adhoc

completed
2026-09-22T16:32:31.733992+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
186.2 s
total steps
216
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, then nest it into the middle bowl.
move_to
left_x0.3800left_y-0.1200left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_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, -0.0196, -0.0326, 0.9948, -0.0196, 0.7925, 0.6025, -0.3786, -0.0135, -0.0334, 0.9984] state[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9948 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9984 state[joint_eff]: [-0.5812, -1.5111, 10.1675, 1.7558, -0.0269, 0.1734, -0.4225, -0.4444, -1.347, 10.1675, 1.9023, -0.1148, 0.1343, -0.1832] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.12,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, then nest it into the middle bowl."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteThe left bowl is visible just left of the jaw column, with its right rim near the fingers. I’ll lower toward that rim while keeping the gripper open.
move_to
left_x0.3750left_y-0.1200left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.485, 1.3491, 0.7456, -0.0967, -0.3813, -0.2897, 0.9948, -0.0216, 0.7982, 0.6048, -0.3889, -0.0166, -0.0303, 0.9982] state[eef_state]: left_x=0.3657 left_y=-0.1144 left_z=0.1292 left_yaw=-0.0239 left_pitch=-0.0726 left_roll=0.0272 left_gripper=0.9948 right_x=0.294 right_y=0.0002 right_z=0.1773 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0045 right_gripper=0.9982 state[joint_eff]: [-0.335, -5.5726, 9.0735, 1.8584, -0.2564, -0.022, -0.4371, 0.0342, -1.5248, 6.9675, 1.8095, -0.0122, -0.105, -0.022] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.12,"left_z":0.055},"note":"The left bowl is visible just left of the jaw column, with its right rim near the fingers. I’ll lower toward that rim while keeping the gripper open."})
tool
executing move_to over 5 steps (0.5s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe open jaws straddle the bowl’s right wall near the rim. I’ll close gently on that wall, then check whether the gripper retains it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.49, 1.5658, 0.6067, 0.1692, -0.3901, -0.3038, 0.9945, -0.0216, 0.8013, 0.6048, -0.3927, -0.0166, -0.0338, 0.9982] state[eef_state]: left_x=0.3623 left_y=-0.1131 left_z=0.0442 left_yaw=-0.0097 left_pitch=-0.1495 left_roll=0.0624 left_gripper=0.9945 right_x=0.2936 right_y=0.0002 right_z=0.1757 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9982 state[joint_eff]: [0.0479, -6.4889, 5.559, 1.7851, -0.1148, 0.0757, -0.0415, 0.0889, -1.5521, 7.0496, 1.8388, -0.0708, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws straddle the bowl’s right wall near the rim. I’ll close gently on that wall, then check whether the gripper retains it."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe gripper closed almost completely, so the rim may not be secured. I’ll make a short test lift and check whether the bowl comes off the table.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.49, 1.5776, 0.6018, 0.1768, -0.4, -0.3035, 0.0211, -0.0216, 0.8024, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3616 left_y=-0.1109 left_z=0.04 left_yaw=-0.0013 left_pitch=-0.1543 left_roll=0.0733 left_gripper=0.0211 right_x=0.2937 right_y=0.0002 right_z=0.1753 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9982 state[joint_eff]: [0.0889, -6.6393, 6.2974, 1.4823, -0.1343, -0.0415, 0.9451, -0.1162, -1.388, 7.1863, 1.7656, -0.0415, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper closed almost completely, so the rim may not be secured. I’ll make a short test lift and check whether the bowl comes off the table."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe green bowl rose with the jaws and stayed fixed relative to the wrist view, consistent with a thin rim grasp. I’ll raise it to carrying clearance before moving over the middle bowl.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4904, 1.4376, 0.7151, -0.0849, -0.3946, -0.3046, 0.0286, -0.0216, 0.8043, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3598 left_y=-0.111 left_z=0.0884 left_yaw=-0.0047 left_pitch=-0.1634 left_roll=0.073 left_gripper=0.0286 right_x=0.2938 right_y=0.0002 right_z=0.1748 right_yaw=0.0011 right_pitch=-0.024 right_roll=0.0015 right_gripper=0.9982 state[joint_eff]: [-0.1299, -6.8718, 8.8274, 1.4823, -0.2418, -0.0171, 1.0379, 0.0205, -1.2513, 7.0222, 1.7656, -0.0708, -0.0611, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The green bowl rose with the jaws and stayed fixed relative to the wrist view, consistent with a thin rim grasp. I’ll raise it to carrying clearance before moving over the middle bowl."})
tool
executing move_to over 6 steps (0.6s)
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 green bowl is clear of the table. I’ll carry it rightward above the middle lavender bowl, keeping the same orientation for nesting.
move_to
left_y-0.2750left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4904, 1.3529, 0.963, -0.4286, -0.3908, -0.313, 0.0308, -0.0219, 0.8043, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3615 left_y=-0.1126 left_z=0.1619 left_yaw=-0.0023 left_pitch=-0.1742 left_roll=0.0695 left_gripper=0.0308 right_x=0.2937 right_y=0.0001 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9982 state[joint_eff]: [-0.1846, -7.0906, 8.8957, 1.453, -0.2173, 0.0415, 1.033, -0.1026, -1.265, 7.0906, 1.7167, -0.0708, -0.0269, -0.0073] 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_y":-0.275,"left_z":0.18},"note":"The green bowl is clear of the table. I’ll carry it rightward above the middle lavender bowl, keeping the same orientation for nesting."})
tool
executing move_to over 15 steps (1.5s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe carried bowl is over the middle bowl’s area, but the height difference makes exact alignment hard to judge. I’ll lower partway and check their rim alignment before seating it.
move_to
left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8837, 1.7706, 1.4471, -0.6956, -0.6075, -0.6643, 0.0308, -0.0216, 0.807, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3576 left_y=-0.2712 left_z=0.1667 left_yaw=-0.0192 left_pitch=-0.2079 left_roll=0.0749 left_gripper=0.0308 right_x=0.2939 right_y=0.0002 right_z=0.174 right_yaw=0.0011 right_pitch=-0.027 right_roll=0.0016 right_gripper=0.9982 state[joint_eff]: [-0.4171, -9.0598, 9.0462, 1.0427, -0.6618, -0.0562, 1.0281, -0.0205, -1.5385, 7.0222, 1.6874, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.095},"note":"The carried bowl is over the middle bowl’s area, but the height difference makes exact alignment hard to judge. I’ll lower partway and check their rim alignment before seating it."})
tool
executing move_to over 5 steps (0.5s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteAt the lower height, the lavender bowl is still to the right of the carried bowl. I’ll shift about five centimetres right to bring their centres together.
move_to
left_y-0.3250left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8875, 1.8229, 1.2423, -0.4953, -0.5995, -0.6777, 0.0308, -0.0216, 0.8101, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3491 left_y=-0.2653 left_z=0.0935 left_yaw=-0.0106 left_pitch=-0.2491 left_roll=0.1053 left_gripper=0.0308 right_x=0.2941 right_y=0.0002 right_z=0.1732 right_yaw=0.0011 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9982 state[joint_eff]: [0.1436, -8.9368, 6.5162, 1.326, -0.3346, 0.0855, 1.0281, -0.0342, -1.1692, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.325,"left_z":0.105},"note":"At the lower height, the lavender bowl is still to the right of the carried bowl. I’ll shift about five centimetres right to bring their centres together."})
tool
executing move_to over 6 steps (0.6s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe rims are now nearly concentric. I’ll lower the green bowl into the lavender bowl, with a small forward correction.
move_to
left_x0.3850left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9737, 1.9823, 1.4872, -0.6437, -0.6117, -0.7734, 0.0308, -0.0219, 0.8112, 0.6048, -0.3927, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3452 left_y=-0.321 left_z=0.0955 left_yaw=-0.0231 left_pitch=-0.2735 left_roll=0.0969 left_gripper=0.0308 right_x=0.2942 right_y=0.0001 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9982 state[joint_eff]: [-0.5675, -10.3179, 8.6222, 0.9255, -0.6325, 0.1001, 1.0232, -0.1162, -0.9641, 7.0632, 1.7021, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_z":0.055},"note":"The rims are now nearly concentric. I’ll lower the green bowl into the lavender bowl, with a small forward correction."})
tool
executing move_to over 4 steps (0.4s)
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 green bowl has lowered into the middle bowl’s opening. I’ll release its rim so it can settle into the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9024, 2.0937, 1.4994, -0.5472, -0.5884, -0.7292, 0.0309, -0.0219, 0.8154, 0.6048, -0.4114, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3764 left_y=-0.3127 left_z=0.056 left_yaw=0.0108 left_pitch=-0.2947 left_roll=0.1163 left_gripper=0.0309 right_x=0.2918 right_y=0.0001 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.0534 right_roll=0.0022 right_gripper=0.9982 state[joint_eff]: [-0.1846, -11.5624, 6.3111, 1.2527, -0.2564, 0.149, 0.7985, -0.2256, -1.6889, 7.0359, 1.8486, -0.0708, -0.0611, -0.0122] 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 green bowl has lowered into the middle bowl’s opening. I’ll release its rim so it can settle into the stack."})
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 rim is released. I’ll lift the fingers clear before retracting the arm and inspecting the two-bowl stack.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8997, 2.1075, 1.4998, -0.5453, -0.5915, -0.7319, 0.9937, -0.0219, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3773 left_y=-0.3111 left_z=0.0503 left_yaw=0.0195 left_pitch=-0.2993 left_roll=0.1258 left_gripper=0.9937 right_x=0.2913 right_y=0.0001 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982 state[joint_eff]: [-0.253, -12.6291, 6.3385, 0.9841, -0.2613, -0.0122, -0.2222, -0.1846, -1.5385, 7.0222, 1.6972, -0.0513, -0.0659, -0.0122] 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":0.19},"note":"The rim is released. I’ll lift the fingers clear before retracting the arm and inspecting the two-bowl stack."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe first two bowls appear nested, and the pink bowl remains on the right. I’ll park the left arm away from the stack and approach the pink bowl with the right arm.
