 left_gripper=0.9944 right_x=0.4072 right_y=0.2369 right_z=0.1842 right_yaw=0.0897 right_pitch=-0.331 right_roll=-0.0613 right_gripper=0.0446\nstate[joint_eff]: [-0.2256, -2.7282, 6.6803, 1.4139, -0.0659, -0.0464, -0.0122, 0.1436, -9.6205, 9.388, 1.243, 0.4274, 0.1929, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93e344b87ada91cfaf1e10ce1b1bd16794aeb1dcfc45e2cb708ea504eaeb6a60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2daaa15941b0ba881bcaa7a8604af2c62f736d3a3287cde527c3c5cb25916210",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6cdbdfe4e46303256630e5596526154f717a3f68e6ef836393efad37d871f22",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 8.625 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]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.131, -0.0525, 0.9944, 0.2024, 1.3964, 1.1137, -0.58, 0.1173, 0.0586, 0.042]\nstate[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0355 left_pitch=-0.2893 left_roll=0.0738 left_gripper=0.9944 right_x=0.3815 right_y=0.0608 right_z=0.1749 right_yaw=0.0522 right_pitch=-0.284 right_roll=-0.0378 right_gripper=0.042\nstate[joint_eff]: [-0.0615, -2.4137, 6.6803, 1.3993, -0.0757, -0.0562, -0.0122, -0.3761, -7.6239, 9.7573, 1.663, 0.0171, 0.0904, 0.7643]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMmYmAqwiEd40bLdwW7gJLsF_rboL38y4pcKfKulN6ovumBsk40lgHYzKlCAppDNW_apMLOA_sRMCV2GJqW2wqRP8uPHLAlttRmj8g8gMFuQVsVWhKSkShQoatRL4S6aPZ1QvtsDZPtWW-xpxu-a0U1bYHn1God-R-8una0iWmdR81IjKnWe5PcjyRHrEUrDqUzdVosfXqZEnbKCurX7-S2hBwg0IBj-V_xCXJX02JoTFWcbvsa513sRn1Y3IszWgYBRmi348NLDZf6I0vmoe1UxYQDH4xkkY-XhOSK_LizuSeE3tY7WCbQ318Gorac5RhH2X-9eKSmMer5Auv9Zvv8YFKxQfGJZhpJ-LbXIi0st30YGJRYsMw1h6yXVms4fCf8hXeN2ls24M-ql5TAkoOavmGiu0EQ58b3s2EqwQ27rHBQJNdAhnv0gDu58060l0mEuEO_78eg8Hgs9JAk--41DvCcJa3VS0Oz21HhjT8qpgrnLXoRAicd4He5mUqfQccXIPahUGqiiuJzvEUC56MFAW2DQyD1zdcqLV6oUbuvOptmFC44Im5G1SDCTpeWhL_kCWzDBdqOhE9eRn8ji2hpiiYbLI6Ifed67IXKIMJ2c4y7Ld0-RzB8cRtq_Uck7TZdiyUIuIkFOEeIf_r4NEdJZotuqNzZfEZEyRZQPj6O7BBzt-y_W3kVIAVbSClu8zgkR-v0yBk8dB0khqWjZp6HLR5JzuNIgCyE47GXJud5wIUzTvORgYm8FB9V1pFxn-Ur04bESkUijvuupN4IBDrxURb0GDk1F34vhgfCYK9iHWN6ykPI-qKqKeJFvwsW-Bt8a5IwCDK6Yfr1YE1wf2vM8rS9ES_EF6gMAW86fGr4IjF8wO2_rbtnuJGSNnX5q16aLuVGBGFESjzVDFtsjFhb66R7XHuTaUBw_p1TTFnCqVnuEovbbqHSRwblDG2YJFeBTvU7Tr5ZE9p7wlTPnI5R2MA08-cxVAGUCwRkItTx51Oi1ZYDbQawJs5dHxMa-0PdIkzzo8aiNgP0DqiXpCEgGHxB4O7LXZXxS6lV2wt6dWp9C42r9L91Z89pCGwcl354hHilRZl7GFNpbmcYuTAeFInbHIbszKebUJu6E1PWMpKboEi8ER0VKr_rwAdjdtJ_xe7OHoCpWmhDNqgxrY1aTr0ywXvlgdWRXvwzhkpMGTQaXfGyNsKrfR6oVnXAIJo9SfhygBTCVGKHnlg-nNSTtV7bsur-hrCmsb9BSgStAwo=",
  "id": "rs_0b68478803193a59016ab2c323f1ac87d090be535a3c5d524c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The pink bowl is centred above the stack in the overhead view. I’ll lower it slowly toward the upper bowl’s opening.\"}",
  "call_id": "call_efMswUNfYQeoVjGDcJCgv6am",
  "id": "fc_0b68478803193a59016ab2c324b4ac87d08f16a5c21d0c5bd4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_efMswUNfYQeoVjGDcJCgv6am",
  "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]: [-0.0956, 1.0405, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.6563, 1.8496, 1.3914, -0.6125, 0.3584, 0.3923, 0.0457]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1841 left_yaw=0.0352 left_pitch=-0.2898 left_roll=0.0736 left_gripper=0.9944 right_x=0.3936 right_y=0.2295 right_z=0.1047 right_yaw=0.0825 right_pitch=-0.3972 right_roll=-0.0965 right_gripper=0.0457\nstate[joint_eff]: [-0.0615, -2.6188, 6.7077, 1.4335, -0.0757, -0.0757, -0.0122, -0.4034, -8.9231, 6.9538, 1.3944, 0.1832, -0.0269, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83869b7aaaa8c7b58a2e45d3ae1dab147fd0517e8e57c0164f12d09a0284f90d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e558ad43ad6471b78ef4ddc4b300d994c60c17aca5a81fc7ca979479b564bb79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18b0d8c2e1ef440fd043da7d041aff4df20b63b7795177e06c17b766109cbb56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.028 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0401, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.654, 1.8305, 1.6466, -0.8127, 0.3668, 0.3908, 0.0446]\nstate[eef_state]: left_x=0.2969 left_y=-0.0017 left_z=0.1842 left_yaw=0.0352 left_pitch=-0.2894 left_roll=0.0735 left_gripper=0.9944 right_x=0.4072 right_y=0.2369 right_z=0.1842 right_yaw=0.0897 right_pitch=-0.331 right_roll=-0.0613 right_gripper=0.0446\nstate[joint_eff]: [-0.2256, -2.7282, 6.6803, 1.4139, -0.0659, -0.0464, -0.0122, 0.1436, -9.6205, 9.388, 1.243, 0.4274, 0.1929, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssMvlOLUjZPeBOb7QlUJ1mylGMzXfqMs8bqM7cB_3K0CzpTfHjSZiBU6bVgqY_DDCmWY9bg0n83AnTKwfiIdbeGf6JcT9qt5wenatDrwbyvFD_oOS5-MN0Or8VrFqIvTOeuj1qc_LDHv5g111_nCsLPMXDniVAMIybVtp7wMCNP-gSa64BFsfzy-e_Yvn9PX884AOI1ektcMZ8Eqa8JejiZSVGzLCT5hQWhZXTwBoVWFaCo68OsVXRAhVbC63Si6HlJ0dkualvwqBeC32DWRwwAfvOVo_qPzTYfUXFsWi9aGNACuY_6yxj1VTL6r3MMrdSnAG8EpCinQUG3QQ1QaYiS6c_hxfHfZ57COEDPF_lpE7HaYqZPnLY9Q6NmX83YAjzNXVdLgayPEzdmaPTCGbqTbqjTcWKzpBHJMQ49PpUPjbDM-aQQ2FyZD9vH9OCPOc6AP8CJuMl_fzlqYbyuA0YrY1MQgqyKycy-lwHeh2_p22Zr1AvM74KuFRXL934YPdBi1BTdQhDPpqn7SfrpC1r3Oqc3OSSXMTjBkLpT6IAoE1STT5HQs8WIDFWrehd7w6-yf66BBd2iGWZChl0PULLMH4oG6fpkDbuaOgzp1MpeK6ePyCOogIi_PxyshTy_JudgaDo5wefSGTDbf3M2rdXhM45suhADr-fDprcmuT0osxdUneqVNQUcLgcx7mwtWXUz7XbjkUz2epjcmHhLbkTNjaP5M7wmmLvkMm5HVeJpscmp9Krf_XwrSMq45nLZ-DVx8h-lYk3tR9pVLWtOPVTKMBQbJXbA1_t0t8MX4g1TVkMf98ew79C4NP1vaHhv3dqwGyJy4gboRhkwwQa6oSholMVc5J4dUzCMmy9TbUS-5JxLAcObvWAuLj7qBTo6uh_W-GsUBOGOD5q8ORYgKaU15DscZP2puKSrlNLagjFRPk6xXjohpCpsa1K2_Kx9WZcBnaLHl1CE-df3k7W6fJBdRbzAnv28ZAg_Dw6gKHR96dOF3muFAQIhOTFVudyQupr2PGlyEzlkGaKRbd5PQMX9-i58tB2rgEzWTw5xXIsG0zgra8W-vAQDNeLTtQigTdv2bKz2SpXn2oUmc08amT-vKDFN-Kju3e4HMe2awRvXYMLR-h7NAudgq0WOTCZUwmCnOQZZ1SRQNuv4QZ9i2Z8LrqaHrm2Tfq0eC5F0EGlrzd39P6_9SpS6S8Bm2LCRfpXKNB1OSP6ftmgYYsNWCu23oX8k-1-9sgbKaiNwwRFt5oufyJjebfYB9SIFpmQZ7w0dpj0sN8DJCIViDOn7cbnsdCpkauVjn73URbKy2yJ6fIlcOYIeblQ4Db8i6VbpyKIVmS9eYfS2wL4-UGuH04LgrLKbIA2tjd9ZD_0dEjZ3RCt1FRq3j_W5SqsHDjUPxhEMET0wtYLkkWclfs8i0HwxvQylCNY9CmlzPnn1IKw0uxUff01tlnn17FRNzkBfyMmm2cBhwe2Bqrqpr7i0E4inQmcQAuRVMvrV0Pv2GF6g4p2l578KmSYFDXGMRRzApLG62yncRVYcLdlg-ufBeVBZHYByh_ikbLw6Dv0b33JliamYqnnsLOygJLoD-tzPyBOJu-CG_R-K3LhamxQDuojA2IlZwtGEF50MfJnqE4kHOiCzXOdrrN1eZSs6drWwoJzhmxwHinRKEHknKkXGVWMTGuBIdRcAR9AuREVgdSqBIBVQ=",
  "id": "rs_0b68478803193a59016ab2c329dc1087d0af6fb46abbd46c1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_z\":0.075},\"note\":\"The upper bowl of the stack is slightly ahead of the pink bowl in the wrist view. I’ll nudge forward two centimetres and lower until the bowls seat together.\"}",
  "call_id": "call_lotYKJQSsiO7QnlTCrt1kFax",
  "id": "fc_0b68478803193a59016ab2c32db86487d0b56fecfa89933ddb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lotYKJQSsiO7QnlTCrt1kFax",
  "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]: [-0.0956, 1.0409, 0.9234, -0.7494, -0.1307, -0.0525, 0.9944, 0.6041, 1.9812, 1.4315, -0.5476, 0.3279, 0.342, 0.0487]\nstate[eef_state]: left_x=0.2968 left_y=-0.0017 left_z=0.1839 left_yaw=0.0352 left_pitch=-0.2909 left_roll=0.0738 left_gripper=0.9944 right_x=0.4202 right_y=0.2252 right_z=0.0662 right_yaw=0.0781 right_pitch=-0.4369 right_roll=-0.117 right_gripper=0.0487\nstate[joint_eff]: [-0.0752, -2.7556, 6.694, 1.4042, -0.0659, -0.0464, -0.0122, -0.5538, -9.7162, 8.8957, 1.16, 0.1734, 0.0073, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10996ef7add9d2afd0f64f340135f8dd80a51561868f5523acfb1b9405495c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8c30dbef8f88399601bb064b9dd08b0d78f5c82e22969fcb6f6959674ab591f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd847d61189365e1d8a2d7a292b3bda140cff3fa1e7104c67a1827018ff8bbe7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 5.81 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0405, 0.9234, -0.7486, -0.1307, -0.0525, 0.9944, 0.6563, 1.8496, 1.3914, -0.6125, 0.3584, 0.3923, 0.0457]\nstate[eef_state]: left_x=0.297 left_y=-0.0017 left_z=0.1841 left_yaw=0.0352 left_pitch=-0.2898 left_roll=0.0736 left_gripper=0.9944 right_x=0.3936 right_y=0.2295 right_z=0.1047 right_yaw=0.0825 right_pitch=-0.3972 right_roll=-0.0965 right_gripper=0.0457\nstate[joint_eff]: [-0.0615, -2.6188, 6.7077, 1.4335, -0.0757, -0.0757, -0.0122, -0.4034, -8.9231, 6.9538, 1.3944, 0.1832, -0.0269, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl now overlaps the stack closely and is down at seating height. I’ll open the gripper to let it settle naturally into the other bowls.\"}",