move_to
left_x0.2950left_y0.0000left_z0.1900right_x0.3700right_y0.1300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8993, 2.0743, 1.9209, -1.0161, -0.5892, -0.7486, 0.9942, -0.0216, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982] state[eef_state]: left_x=0.3804 left_y=-0.3151 left_z=0.1656 left_yaw=0.0321 left_pitch=-0.3096 left_roll=0.1269 left_gripper=0.9942 right_x=0.2913 right_y=0.0002 right_z=0.1667 right_yaw=0.0011 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982 state[joint_eff]: [-0.294, -13.1077, 8.4991, 0.9255, -0.3541, 0.149, 0.0513, 0.0479, -1.4017, 7.2137, 1.6581, -0.0757, -0.0415, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"right_x":0.37,"right_y":0.13,"right_z":0.15,"right_gripper":1},"note":"The first two bowls appear nested, and the pink bowl remains on the right. I’ll park the left arm away from the stack and approach the pink bowl with the right arm."})
tool
executing move_to over 29 steps (2.9s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe pink bowl’s right wall lies near the jaw column. I’ll lower the open gripper to rim height and shift slightly right so one finger is inside and the other outside.
move_to
right_x0.3750right_y0.1150right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1284, 1.0706, 0.9703, -0.7994, -0.1997, -0.0856, 0.9943, 0.5034, 1.3586, 0.7971, -0.2001, 0.3721, 0.2691, 0.9984] state[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1885 left_yaw=0.0818 left_pitch=-0.3124 left_roll=0.1193 left_gripper=0.9943 right_x=0.3565 right_y=0.1271 right_z=0.1286 right_yaw=0.034 right_pitch=-0.1301 right_roll=-0.0303 right_gripper=0.9984 state[joint_eff]: [0.2393, -3.5077, 6.5162, 1.3846, -0.0562, 0.188, -0.0073, 0.2256, -5.2034, 9.7983, 1.9121, 0.3834, 0.1685, -0.1783] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.115,"right_z":0.05},"note":"The pink bowl’s right wall lies near the jaw column. I’ll lower the open gripper to rim height and shift slightly right so one finger is inside and the other outside."})
tool
executing move_to over 6 steps (0.6s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe jaws now straddle the pink bowl’s right wall. I’ll close on the thin rim for a test lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.074, 0.9634, -0.8043, -0.1844, -0.0788, 0.9943, 0.437, 1.5677, 0.638, 0.1078, 0.3244, 0.2245, 0.9983] state[eef_state]: left_x=0.2952 left_y=-0.0015 left_z=0.1836 left_yaw=0.0668 left_pitch=-0.3302 left_roll=0.1147 left_gripper=0.9943 right_x=0.3626 right_y=0.1112 right_z=0.0417 right_yaw=0.0263 right_pitch=-0.2003 right_roll=-0.0588 right_gripper=0.9983 state[joint_eff]: [-0.1573, -3.2068, 7.1726, 1.3846, -0.2564, -0.0904, -0.0171, -0.4581, -6.4068, 5.4906, 1.8242, 0.0757, -0.0708, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The jaws now straddle the pink bowl’s right wall. I’ll close on the thin rim for a test lift."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe gripper has closed around the thin wall. I’ll lift a few centimetres and verify that the pink bowl follows the fingers.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.074, 0.9634, -0.8062, -0.1833, -0.0784, 0.9943, 0.4328, 1.5723, 0.63, 0.123, 0.3058, 0.2245, 0.038] state[eef_state]: left_x=0.2948 left_y=-0.0016 left_z=0.1833 left_yaw=0.0657 left_pitch=-0.3323 left_roll=0.1144 left_gripper=0.9943 right_x=0.362 right_y=0.1126 right_z=0.039 right_yaw=0.0377 right_pitch=-0.2032 right_roll=-0.0449 right_gripper=0.038 state[joint_eff]: [-0.1162, -2.9197, 6.7487, 1.3455, -0.1148, -0.022, -0.0171, 0.1983, -5.8325, 6.4205, 1.1648, 0.2906, -0.0464, 0.8767] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper has closed around the thin wall. I’ll lift a few centimetres and verify that the pink bowl follows the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pink bowl moved upward with the gripper. I’ll raise it to clear the existing stack before carrying it leftward.
move_to
right_z0.1850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0752, 0.9627, -0.8066, -0.1833, -0.0784, 0.9943, 0.4335, 1.4433, 0.7479, -0.1429, 0.2989, 0.2157, 0.0389] state[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1827 left_yaw=0.0658 left_pitch=-0.3345 left_roll=0.1148 left_gripper=0.9943 right_x=0.3587 right_y=0.1127 right_z=0.0855 right_yaw=0.0473 right_pitch=-0.223 right_roll=-0.0539 right_gripper=0.0389 state[joint_eff]: [-0.0889, -3.0564, 6.6667, 1.3358, -0.0952, -0.0708, -0.0122, -0.335, -7.0496, 9.0462, 1.5165, 0.1978, 0.0122, 0.8767] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.185},"note":"The pink bowl moved upward with the gripper. I’ll raise it to clear the existing stack before carrying it leftward."})
tool
executing move_to over 7 steps (0.7s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe two-bowl stack is directly to the left of the lifted pink bowl. I’ll carry the pink bowl over it at a safe height.
move_to
right_x0.3850right_y0.3250right_z0.1850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0763, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.4335, 1.3666, 1.0271, -0.5259, 0.2977, 0.2081, 0.0408] state[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1823 left_yaw=0.0659 left_pitch=-0.336 left_roll=0.1152 left_gripper=0.9943 right_x=0.3582 right_y=0.1127 right_z=0.1637 right_yaw=0.0501 right_pitch=-0.2487 right_roll=-0.069 right_gripper=0.0408 state[joint_eff]: [-0.212, -3.0017, 6.6667, 1.3944, -0.1538, -0.0611, -0.0171, -0.3624, -7.159, 9.4564, 1.5067, 0.1783, 0.0513, 0.6667] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.325,"right_z":0.185},"note":"The two-bowl stack is directly to the left of the lifted pink bowl. I’ll carry the pink bowl over it at a safe height."})
tool
executing move_to over 18 steps (1.8s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe pink bowl is above the stack, with a small rim offset visible. I’ll lower partway to judge the alignment more accurately.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.079, 0.9627, -0.807, -0.1833, -0.0784, 0.9942, 0.8772, 1.998, 1.8034, -0.8749, 0.5259, 0.5667, 0.0435] state[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1816 left_yaw=0.0661 left_pitch=-0.3387 left_roll=0.1157 left_gripper=0.9942 right_x=0.3777 right_y=0.3212 right_z=0.1685 right_yaw=0.0861 right_pitch=-0.2969 right_roll=-0.101 right_gripper=0.0435 state[joint_eff]: [-0.1573, -2.988, 6.612, 1.326, -0.105, 0.0122, -0.0122, 0.1299, -10.9744, 9.1419, 1.2283, 0.4908, 0.1929, 0.6764] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The pink bowl is above the stack, with a small rim offset visible. I’ll lower partway to judge the alignment more accurately."})
tool
executing move_to over 5 steps (0.5s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe pink bowl is slightly left of the bowl beneath it. I’ll make a small rightward and forward correction while lowering it into the stack.
move_to
right_x0.3950right_y0.3100right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0798, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8795, 2.0129, 1.589, -0.7082, 0.5179, 0.5652, 0.0429] state[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1814 left_yaw=0.0662 left_pitch=-0.3394 left_roll=0.1159 left_gripper=0.9943 right_x=0.368 right_y=0.3131 right_z=0.1023 right_yaw=0.0796 right_pitch=-0.3459 right_roll=-0.1439 right_gripper=0.0429 state[joint_eff]: [-0.1299, -3.0564, 6.612, 1.3748, -0.1294, -0.0366, -0.0073, -0.4444, -10.6462, 6.8444, 1.16, 0.315, -0.0464, 0.2711] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.31,"right_z":0.07},"note":"The pink bowl is slightly left of the bowl beneath it. I’ll make a small rightward and forward correction while lowering it into the stack."})
tool
executing move_to over 3 steps (0.3s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe rims now align closely and the pink bowl is seated at the top of the stack. I’ll open the gripper to let it settle.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.844, 2.0678, 1.5726, -0.635, 0.4961, 0.5232, 0.0456] state[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3831 right_y=0.3098 right_z=0.0767 right_yaw=0.0829 right_pitch=-0.3619 right_roll=-0.1546 right_gripper=0.0456 state[joint_eff]: [-0.1026, -3.0154, 6.8171, 1.3797, -0.1294, -0.0366, -0.0171, -0.7043, -10.3726, 6.5436, 1.2967, 0.3101, -0.0415, 0.5543] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The rims now align closely and the pink bowl is seated at the top of the stack. I’ll open the gripper to let it settle."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe pink bowl is released and remains on the stack. I’ll lift the open jaws clear before moving the arm away.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8291, 2.0892, 1.5726, -0.5972, 0.4889, 0.5007, 0.9952] state[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3917 right_y=0.31 right_z=0.0698 right_yaw=0.0899 right_pitch=-0.3563 right_roll=-0.1521 right_gripper=0.9952 state[joint_eff]: [-0.335, -2.9744, 6.612, 1.3846, -0.1245, -0.0659, -0.0122, -0.3214, -11.0154, 6.5026, 1.1502, 0.2662, 0.0659, -0.0757] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The pink bowl is released and remains on the stack. I’ll lift the open jaws clear before moving the arm away."})
tool
executing move_to over 8 steps (0.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe stack stays on the table as the gripper lifts away. I’ll return the right arm to its parked position so the completed stack is unobstructed.
move_to
right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8307, 2.0823, 1.9648, -1.0153, 0.4755, 0.4934, 0.9963] state[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3915 right_y=0.314 right_z=0.1675 right_yaw=0.0998 right_pitch=-0.3791 right_roll=-0.1608 right_gripper=0.9963 state[joint_eff]: [-0.0752, -2.947, 6.6256, 1.3748, -0.0952, -0.0611, -0.0122, -0.4444, -12.506, 8.6906, 1.2186, 0.4029, 0.0562, 0.1001] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19},"note":"The stack stays on the table as the gripper lifts away. I’ll return the right arm to its parked position so the completed stack is unobstructed."})
tool
executing move_to over 27 steps (2.7s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteStacked all three bowls together on the table and parked both arms clear.
done
hindsightThese thin bowl rims can produce successful grasps at readings of only 0.02–0.04; verify by a short lift and bowl motion rather than rejecting on gripper opening alone. Pinching the right-side wall at grasp-point z about 0.04 worked for both bowls. Lower partway above the destination to align the rims before seating and releasing.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1272, 1.0847, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.0311, 1.1149, 1.0317, -0.8639, 0.0822, -0.1802, 0.9964] state[eef_state]: left_x=0.2953 left_y=-0.0017 left_z=0.18 left_yaw=0.0665 left_pitch=-0.3443 left_roll=0.1169 left_gripper=0.9943 right_x=0.2969 right_y=-0.0017 right_z=0.1888 right_yaw=0.0499 right_pitch=-0.3867 right_roll=-0.1681 right_gripper=0.9964 state[joint_eff]: [-0.1573, -3.2068, 6.694, 1.3407, -0.1245, -0.0366, -0.0122, -0.1846, -3.8769, 6.0923, 1.5018, -0.2076, 0.0073, 0.0024] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together on the table and parked both arms clear.","hindsight":"These thin bowl rims can produce successful grasps at readings of only 0.02–0.04; verify by a short lift and bowl motion rather than rejecting on gripper opening alone. Pinching the right-side wall at grasp-point z about 0.04 worked for both bowls. Lower partway above the destination to align the rims before seating and releasing."})
tool
done: Stacked all three bowls together on 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 · 9.221 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, -0.0196, -0.0326, 0.9948, -0.0196, 0.7925, 0.6025, -0.3786, -0.0135, -0.0334, 0.9984]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9948 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -1.5111, 10.1675, 1.7558, -0.0269, 0.1734, -0.4225, -0.4444, -1.347, 10.1675, 1.9023, -0.1148, 0.1343, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66e96e5150071c3a7053bd448ce28ab10d6473ebfe7a4e8b20840de592df9b3b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c7ea371839f14b41338b50cc7552c9a2af93fff0302a3277518a5e9afe9fe9e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4a88fea3dc456c43d4ad95a507173c7ffac03550820fe54b275428fda4fc9b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 66e96e515007
wire blob 7c7ea371839f
wire blob f4a88fea3dc4
call 1 attempt 0 · /responses · status 200 · 9.706 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq21wSNN7KMEiH6Wv11kkRHpjQ28R9E0oWvBf71upwfzH5Q8erKelIm8AyaGY4N4F6bSah5-5SKusR5hBrySz4Oz0rOFOCK7VNqYYWz60wzSKsLXz4Vf5Jd7wtxJxHiOiiu-lvQkchx7BIW8jGukPFCMz6TGLNIvUsZZBBDXYivgL4YzM0oFjmisqsl38vkTgCa22O5IGNkooDTCJ-rhqsCP0DfX4kHS_F3Pu7FPJc3Js-Yr_9qnD5CU_oGQAiDx47hjWETtpDBYyt_WBfXjEeOW8zIFtzkFnvcta-PSV0YxTVH7N320z1iH1w-VNFa1s1tZX3JPU7RMDcSLA9Zd4rFgN6xeiFeKYjysG-EE09fO1PqvPy0hLRjOrljfWE7QqL8g0ixxaWzT07Zubj3RU5YvTsdH7A9jr4Fdm1LL-Qjl9Z8_dDrTJFl-w6_CR7A5UWfG01XHK2KhoXN2wwqLuarLAdZpB3jJ29xXx2MJwd-8nUoaNMgA5iTw0mY9UEq6lqWQgIOapzc1GUDTRZ1CZmYBCTO-8SKwOgugPE6AXGwtxDwtgQV0Zdq0nt-_RMhHnrIndsoNsczqad5OlDjw2J--7qlvhsge3zyxmLm2FSyBh6AkmcbfxhteEwB3u8hD-TzElP9wd4Ymq3qEncX-RbT4iqDKjuVu_jepWMaKNOAn5MKDxIs95TOjBUOIvdoS7CMzYWw0kBuIvUnF5fE4aM3z26CvrGdxNpCHUt4ZQ-S6bD70bbXraeTnRPykVij5CQa5ZJCtafzI8nqh736qDM33uGw8Rbj82PcfbC_4MzASIrEsrVS90JznHCJ9HwkNAPiB-UjCbjVYRkUUFkJ8oTBTKwkwmjF0vCPHAGEo98fkdGcE6epn1Lv1rC9xmFrT9UDXNAO8RlqiGQCpusyuv2gRbucGhZXtXp-b1ZiJc1Cq_32Jrw2JvfXPM4BIvuTsZqj4prXYaLYZiDgeiXyx_Uki3KuG1d61TV-eC1z3mxFwrf3gYKKw-fsYlQVguqg3Rrx8HyiwgI-tlX_N3Z1873a6JpWBxI1AyuXF1arQHlguUVJqRyylklBrKMjgNvD-FlyH0x2DlONIKMfewqjgysmYtk9NlCrMpaXRo6sV9YHqzCKifCJAytG8blLoyIhW86CIC24xpBbgO5A64kmBpWznPOrW-3-CczKDo3Xe3DCLXOXabU91ZI6eICmy_HEJ5g6aWuyY5RqmHH8yeqXMCRLnSIHdkr3MYF5qsTm75nbUIAwNyDZ-LlgWA42aIs_YANqO_1Z6Z6ef4t91JzEddbwnXjo25WKBDyUmidCDO9cYW13iMfjM0Mkj-8VbNbzPwGcQiv1fvO6aILS9Cnj8VfA5hCxp3IIlqj9PxN_9hgXJVZs9n8S3xIEucyYxUqi9JM6esclOGonq-5Zs-lVYwo0CYvPQpMOz2--fEbsVN8rWXZlIHkhPAe-dor59r8-bvsyovCXlHaAHvyVMYlstoCuUcD4S3Vy-ZaXeepr31lImFQNQ6Qby1Y5FjJHjnKS0x2MRTC2y0C_1cClxeSc-288gf5yLtRUXkqYeIup66eFhb_ThF9bfCODKxG1Ke18ygQiH6zZ62YPu8k_UH8q6JIDIVGd_AU1IPBN4R3ZZT5jpLJU16UndR0bOQZnOVoCmNVEXsB28i8tTUx-9Zr6a1eQnQPna4bevONxxYi430eNffDcmeln8024BCF9yCTs_9VYHT7EQcGAqifZdE6oJXnIk3jUu-5ncS9CJSj2dXpz0HAymbijts6zDOlP9wek_PzoY6tdIh0ApkjTsjz9pZArr10JadBcrrJni7NlcsygfIwBcJb2sgM-993oOEe3waPaCBzkU9ai-nQikeQQXwMrM3Q==",
  "id": "rs_0974558dfb454b7b016ab2adae66c087d089d122801ba17ed2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.12,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the left bowl with the left gripper and aim to pinch its rim, then nest it into the middle bowl.\"}",
  "call_id": "call_kIF54hqjXij7koieppV8ttYl",
  "id": "fc_0974558dfb454b7b016ab2adb3296887d0bd519768c2e058da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kIF54hqjXij7koieppV8ttYl",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.485, 1.3491, 0.7456, -0.0967, -0.3813, -0.2897, 0.9948, -0.0216, 0.7982, 0.6048, -0.3889, -0.0166, -0.0303, 0.9982]\nstate[eef_state]: left_x=0.3657 left_y=-0.1144 left_z=0.1292 left_yaw=-0.0239 left_pitch=-0.0726 left_roll=0.0272 left_gripper=0.9948 right_x=0.294 right_y=0.0002 right_z=0.1773 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0045 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -5.5726, 9.0735, 1.8584, -0.2564, -0.022, -0.4371, 0.0342, -1.5248, 6.9675, 1.8095, -0.0122, -0.105, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e708cff4ad9b067b4bd7dd400613f3b52fcf35fbd33ca33ef3d60fbb8210bbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1d4cfc0cbf43f7f5ac74c25738452c7dd9fbab27ac6a6b5c8f8cc09da466a9f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01359f09a1db4fe9f2c5308590e8c33171bfa8d1b8494a10972d8254f7eb3132",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 0e708cff4ad9
wire blob a1d4cfc0cbf4
wire blob 01359f09a1db
call 2 attempt 0 · /responses · status 200 · 9.351 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, -0.0196, -0.0326, 0.9948, -0.0196, 0.7925, 0.6025, -0.3786, -0.0135, -0.0334, 0.9984]\nstate[eef_state]: left_x=0.295 left_y=0.0012 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9948 right_x=0.2947 right_y=0.0002 right_z=0.18 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.5812, -1.5111, 10.1675, 1.7558, -0.0269, 0.1734, -0.4225, -0.4444, -1.347, 10.1675, 1.9023, -0.1148, 0.1343, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3AocrCgIZPUPy4ZpPjkf2hTJ2OntNpCzZh51IrTaH20a4Nr3RqQz6edG7b4r4c06yckBTkpkaNgUM7z1lpCJZRry5WDUwlhsM-AJBvWMsROiabCMIl5mANGcxqnTHXYpIovbp7hzJSuka3C_uXQ4u78GqTbzsXDU5AUxCn3RO_6ggC9eLAyUgYZQUJgC7sKpMVCpENPvHEWr8aVX4p4MZw7FU1jwcWAbtem_LXi-cwOvxPo59n0qxSXi1m0Y6Ez5bJ781F3TY9f5LKyHKVZ2MNOm47pa8cwnGro0K7TLrJk-uyYA8dwxVBgc15zsx9HXUKY9MrrCEVCFK4JYLHoIPXLVeZuCxCQ8BcAj-asAi8g8ydDw3engPrre4zHPuKFyVGkW95xkY0zVhk8eYTbWBDC5Ls46qPHK3AK0X_KRu9K3-e6qFX0pTu5xzzw9Ff7osvix5i-0fiA9FdXe0ALR6vAe-VPwwgbOdcKbHipQ8TF4CCnQo0nYdw2pxsHT7EBuJg-Chgo3asS_j0Y9DUiHYlHlKHVzpzXfDS0CmxhjkHuT5GgNvcPNJYGd_FpTuP7b_ibPj065mZZZnygeAkd33NJQGauNskcvsS7rsqs8ydiXRqAaboZGJdsYpqpPcrVYeZKQx65HJGOUngZS-s57LNmey2iWsUSUDzIOMIPlULZuvbFlgEHRnwQXG6NvqXC5ECJqfY858iUSN7NXAEqbYE6wxO5t-oKy9khPCCQ5-GYVdgvJfyGboxsGql4lyC87koPFQXedCh75xAXippOkCLIqY6xRllXMuWdvRbmiED55JPiaop5iYAQf7Qt7tL18ivj7SdTbduGWpVPibQ6s2jMwTfNfAS1LeDF-3a5rN8JG2wrwuvaD5xS_FsMwmaGibVfeu5MEI6FWRAauBR2oxr9ds1QvMTeJUXIMpQOdFTMCVnPfeoK3kderbsWl7zn93SOGnG-oUm0YG0CyBMACPFKuy30C3qRC-A_lreFy_NHWCg04PzVV9oypCC_e0yCLxTBSFSwWvCNvlncZYpsRcL1NnTARuSh_lWmg3Bz3bYUVzM5g6CHX1WQqyXZ59R0F4xnz4KuGv_554xCUJu3A_LpeY39iw1KSYYY339SdkaIevTkPZPMEUgZd_7BwuPJ2EG7AY-fJzWB9TwyTOO7-8VeDB2aH9JvAX8TcSYEUQtfyEgQDuGEaBTuj0-KMPA22Ga6A2VqgjG77sNdAPkXVkV8uXnS86tcuhhvjDL5e_SDVmitOyjVe9sji_cGn6TLEaj98gBWV-0Y-pFEcbUXq58Bt5EtfOgL9eDpNzUi_3EvcSERFZaBFvxRDpqS530jWr13GtuV9YMGAr2-6gYW9Zr_MyblL15Hqwwy1jQpgV6e9gBR4tFkLolj9Cei2AM1tp2F5kWRj_CVSjSZxBScPAKPX5_-u0T9JnErck3Xoopx9CkJv3NwNMUCkSHd3c5yIFmxbrgrVmGkuzSKtwLORSxcnedA50hJfpJQ6MZRRUBgBFCtinUHbMqRxd5S4yJmzDiyvUzq4p722ZqDW2W-iqtmZJhqlmeOxmUimm7ehGqLnHxNOnOei3WZZexTXi-eU82zxvjBDRBASf-bjhbL5kYP4w4dA8oHs96hON_mU4wi_ODFvEqLcSY9I0zK42_BDPoZd4sB4yVaz_t9Vzbx_qrJoqW4GPlJt14YL19u3NrBK7Pia188nTLOi7OucvPZTG4-PIXSRf7ii4-roYjC6RR3beBJpLI3CoitY6fH3vpqfmwasSKuVOgUlKozppnfOgSBTOnBinMToeRzCkxTBTsV8afnjh9wbzMCmFU0GzENBiHGpFcLXNXC33Y-7yU1tDLZHHl8SOizidf0APLN5oauRtZCQa67siP1XaTkeKHJNFTmp5h4Wgb2QzPTxq3aVPPkiyNjm7H7pyBgDrUHvejWg7JjKbaNFJNQhdTCjIsbhkNATaLR51Ds94QTlleN9ydE4Re8k178fwi8C-At79wAFAjPnWf2D5AH08b4m5PGJs=",
  "id": "rs_0974558dfb454b7b016ab2adb8b77c87d0aedd1725beb410cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.12,\"left_z\":0.055},\"note\":\"The left bowl is visible just left of the jaw column, with its right rim near the fingers. I’ll lower toward that rim while keeping the gripper open.\"}",
  "call_id": "call_o2zcGJ6Bl09UnfPjsaExP7F1",
  "id": "fc_0974558dfb454b7b016ab2adbec22087d0ac06f12dd57cbde4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o2zcGJ6Bl09UnfPjsaExP7F1",
  "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]: [-0.49, 1.5658, 0.6067, 0.1692, -0.3901, -0.3038, 0.9945, -0.0216, 0.8013, 0.6048, -0.3927, -0.0166, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3623 left_y=-0.1131 left_z=0.0442 left_yaw=-0.0097 left_pitch=-0.1495 left_roll=0.0624 left_gripper=0.9945 right_x=0.2936 right_y=0.0002 right_z=0.1757 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -6.4889, 5.559, 1.7851, -0.1148, 0.0757, -0.0415, 0.0889, -1.5521, 7.0496, 1.8388, -0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22f6b2ee4a00eedf2cdcb851ad5177613cdd57088553fce4edf04fb0162e1fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:154c67eba1c6d56562900fa7ff04007e5742262f62b23e1abf4128c1e5ee1ec9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15595cd92f2867e0027d21bc435f6c771673545445d5f16fccb95452c22ec748",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 6.542 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]: [-0.485, 1.3491, 0.7456, -0.0967, -0.3813, -0.2897, 0.9948, -0.0216, 0.7982, 0.6048, -0.3889, -0.0166, -0.0303, 0.9982]\nstate[eef_state]: left_x=0.3657 left_y=-0.1144 left_z=0.1292 left_yaw=-0.0239 left_pitch=-0.0726 left_roll=0.0272 left_gripper=0.9948 right_x=0.294 right_y=0.0002 right_z=0.1773 right_yaw=-0.001 right_pitch=-0.0137 right_roll=0.0045 right_gripper=0.9982\nstate[joint_eff]: [-0.335, -5.5726, 9.0735, 1.8584, -0.2564, -0.022, -0.4371, 0.0342, -1.5248, 6.9675, 1.8095, -0.0122, -0.105, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3KLsR9HLLoBG6LpHpJw9mzNkdYa5tfRBv0RE-bX5arM95N34rkOMYCF9hHIqT5lgj09u-_6pfELBotI65BGGwUSZalJ9WaZwxFX8tU7ZqQiYIb6wPSemi38QOJjprJmqizd58w6SpyscK274SAMBDC63cQkq7aNHmrvpgoZyIUTxltdcJmYzqyruokkzYF_-CfT9VJDKN8DlfO6OECbjNzYV4G63NvwjEdRgcuRIE9m6aeLAvFUAoRgmNG6gDwWxmyqkONIGkkl9DVGlBJ_4bqSC5_QiFQVbW3Ixi4vi3PopRQIUn-o8SRwymTSPFMxmAjv_We7w-anzT0-pJcd_7c-I9NAC54SgAN84SUe_NhVjRYPWwTM42qCR3E9Ql0-rtnRWrstGC4qScMUZEmwqHG3pFtYgeHjDXEYH_hqM5EBovUMfie3E2A7Jfb6YEOfRPgrh2ijFIOBK-BOxx33HKCiL1yGBqoxDW-La44cIUw6Bypi3KBtCP-3g5Gi-2RoHbJXEsZyHFKTHHSYoOBoXSaHdQoZCwA9eZHCzdilCXC7a3j55QXLaXvSEhjyhgvt36sErmCZkUeThh-OQnUQf0EcBDHOmvx5g1QXylwZcYvqPXkRZ2qEHj-dwBL7vPXr0McJkJCKvtfxr5CiDo-CCGggedHz3wJLwJyh0EhpbccYYOKKSJ3J8sNDHJ-mjZmCdB0vdcrE59odwX5MGjq93Ptf42AzaPbbJ7xYUQy6LFlrxPQhGbclwFewW3DmhBvdyo5dDjOh1SPkkfGSjv3AWEJTfCVALPOgBA_yfVC3i0uIN3jTG6x-8hqfzqKnRf4Aef8IkxCT56YSMnG14SMmPizCrkXezguZsZyfwmRAT5nzbbcvb2TzQrrLJKMNIU3qzgLaU-NyH6O9HBtwHOx_Ru-jjHZyHZMfFvwb8pejmmp8czVg-tG0IYFyExJrydKTHA4_b8jtndfqv3kih5YUXd6zgVAto2bjld604gacPb0Dbz40p1cb0c3p1ydxo2vYZgdysq_IetPaw3H2xRu5cxeZFX5LKGrj4nWO_2Jp_PryRxh9zvjn7_9tRzqO0nFOvHVjBdfedGmV4ewvtzxQaipG5jgJRTKsj5mdrbsiHJ3bElxKN6g32XHR1jW-i3cyG4_e_y68XlguNcy2lqo2eE_mjNFMiDwQxES_u32RQPWLmALBCQeTDqlhtlVO368OFo55Zb1B1B6Hr_Slln2_xAO08HV2n97PGaQFQOu53yEd6xaVzAeAfBTKErUBsQ7uwniYetL1bT12TY133Xgcd6nWjR78MU1fRTeOC8lZzJkTdTZr-0nwy5WeByBpLj28kAIs4PhN9CnoLY5s_TaghLok2Wjvo_qBBnviFvRtMsYkp8MetxTN42xiM4RUZzjNckIcTkhksLlEo3EDeZdWUbTX5HOv5TrssakM-kMd8cgo5-GdSX5dxKL5Be4ifOOKpG-bNlJCwpw0sIRN3lKI8n-I-Bj3W0D-SI31oXUhPlhCDGQwam-NrBLanYGCHHWxQ5LpEo4Th5uSC2XTcwajRRRp3hPbVj2vhjuGoDF5O56AcTsh__U6B1QaNBNYZzl2YltKdidAG4QNJueULsoC1kU-g==",
  "id": "rs_0974558dfb454b7b016ab2adc5d47487d0b07baf5c2d38a189",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws straddle the bowl’s right wall near the rim. I’ll close gently on that wall, then check whether the gripper retains it.\"}",
  "call_id": "call_0AyUVzSWJNisNhSZpUH59jVn",
  "id": "fc_0974558dfb454b7b016ab2adc8948487d088fada1a4da5cb45",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0AyUVzSWJNisNhSZpUH59jVn",