  "call_id": "call_pAFu9AKhg4VDBI49DdqBm0tR",
  "id": "fc_0b68478803193a59016ab2c332515c87d0a9e7cf6d1361f3cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pAFu9AKhg4VDBI49DdqBm0tR",
  "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]: [-0.0956, 1.0409, 0.9234, -0.7555, -0.1307, -0.0521, 0.9944, 0.5972, 1.99, 1.4452, -0.5415, 0.321, 0.3214, 0.9958]\nstate[eef_state]: left_x=0.2957 left_y=-0.0016 left_z=0.1829 left_yaw=0.0352 left_pitch=-0.297 left_roll=0.0748 left_gripper=0.9944 right_x=0.4252 right_y=0.2261 right_z=0.0673 right_yaw=0.0916 right_pitch=-0.4315 right_roll=-0.1174 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -2.7145, 6.6803, 1.4725, -0.0904, -0.0269, -0.0122, -0.5949, -10.1949, 8.2667, 1.2967, 0.2173, 0.0904, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b26f343057352351e37324a8e2698c637df5cf4ae18bfe0db0d8c8fc8bccee2a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b6bcade325830fdb64e367f11b081c49f66e1a41731568f984009b2a27ec400",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7da3effb2d682c4446ba2d765bcbc6e60cbbbe3b69bd1b3cd9ff4def3a4643b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 6.054 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0409, 0.9234, -0.7494, -0.1307, -0.0525, 0.9944, 0.6041, 1.9812, 1.4315, -0.5476, 0.3279, 0.342, 0.0487]\nstate[eef_state]: left_x=0.2968 left_y=-0.0017 left_z=0.1839 left_yaw=0.0352 left_pitch=-0.2909 left_roll=0.0738 left_gripper=0.9944 right_x=0.4202 right_y=0.2252 right_z=0.0662 right_yaw=0.0781 right_pitch=-0.4369 right_roll=-0.117 right_gripper=0.0487\nstate[joint_eff]: [-0.0752, -2.7556, 6.694, 1.4042, -0.0659, -0.0464, -0.0122, -0.5538, -9.7162, 8.8957, 1.16, 0.1734, 0.0073, 0.6032]\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\":0.2},\"note\":\"The pink bowl remains on the stack after release. I’ll lift the empty jaws straight up so they clear the rims without disturbing them.\"}",
  "call_id": "call_YkvTJ0InFAcjUhLPluljkmkK",
  "id": "fc_0b68478803193a59016ab2c338997c87d0bca27988f7208cb2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YkvTJ0InFAcjUhLPluljkmkK",