  "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]: [-0.49, 1.5776, 0.6018, 0.1768, -0.4, -0.3035, 0.0211, -0.0216, 0.8024, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3616 left_y=-0.1109 left_z=0.04 left_yaw=-0.0013 left_pitch=-0.1543 left_roll=0.0733 left_gripper=0.0211 right_x=0.2937 right_y=0.0002 right_z=0.1753 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [0.0889, -6.6393, 6.2974, 1.4823, -0.1343, -0.0415, 0.9451, -0.1162, -1.388, 7.1863, 1.7656, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b63cdb223d700f29b6ee37c5de32ec2100e6d637c1dd81e8d238d122ba422303",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7743801350636d846058fb69ea796e2cefa53c0ed1979c489ca1a01ef2f929e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3a18099372eb0b54ff3e9afb0a656697469c7008c1e203aab65bd2668050a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 9.748 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]: [-0.49, 1.5658, 0.6067, 0.1692, -0.3901, -0.3038, 0.9945, -0.0216, 0.8013, 0.6048, -0.3927, -0.0166, -0.0338, 0.9982]\nstate[eef_state]: left_x=0.3623 left_y=-0.1131 left_z=0.0442 left_yaw=-0.0097 left_pitch=-0.1495 left_roll=0.0624 left_gripper=0.9945 right_x=0.2936 right_y=0.0002 right_z=0.1757 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0018 right_gripper=0.9982\nstate[joint_eff]: [0.0479, -6.4889, 5.559, 1.7851, -0.1148, 0.0757, -0.0415, 0.0889, -1.5521, 7.0496, 1.8388, -0.0708, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3RvXj12noM_C4DFWR-S9Yw4nTMIjRAlIB9sOb2pzMCXm_-fiWhQn3k3otdinoUyZlAIp60Tffte5pL-ul7KWUnnjlLL2FKz_P0ZS-fPDMdrcbrQ_QLW4YwjLm6ZDvP3avIo2aCvX-arUkCc-jC1XOPvjz-38UWs8l8sMavzxPwadb3UNBn6Ffi0TH_epcZUMQpbG8FXZwsoJ7USZ3TZr-YXiWL9vAjnenhzdhn7ZZzqL4lgFFprF3ZoMNjbv248qo0bLsAw2KIJCDLMMeRIffnyg3B1VVO0ngGfOjOwHWSDcx20xb8gLFXdtxMFS0RlKK6L81gd7vpStP7Zkd-wv7zGv1A2c3z8fz1bIm88TGSXACQnjOY1Qj2zYgOBqncDDKp1mEWQQOlcbpLJQc_OmQhCabL-3vvgqQe9S-pJLRTI1WaOxT8HnitlnorZPxPW7kuwGi9MSsz0t02vsK8VJRR9-k4-uIAN3LChfFndHMHricxIhqvsmaf6xbLBHDisAap-cveYnwZSoR1zSJJbhkxrSJM7MD3dHWtQ2GUW5O0SK5NnpAW4VqXDmSfy8QLiyoZCyXMQ_o1ggPZss2gYDHSa0w-iu-G-6gKFxKWd0EK2kt58mmT0E388zaLuVK1DZtwafwUvEmu9vFFu6u6CBTSf3i2dWqWrpDKgUMbJtS7POC2OMKBN6kryQ_TuZoT9qw3usyZrayh9ljG0Xv7NaVd_YCYjzua3zPTwecHiYoJCYjEioCOnDsGGHCDD5MatAmZaLDI0l4uyXXaDETA3mdZfp81w0s7CdikT5oL0pRBLiy-5J5nVdFHG25Q4g2sSRh7CjzABOjHYLAyn_QUFhmXF0pc6d0L9clbyzAjjCpEzgJGT5jRfyPypFztQjp5QrzBhVlJmaTtaAjYGsVAHlZZkjyk72Q-DFxPg6NlHnOk_biWgE0_Iov5ZZyvyT3Kx-ZCvnVPdvaxhKAxJgsgdqsD8S7e9lwtnxVpFaaq9Db_KcaefIzPVznuPaLemk6q_WMDnq7qn_muzpfKQXzLQ_ALXjWUoZGOktjFNQWd2ne_ZRId6zYq03IgrcBiB5iyQ2WzDBa9plPDu3eKPnEH9naWfVpjLfTayRViWbSJtc24faWCsQ_MJdPKkK6KLQ9p8IxFSD5T3-UO2VaDUgKXc2hurYoTdE7UUKRnkHpDcbVRRVcRqz1RHNqUMNUOKTz28jbCRzewRFbhgTXQj_TJ04FtQO0KXBfW7_aNu6MWMrLhRazfOCpowNFZefYqXO--boxi",
  "id": "rs_0974558dfb454b7b016ab2adcf937487d0a64cce7eeca7f2e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper closed almost completely, so the rim may not be secured. I’ll make a short test lift and check whether the bowl comes off the table.\"}",
  "call_id": "call_AEUzXkB8ySLsf6EWWaau9g8M",
  "id": "fc_0974558dfb454b7b016ab2add0702c87d0b7f481da8f671c33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AEUzXkB8ySLsf6EWWaau9g8M",
  "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]: [-0.4904, 1.4376, 0.7151, -0.0849, -0.3946, -0.3046, 0.0286, -0.0216, 0.8043, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3598 left_y=-0.111 left_z=0.0884 left_yaw=-0.0047 left_pitch=-0.1634 left_roll=0.073 left_gripper=0.0286 right_x=0.2938 right_y=0.0002 right_z=0.1748 right_yaw=0.0011 right_pitch=-0.024 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.1299, -6.8718, 8.8274, 1.4823, -0.2418, -0.0171, 1.0379, 0.0205, -1.2513, 7.0222, 1.7656, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1929a34fe796390448ad756441d1c0e0676bb9938b7c5806039f4af203222f0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:661d67859ef802b44054a8b23ae7428eb7243ef49184fb9d6eb90edeb6ed90ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:205b620f46c9e477e250d5ba8642166623851bf9654815f0fc7d58fb8f95a3e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.17 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]: [-0.49, 1.5776, 0.6018, 0.1768, -0.4, -0.3035, 0.0211, -0.0216, 0.8024, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3616 left_y=-0.1109 left_z=0.04 left_yaw=-0.0013 left_pitch=-0.1543 left_roll=0.0733 left_gripper=0.0211 right_x=0.2937 right_y=0.0002 right_z=0.1753 right_yaw=0.0011 right_pitch=-0.0221 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [0.0889, -6.6393, 6.2974, 1.4823, -0.1343, -0.0415, 0.9451, -0.1162, -1.388, 7.1863, 1.7656, -0.0415, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3bDCZOi71Kwn-k80RC5EJDs1LEho_ZxaYAnQUXdEH8f1fsDlFDP-S_C_XjfT7Qymoe-0e-IRncHQnsUV7k_6i_vbn8Z7v-4sLgLpJjJeA7kPLst6JnTpjvfkh7XkVWfyo3-5bKVyNYEZT61ClJi1B1YudFuKotKIQuiiEnA2iPXRvljUUSOVPwgZby8OsRfuLgJ61PzHzao93qardLWMkDRYssPfYaYLOCXftBPEAtdI44HwPIn4PVzRfux5QhQ5ccjwol4z0BC5_aMjSMDkjN6KwRRfowxakyuKY0A4-ebG13iZ0Rb4FNIaGisUHPZ_swxhDHm5AscejpFdYhf2nDmZbA-_v0OQyFERJWQFl_c1BucbUgCF8cjBba8vFsE9jSOFTeTucediNz44i__0s3LQwFgGDGYiTUG5hFpCLWjro3j5epcQPY9SHWd005t273ZHlCohRo7AIecgu8Bwf_4hI0T4kfM2JpWOM69Q9NQni7Lqj7rECOkrlWTWnoHcdGN_5vmCCwpm3K5hIxJF0jWlNT2mGFK-2SLa3mY0ExpZWrjMTQFHfo0NLJPIEYvRF9gSHC3pbLInOLASC8VnINlpBcFRql_LPt16PD5RXL6luaqTVhrSKjRT0gOL3y1AslkttHY53bFZIu5HIlCZM8iHxSrafZHVBGPZwg93kp6oQoNxFVS66Hywx2C-fsi7_tZe3H7GCEJXk-AOF2iv9iLYNoZmkcdQJvw1JH_TKybmu93JO4vZhKERXlwVCsptk9ZikMRe0y4kDhGRe0JlnZmJiQlNtzMtI_7O2iJwrGYlYWg08wrry48KaI9Ms8E3SboHNyVlRYTnmIMOw-M3p30qqTgDv3detvhH_YAA77f3ttCp2FN628NzjfJbXYDPgeKImvb3rz30PHXwth50-J54e5_tELEZznLXlZYzsvnQoewAS3soMd0YplgIIT4648R8ln37adxnOfUQAVd4Vb5uJBsK9JDv1VHRy7qtp3QS_s-gke_ExDo8zuqZHol-_bS4lOH6veIbpu_RcsrqlIjrXx6iixgLnkzHIPJ8aiSAF1KZQV4ZNIpaxuYvgeniQgvs3N0lJiv1D3X2KQ41sCLKoupDebWCMtR5rrS4U1ZOLqifA4ikJI8cpnAoTnVFYrHbIjzH0Vf0Yt6n9iuLRJW_UsWUb3CLyYyn-f_KIsWcaTSZygFLThK3t5j0YAi6dTtOijIzWy4tJbhQqXHSQ8L5rZZUNc0hrzmTBYhIihROxg52kCzEieMLACQw-t-_yF_R2QE7HnGubgPTFIzLs90A5faMSrH_AFGPbYJON8iso0LmpkhpRJ8TtwYj1EDo7bVCUZI8EgBgYwa-OCt64QtyMGKV9Ln6FZBGSc9nNFBtYLWIuGbs_T4FhDU2G4qBR4Z0SzEVvRifachi7-x0Zhj56fB3ccA5rIjYG9egscL5pI3_MdfcLofQEJbwDCk8CIkMss2vEtHGQBd_Z8nvq-avadn7XiA31K9rV3fOENWtdvnZSfxC4J5ZcZIwZ3vBG26ESIbos32lBjUZ7tAh6XU9Nu2IMacj5Yx31yH2DcrN6IqwYt10MIAf6hSOWhFyZDg_WbgYSAveZ-eCbOFNz-P2VPP1b6gC19b2dW2oWkwkBZarkpVcmhxGqhkUSdpe3P",
  "id": "rs_0974558dfb454b7b016ab2add680f487d0818e1e4a3025900c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The green bowl rose with the jaws and stayed fixed relative to the wrist view, consistent with a thin rim grasp. I’ll raise it to carrying clearance before moving over the middle bowl.\"}",
  "call_id": "call_P9mjIJJBUOkLuiPEExW0wjVS",
  "id": "fc_0974558dfb454b7b016ab2adda665487d08ab9ee51ad99366b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P9mjIJJBUOkLuiPEExW0wjVS",