  "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]: [-0.0956, 1.0416, 0.9234, -0.7563, -0.1307, -0.0521, 0.9944, 0.5999, 1.9789, 1.8877, -1.0161, 0.3061, 0.3103, 0.9962]\nstate[eef_state]: left_x=0.2956 left_y=-0.0016 left_z=0.1826 left_yaw=0.0353 left_pitch=-0.2985 left_roll=0.0751 left_gripper=0.9944 right_x=0.4249 right_y=0.2305 right_z=0.1786 right_yaw=0.1084 right_pitch=-0.457 right_roll=-0.1221 right_gripper=0.9962\nstate[joint_eff]: [-0.0068, -2.5641, 6.8718, 1.3846, -0.1001, -0.0171, -0.0122, -0.5402, -11.6718, 8.3077, 1.243, 0.2759, 0.0708, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a722ee3e86412c147f6a23e0ad0bdf2cc4c6b715505496ef53224838e54f55b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc9bf537529670e69f99f16cc709c54673f0714ee102b9d070a9c4e3f3ae082d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d07dd6590a236153a8a0590b7677574617b43e1d8611501362c5f9fa231996ba",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 6.997 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0409, 0.9234, -0.7555, -0.1307, -0.0521, 0.9944, 0.5972, 1.99, 1.4452, -0.5415, 0.321, 0.3214, 0.9958]\nstate[eef_state]: left_x=0.2957 left_y=-0.0016 left_z=0.1829 left_yaw=0.0352 left_pitch=-0.297 left_roll=0.0748 left_gripper=0.9944 right_x=0.4252 right_y=0.2261 right_z=0.0673 right_yaw=0.0916 right_pitch=-0.4315 right_roll=-0.1174 right_gripper=0.9958\nstate[joint_eff]: [-0.0342, -2.7145, 6.6803, 1.4725, -0.0904, -0.0269, -0.0122, -0.5949, -10.1949, 8.2667, 1.2967, 0.2173, 0.0904, -0.1148]",
      "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\":0.19},\"note\":\"The released pink bowl is stationary on top of the others. I’ll park the right arm to expose the completed stack for a final check.\"}",
  "call_id": "call_Qzci7Hi4j6NYK9wK1kBZCr3t",
  "id": "fc_0b68478803193a59016ab2c33f851887d08b3754a1a890bb47",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qzci7Hi4j6NYK9wK1kBZCr3t",
  "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]: [-0.0956, 1.0435, 0.9234, -0.7563, -0.1307, -0.0525, 0.9944, 0.0101, 1.1961, 1.1168, -0.9539, 0.0406, -0.178, 0.9963]\nstate[eef_state]: left_x=0.2957 left_y=-0.0016 left_z=0.182 left_yaw=0.0356 left_pitch=-0.3004 left_roll=0.0751 left_gripper=0.9944 right_x=0.2986 right_y=-0.0006 right_z=0.1864 right_yaw=0.0637 right_pitch=-0.4682 right_roll=-0.1285 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -2.7145, 6.694, 1.3944, -0.1001, -0.0464, -0.0122, -0.212, -4.5607, 6.3385, 1.3748, -0.2027, 0.0171, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2a4041907a6b06126c71b2f80d7834a034186eb988b775c9c26a6220512d65b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f82708e61ca63295194eaa9e98863006e8ef4511f1b450e19423cb3a001cc868",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ce099675aa43a5efac0c25f8a3df741511b269fe7b29af466660b3786b4ee9b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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