  "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]: [-0.4904, 1.3529, 0.963, -0.4286, -0.3908, -0.313, 0.0308, -0.0219, 0.8043, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3615 left_y=-0.1126 left_z=0.1619 left_yaw=-0.0023 left_pitch=-0.1742 left_roll=0.0695 left_gripper=0.0308 right_x=0.2937 right_y=0.0001 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -7.0906, 8.8957, 1.453, -0.2173, 0.0415, 1.033, -0.1026, -1.265, 7.0906, 1.7167, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44de08883615914466a37eccd1693101a0490b298ef9ff7abb83103e8b3483d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:612754a182fd5b0749a2116999280db16eab0bd26c5fd5c2d6fe9fbe1bf2cd2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4ed3fbadddfc3875ad63da87c834d62622b58b327328f93803915f362e1253e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.183 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4904, 1.4376, 0.7151, -0.0849, -0.3946, -0.3046, 0.0286, -0.0216, 0.8043, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3598 left_y=-0.111 left_z=0.0884 left_yaw=-0.0047 left_pitch=-0.1634 left_roll=0.073 left_gripper=0.0286 right_x=0.2938 right_y=0.0002 right_z=0.1748 right_yaw=0.0011 right_pitch=-0.024 right_roll=0.0015 right_gripper=0.9982\nstate[joint_eff]: [-0.1299, -6.8718, 8.8274, 1.4823, -0.2418, -0.0171, 1.0379, 0.0205, -1.2513, 7.0222, 1.7656, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3iZq-lHrZc7UsF11wqVcbaRwt6qbnRdLh_bZ3lOiO1hv25Pehv3RAy-p5MjHJYckQSlBq0Eon6vLZOsyEQcF1Ex0TJqg3MLJtQA2sQfdOjjr-QecnEG9oVFACJVGYY_2vd_tfsvofmv2jj7abKtHBCAlK43WKFuwXlfM2d3Ui6R3QfJvli38JRduZl81zwUjy3V7NIkL-4OoZooV_8KuxXsNObe71BqIrioNZSU3mXAxBhNzwgAfb2sQtJd7OJCQ3VGiq4s_HWSEVgIj_RgkHh6v30OA39ikNCIIM0FkJHPWTZbKlRo5c3lnVB5CZMrlO4e3261_bOZUlgSHIYThllQsovIHxkTWClKDPOxcqiZipV5iFjIcwzizgQyNgCXVNncvZ6OUBxeb10nQL3s8AOp0WdPc9yGk86DszlzJJbupEr87yN49_vXxrkCGAPv1vLT1jL1n4WoULbiJINfHK7wzbMjhtCujUu3FlnW0KU-Y4bM0oa0WNQQ4P9drsD2aORyIj82TkTpO-vEiWPSO9k_OksDI-IGY1E7DSmjpxmpJ6tni5wRffSIV5WgFwZXaWx2XYubCnbYISd9zo_cD5STvT90q4gzh3pyoq60akLvlQgcve_ej9y97sv8hgt3VsZm3BqguHh5gFagCBKbKZ5QHwPG1_gjaSGHBykdjtJ_uqS1EyBU7jXxjCUZ-84-mJe_oWqiaUiDi_OXmmqP1u1Z8Tk45zCzD5CqIRVO67Ym3ux-RpclFQ68TeLfpimbUVnjRron7XG5xvP3D9cgQo1hpi37DTqGxp1HRCWW1Tu_3pZxdP3b3wcJsJWyH7NKnTjrPF6yFK8bHv__Csh7LMibb8OnDLyFuNLOW8ZAPNeNYcawwNcHK18QN5NILUbHDJl7JGSYQH7C5HsXgNHH4a4UEEaZ9ZVV8iIfuAzs0NAiBgKjuzb9FATr9kNj8w0M8JRRDxkU1165pK6rQ7UHvF4GhhbkprcNRRuzKjVsGD_hMDKc6Ms7sEIhS9De2RKmEF5HMdNPutvfFJdv3CifQllQxM0pCRhslZvEuiNLVywH9tmohdweQaJdQHasUMDO3gMhmBiJAdI5J1OqlduQtGZdUXpyXa2hbsw0f9JtkMX6eXCzGB2qhXkG0OJvkT8Hu8IHUq63FnDYKcMk0e2uRfh8KvQbS0ri46j-lfSk36SEQM7rJXeI3Ecbo8aEa9B9tZTV37xfIJjPVLuElnlmp55FlsAREhMwOo-8Mvu-SlGp9ewkPq5LGaougUsk2gBqNFV-FEefNZlaEGNGSBHophfLIs6lYzVQ82Yu0XlPJQqiMjgOHYW0rYWkgP4qtfqC6lBP35_xlmAOJ6laBVLooJMRjeGIGO4XyEunfUMcmwnbHg=",
  "id": "rs_0974558dfb454b7b016ab2addf265487d0831bd64e2c8bfdbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.275,\"left_z\":0.18},\"note\":\"The green bowl is clear of the table. I’ll carry it rightward above the middle lavender bowl, keeping the same orientation for nesting.\"}",
  "call_id": "call_ZM7jIBpO9cdHFn5wkspc5fMo",
  "id": "fc_0974558dfb454b7b016ab2ade1272487d08028ed61093d26c6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZM7jIBpO9cdHFn5wkspc5fMo",
  "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]: [-0.8837, 1.7706, 1.4471, -0.6956, -0.6075, -0.6643, 0.0308, -0.0216, 0.807, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3576 left_y=-0.2712 left_z=0.1667 left_yaw=-0.0192 left_pitch=-0.2079 left_roll=0.0749 left_gripper=0.0308 right_x=0.2939 right_y=0.0002 right_z=0.174 right_yaw=0.0011 right_pitch=-0.027 right_roll=0.0016 right_gripper=0.9982\nstate[joint_eff]: [-0.4171, -9.0598, 9.0462, 1.0427, -0.6618, -0.0562, 1.0281, -0.0205, -1.5385, 7.0222, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:141f3484c813a84aa728b2af6422fe19a7d6668a1bb2e177bff85442e1a23033",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4caad49a4d28f2ee0e52384b2165e1578512507a4fd09e2071266501c967ebd0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4dfaaaaa4e79a3619963d96c062791bda2bc118bb74af821d3ba8bbc0c77389",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 7.722 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4904, 1.3529, 0.963, -0.4286, -0.3908, -0.313, 0.0308, -0.0219, 0.8043, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3615 left_y=-0.1126 left_z=0.1619 left_yaw=-0.0023 left_pitch=-0.1742 left_roll=0.0695 left_gripper=0.0308 right_x=0.2937 right_y=0.0001 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0244 right_roll=0.0016 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -7.0906, 8.8957, 1.453, -0.2173, 0.0415, 1.033, -0.1026, -1.265, 7.0906, 1.7167, -0.0708, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3qFXUNEUsqqolwzH9V_anVXyP_RfC6gjFndBQc89kGjxcdrQznVHno7_03rYwwwx3H3o_eiti2Y6g3mn5etS-eVOQ1o8fYUreE8ftwTqK_rklmQbz9jCStduSUJC5r3xGGqPca3K6KSmhdHSmcTWxbc1yZaebn396cj3M_Cu5WRTAgitgyuRceiHFtI29EA1byqHbmHQSbj95hdq1RnKrVK1li8Et2njBLpL9DjCAUKjCkElBiepkaFdW5MMW12E-o9fxpTcHEM3sqv6XjYtq6OO224PgjdxjTSzPwIGi8YtxQw4Z0zqSsafwd7JWgeKpagJfbKpNjaLe7DYMbthf7uTbXNdqcAYHeCbqOsNx0oqM5lX61BZLeTiSLjhx2fe5gNJrlId2A_x2ilNI505oGKvlFCIGAcIt5h5BSf-BQ9UQtkp5QCxuGnSFhm2y-zO-_ZBfX784OddX1I1GvQ_5D8peV_vQ_q3rvb7XPuI08eyPzutvuh3ElWj_VV6tizxQhVev24iGwhXqbZ-bnm_S4BYUOeea278-cT-e6Aqvi6cg0dzmYgR8rwakm_PQinhwmTWoIAV8jq4WgARjoSrWpy0X5Lni5dtWEIKAuHURs-TnbsFLSbuea_pg_s-81L0rKdgSoVLLMMbDBv0pndeZIct-KwKqr85-BddL8gXUlvqsad1DXgW9c250d_Cf4WlWA5GB3KvKdbcxxZLNDbcN5bJoiwrzAF3St6CaGlDwbBuqCDGemBM4wYP3GpxigvnTulZY6Ng4nsyNWZSBM9kTXjz9sdGfOzpcTQTO3tYTYxCeGONYL9rKhL07LWjmBoo5wPaPe12XjNpEMT6CVXm2nFqD1uKNqAaBiA1IWXR07kvZlgQghiSCkK-ist_NI4M2xbIgsdjo9176-VjRlSVuNvYsK7QJ8O7EJNfK67WXxkG9pVOgdbYKMGzvqWgIxLAETHm9UUVc_0e9beDv4FhWFze7mx4lRCa_KWWJlZ8il6RUTtPJbHFEGJxzLh2oU0pNh4oYWgShXe3zS5Y2MQjPhK_liYHR1ixtnq6H3yZDZ5IPtEPDxx_a7ZAQe0uU2-z4FzhXcEPVf8oxnTvOCktU5smW_bQZytU6Weh_WFna4qjp_qv6bVnSyE4QcRWuz0w2wZNvKXCyYTdJNlsk9Ssvgdpej2a4KpbPfBgcWebkc5SmfdlHhad8Hnv0u5FEFGKUmL8uUZEATg1aZM2P4fy8wiGBSqXs79Vmap65aiuGJs0QKoHyeMgUC9n0PTuUqA1W5dqh96bj3LqpF4foFqFoxcwYAEwpJMo-f8Akw8e9Ere5i3DOJjkbVzVbM-G7cKPnnSGJuU9aGuKDo1RhKuOI7u0aRQecpvnegcO-iO5ZjPjm6E6mWdD-so3RdnKOo3XgzfPDZHCpQZD7EwpqAAl5Mx8UOHT9TLN6gjrxMoqqfgR4MQL4VEo2tkluw_yAPQZ0U",
  "id": "rs_0974558dfb454b7b016ab2ade6cc6887d0a6e3a548ec9d55fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.095},\"note\":\"The carried bowl is over the middle bowl’s area, but the height difference makes exact alignment hard to judge. I’ll lower partway and check their rim alignment before seating it.\"}",
  "call_id": "call_m0XH9AX9Lgm5IAweIetv8AfI",
  "id": "fc_0974558dfb454b7b016ab2ade8a3f487d09f47c7a7965440f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m0XH9AX9Lgm5IAweIetv8AfI",
  "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]: [-0.8875, 1.8229, 1.2423, -0.4953, -0.5995, -0.6777, 0.0308, -0.0216, 0.8101, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3491 left_y=-0.2653 left_z=0.0935 left_yaw=-0.0106 left_pitch=-0.2491 left_roll=0.1053 left_gripper=0.0308 right_x=0.2941 right_y=0.0002 right_z=0.1732 right_yaw=0.0011 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.1436, -8.9368, 6.5162, 1.326, -0.3346, 0.0855, 1.0281, -0.0342, -1.1692, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe5078dab314f20e28d7807037bc12cefa56e5c4e3457a52fa1d18124b86348",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44138f9db08c263b0bc492eac41cfacdaa1a5d31472a1595a0d76d159251b8c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7508c477e87d313d5403fe4fb388631c431387a8fcd5d38b62b9872c0e06b9d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.274 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8837, 1.7706, 1.4471, -0.6956, -0.6075, -0.6643, 0.0308, -0.0216, 0.807, 0.6048, -0.3935, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3576 left_y=-0.2712 left_z=0.1667 left_yaw=-0.0192 left_pitch=-0.2079 left_roll=0.0749 left_gripper=0.0308 right_x=0.2939 right_y=0.0002 right_z=0.174 right_yaw=0.0011 right_pitch=-0.027 right_roll=0.0016 right_gripper=0.9982\nstate[joint_eff]: [-0.4171, -9.0598, 9.0462, 1.0427, -0.6618, -0.0562, 1.0281, -0.0205, -1.5385, 7.0222, 1.6874, -0.0366, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3y8sKBbmsUICHVAvQkubQnMUJ2Tr2XpI7rBZeyCypxyZw_t20bguISFI0hE8fjl-DjLso4-XNXA1N43SL4iuL2125s-wvq1HuhuS5DK0E-dQfOyEi3MhbL7Etsf36uvZoojo93yHAWq01yUnDtwXiBk8uifZBYf9SEtWRRojkM9nDTdxnjVH3P-ozYg9DwU7KczpwBwjQiSiURy7bSvqzevS7eHWlNbyr85F0Ux9zD6YIPKSqwVLYXDIboNVvUpzvENu_UIbds4aPYjmG2MWwCw9D7H3xrgmBETqvuTWYIvLzbkqCSXFucs4dT5IjuciyBda11b5Yc48OPVGl-kGP_95oBizP56dkLgiu7vNtxyE4xU3-hgQ29K360vbz8mOVm9Nm3GZa5R1pfW0DC5PQDWS8ll2qpoVJe7XHDNIkCp8CWxQW_x7NKfKc1NHIVzINDydYUAKyMAOpHDuL6Ij6QxyqxT89qVDDsdd-YdMYfs68dvjHdMo6FzPw5SduCfOUHxDpC00FgqHWOAQuTFL5zeFvPMzj28_0f_x4dlJwmmthuHz6zETG8znROpjOwMjOIkgrn-_vHknv1uwNb4l5wCWxORPbDkaUB18WPzL2RFrPMpa0sMuCv7CnboqSn5A0yi2Wbi4JTYuBBXlbXaiFGAF01jYaOyhj2lxe0K1AMGwqvKfs9oE2DxygjuX5_NuM6gO4HW4srVfMIgSZ1I_hOPwP2VmOsce1iRoJkFyF9IzVGVF38Hn1G2GhTPDQtk7hXbUQMjU08B7bz3tVhWFGeE3LIXBiPJTSjW306Tw7dRbIEZNC8NbTvu2bu4seAkcZgkgJxDbZqAROkjzlat_L8AL7_fNDVUmU5VTBSjqq_NZYmbQMbYxFyMURDzqmYphPHW_7bSwxl8YPmx7MH0ERq2FuGranxOjI3mVGyVW2ugAtq2qusF85GhGLG5NLvN1bNyiRUETzN3hfQG2e0hY5smSWMaNHVRPT-hDJaIRYueGmakwaovTp0QjH9TTvOLEpdLy8MFD59RlqmgxiDpv1YXVS2BPKsE5ADfcJHAeSJ5LqmfahUw3RjsSc1nYE73lSO3LW4jNwY99RDvtb8gYDLG2FWqGAXb4A069DPUTO5j8gOJeP4DlnMUImw_TAiMTzmsK5p1N7KySacK8dfQpok5ulBvLVvPV9Vaz52495ktCs48OUObSR8WjsvGJ9rkCoNPLvy1pTTJlcO40v4pnRR8UdoQQe7AeuSXpnxk9axzKMZiMAro2AyFlmJUnRMGZ8PwiR8eVJ2ptG-wQV1Ve2iagii2nDHTOlnJmD89I_IuuZ7qjDTYK7hM5LtFjlARpQfZmExqvC9o4PXMkZEv1i1uWrgL-RzUnaqDi_DP7YhGgOb_4rBmfKVcpXZJM2z-W2AVEhu5rO8duDGERHjEeetUq8A6l2cfvEDODeizyiwimQwJo-1kuv0fULcejwqKYmOLTMGFTd__va_N19JUHHzjQ==",
  "id": "rs_0974558dfb454b7b016ab2adece48487d095f5e2d66011015b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.325,\"left_z\":0.105},\"note\":\"At the lower height, the lavender bowl is still to the right of the carried bowl. I’ll shift about five centimetres right to bring their centres together.\"}",
  "call_id": "call_KwdYioSwOq8nKPnxj3ADdcTP",
  "id": "fc_0974558dfb454b7b016ab2adefde3487d09e9d7dfa62472c93",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KwdYioSwOq8nKPnxj3ADdcTP",
  "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]: [-0.9737, 1.9823, 1.4872, -0.6437, -0.6117, -0.7734, 0.0308, -0.0219, 0.8112, 0.6048, -0.3927, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3452 left_y=-0.321 left_z=0.0955 left_yaw=-0.0231 left_pitch=-0.2735 left_roll=0.0969 left_gripper=0.0308 right_x=0.2942 right_y=0.0001 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -10.3179, 8.6222, 0.9255, -0.6325, 0.1001, 1.0232, -0.1162, -0.9641, 7.0632, 1.7021, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8c5a916c7fddd80dbccbc8e9e620e8ff9c080ecb38dc949e5498bd0fdc1109b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9843d29bc88cdd59a44ebd63b0ed19dfa24684989bd72a45be4666585f171337",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa941c742e42d49b5ec9742b4356ea48a6d0b4be088d916453973572814cf60",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.701 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8875, 1.8229, 1.2423, -0.4953, -0.5995, -0.6777, 0.0308, -0.0216, 0.8101, 0.6048, -0.3931, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3491 left_y=-0.2653 left_z=0.0935 left_yaw=-0.0106 left_pitch=-0.2491 left_roll=0.1053 left_gripper=0.0308 right_x=0.2941 right_y=0.0002 right_z=0.1732 right_yaw=0.0011 right_pitch=-0.0297 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [0.1436, -8.9368, 6.5162, 1.326, -0.3346, 0.0855, 1.0281, -0.0342, -1.1692, 7.0769, 1.7265, -0.0806, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq35Fpy8n6Qu_H5fGL-9jX-rT-7_ea_-aq4ngz7m1zxt_lwYsdSFcKPclpbJdwvGQy377n16DkvIA6vPygX94k7RISckhNeG9u_Hu7VT0kVJZS5rZYjT1yRVS6sctatO6llZO2kf8uG996tRK5KGqp7XYr4xVBnqHKrP0610bu_MrsTOujXYdcyqeP5L3Hp1hmtGpf5dHBObUbBsraBccHatIPkTkvmkyGNc5_d_i0uEz0X3C47Rfa8GvERW9GcDtV5VaSQ5AFODxa1XHTF9fad1OJz2T_QtIZ9rJIxUgoOeihDaKlAz79MULV6E2XYSLQb-VKV3qdpgs8dv-YJ6ExgBrrle4o4x-Nne4Cwws3GzDK1wEMaAbgFflxqVlNXf_tLy5htuxx-DjwQjEfxtchdUDuat8L0PV_4ToPPgtV5z0hnaIs72B0z-FsHaDeCLhzTDrBTMBtDr4jAX82wGS1oLYR_3NrSC9xdQCnBcx01V9eQgNHb3PVNai-Gcwv2qyBMvtTTd1r4RHaVY921_C7zOCWWMDjZcqskUkGAQwgE_wtjCjYF12bnU_m3e53IjkTqEf-tzc3M3rO097-LzUrhvddku7f87VD9EEobl85-h6MpNVPIoZ5Cw1Cgv9pBTK_yJkrbzQluUQN_SIJnP6BHqShcs8smekoclbECfoGvjLQdrA_HXACmVqrKVXgnRXVM7fPtakTQPjYcESD1jsy-mtTz717QTlqWwNVb8Yxw5jUzptTP36fty6R9d_nvqGoH0pSl2-FFMk14bGvqDCX_Prw9J-8lbC6bPlgN1I13PZ6yNESnYjTKkEADpjzmT8arujxn0AEs_Sg7ejptInGyyiX5A56PPxJOzBXYjBM_9ZIbUCPvKiwY2k_eDO0TLjZ30caiAV7IAz2ckopVQFpn6pRbXnE_j79816xLtRlJZNc3OOiSMkAx0MFfC0WZvHlw0gY2QtrkfjJNcQpy5dU4_MykmgUGTzYwITKFrL4b8Nc2uHiE03L7iP4k8R9py3fkHFXB36-5t184KMAKQsp_PDIStwzVR3_BAnmfd5qW4PsoHypQxGeWUT7yJxF8bqijDOE5KhhXFHlzsrSKGGMaKgaQSjwOebpT-l90hYIrCmlIEi7IJHSaxQS6hEAPp6bHjl6UPad9FjZ_QsMJJijo6dxDBTArTAMqbh8ZuMYmFqSdqcP9rscjLeqAfjVl3Ck3SjDCXsp9KF6XnqndrKNBsESIcU3PN6wqWRqbTXZD2B4iKgt3ST3UuhBwd9oPnxjO1KB9p1F7xzMzF1HdqisiY-Q==",
  "id": "rs_0974558dfb454b7b016ab2adf6a55087d089e475042c210c9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_z\":0.055},\"note\":\"The rims are now nearly concentric. I’ll lower the green bowl into the lavender bowl, with a small forward correction.\"}",
  "call_id": "call_o104xqwsbe2q1usII0Veavip",
  "id": "fc_0974558dfb454b7b016ab2adf77f7487d0b6aaa3b94f92d100",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_o104xqwsbe2q1usII0Veavip",
  "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]: [-0.9024, 2.0937, 1.4994, -0.5472, -0.5884, -0.7292, 0.0309, -0.0219, 0.8154, 0.6048, -0.4114, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3764 left_y=-0.3127 left_z=0.056 left_yaw=0.0108 left_pitch=-0.2947 left_roll=0.1163 left_gripper=0.0309 right_x=0.2918 right_y=0.0001 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.0534 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -11.5624, 6.3111, 1.2527, -0.2564, 0.149, 0.7985, -0.2256, -1.6889, 7.0359, 1.8486, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2ab0c6b55e0f6327db27092501baf9c85adbf7ac4ac7812e264bf081b3eb6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94dd4d2b7e83adc7b303eabbf936c9c5f5e9fd461f6e3ab2e78a36cfb99de35a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d23b67698d9f0b053a6403077435aa4f63b701808a1180cdfe9b5739224e31b2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.412 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9737, 1.9823, 1.4872, -0.6437, -0.6117, -0.7734, 0.0308, -0.0219, 0.8112, 0.6048, -0.3927, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3452 left_y=-0.321 left_z=0.0955 left_yaw=-0.0231 left_pitch=-0.2735 left_roll=0.0969 left_gripper=0.0308 right_x=0.2942 right_y=0.0001 right_z=0.173 right_yaw=0.0007 right_pitch=-0.0305 right_roll=0.0017 right_gripper=0.9982\nstate[joint_eff]: [-0.5675, -10.3179, 8.6222, 0.9255, -0.6325, 0.1001, 1.0232, -0.1162, -0.9641, 7.0632, 1.7021, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq3-hXdo3XxFFAvgLVfG-EwLM4dxwFZjZdUvRn1bMFCbO-fcG_RkNtT7xogh-6tnblkFQYORI3XHM8HgDMflCKMKUJRPVIMkFFGvkPr0Hzbf9qOKsNVJOu2oI_wtKaQTWL-CfL1pp52sgNq1cQ7tpDzM-ZqbHdOwRGf_1K9nhiulB8F-e22H5bIQos-FgccygM1__8_xkh8UTDJnevpJSms_QwE71CwD30ul4BWxzCdNA5r2J1W4qSQYQOz0kOEgWYNv-9bwbmqJ5K5EqBcIZqQMSLADRvFyz3lud0hnWcEs-7Pitsm7SU4-cOKOc2jC3EdbkCb-9di1J-YOjiH2mlhyAC9q3xa9or4hFWo1tP9_dFVQMjYhtvh6U1ueU6JCcpU_bbXlCQTFUACJqtGf2Sn9ehdWPmei3u10Ygzf_qLSqNuSjcSjPK_nZV6nL7qpmuz-HeotJvFyib8xFNp4owJ0b6OX0BpUrk10YiZPQ4XnjgcNYItcPXE2fvaOMmFKI_rjzml_dt3rZBkUAYyC5dB_3Yj9oojoDAZ8fK_-IC07ab_JlLS5h0Nfwgebl-e-zZVBaQN_uZO9ySJsjD1MWZV2ohIxzF5u6CFDx0SYziMdPkWfRAruUnEojGTYLBesWU3PJ-iH4JaRdodmMHAISjmu75b3BMwQJSB0jzMl0-PgPxGzbENMdIsfgueV-IB-rsPkisQLLZOeCATu7bu3PKDQTy4f1MVMem1iGl21fdMsWvy7SoxhBvfhGbJilnIDnuchccg8FcxIER_XTw_IWgqCFBgXP1CEh3SwYOHG7C02EbQ5A3JxXAESS9SPPwbpCHJ_dZizR5jXWFlFuLF3e9JctaLrelqnsfTy352d5CBbwR6qjHCBSoV0ttpS2tweILjxu_xcvwPfJFC7XPPpf3duO05u9bGxpB_P4aQSWdWfFtiFXQLAWwkVGm-ruxPUkoTbXTEZnAWH0XDP9Xiskccs7K_FQ1P4w3XeE_og6uyYZCgkH83cAwEt5GGDTfnJjaxWrjBvNI9BKMoHfGUZmVzP7s2VrG92iWxrprNBnq7c0mW2NdKKtjskB8q5HSY6mMNRx-vpMtecQ3QmrNuy3SRZH77bEFfdUyuivhIVz49E8wGg71MnWjC68zcwjPNOSEdkobAhW5m6Zzbaemh9YhiZHkJU0c1Dad51uA1HKKsqxIN66CpsFiP8fxfUP-eerry2EXbotLfy_Tac12W_x-nUEw==",
  "id": "rs_0974558dfb454b7b016ab2adfc2d7c87d0ad8ac7b1768fd729",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The green bowl has lowered into the middle bowl’s opening. I’ll release its rim so it can settle into the stack.\"}",
  "call_id": "call_F2cjONY7UK7dgpA9gRK69dOA",
  "id": "fc_0974558dfb454b7b016ab2adfcdfa087d0a1dac3d51fcd9f24",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F2cjONY7UK7dgpA9gRK69dOA",
  "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]: [-0.8997, 2.1075, 1.4998, -0.5453, -0.5915, -0.7319, 0.9937, -0.0219, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.3111 left_z=0.0503 left_yaw=0.0195 left_pitch=-0.2993 left_roll=0.1258 left_gripper=0.9937 right_x=0.2913 right_y=0.0001 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -12.6291, 6.3385, 0.9841, -0.2613, -0.0122, -0.2222, -0.1846, -1.5385, 7.0222, 1.6972, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2150f44dc81284977aea0203a319cfaab95fb6fca38eca84f2ba9706334d2ef2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0af811f649011c2c4b62e790ac6a5b9d7bf1d7dc0497828b708134ba9d2ef44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1cc23126f1cf4dd3cdc73c1f8f0ed02f64ceaf016d29277361155b385bce140",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.427 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]: [-0.9024, 2.0937, 1.4994, -0.5472, -0.5884, -0.7292, 0.0309, -0.0219, 0.8154, 0.6048, -0.4114, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3764 left_y=-0.3127 left_z=0.056 left_yaw=0.0108 left_pitch=-0.2947 left_roll=0.1163 left_gripper=0.0309 right_x=0.2918 right_y=0.0001 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.0534 right_roll=0.0022 right_gripper=0.9982\nstate[joint_eff]: [-0.1846, -11.5624, 6.3111, 1.2527, -0.2564, 0.149, 0.7985, -0.2256, -1.6889, 7.0359, 1.8486, -0.0708, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The rim is released. I’ll lift the fingers clear before retracting the arm and inspecting the two-bowl stack.\"}",
  "call_id": "call_scVrLpFkgpcOBmdIixqfk9Vc",
  "id": "fc_0974558dfb454b7b016ab2ae0153f887d0a857bc36e8241a04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_scVrLpFkgpcOBmdIixqfk9Vc",
  "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]: [-0.8993, 2.0743, 1.9209, -1.0161, -0.5892, -0.7486, 0.9942, -0.0216, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3804 left_y=-0.3151 left_z=0.1656 left_yaw=0.0321 left_pitch=-0.3096 left_roll=0.1269 left_gripper=0.9942 right_x=0.2913 right_y=0.0002 right_z=0.1667 right_yaw=0.0011 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -13.1077, 8.4991, 0.9255, -0.3541, 0.149, 0.0513, 0.0479, -1.4017, 7.2137, 1.6581, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69920b9e74be0e0644e435e15fecf4dba03ec86e21c613e6012a67186eddd08",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:019b2053f9208997c1bc36f8847a897106be7fbd0f4a5e7755a72a7dc3727639",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0919d45a007f7d49406885f1f7359f37a6800b5b7ea4a50167d9b4d4bed2d31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 11.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8997, 2.1075, 1.4998, -0.5453, -0.5915, -0.7319, 0.9937, -0.0219, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3773 left_y=-0.3111 left_z=0.0503 left_yaw=0.0195 left_pitch=-0.2993 left_roll=0.1258 left_gripper=0.9937 right_x=0.2913 right_y=0.0001 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982\nstate[joint_eff]: [-0.253, -12.6291, 6.3385, 0.9841, -0.2613, -0.0122, -0.2222, -0.1846, -1.5385, 7.0222, 1.6972, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"right_x\":0.37,\"right_y\":0.13,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The first two bowls appear nested, and the pink bowl remains on the right. I’ll park the left arm away from the stack and approach the pink bowl with the right arm.\"}",
  "call_id": "call_d7cDVqijJM80r8lt5hGvdXIN",
  "id": "fc_0974558dfb454b7b016ab2ae05ca6887d09b1926e381be1eaa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_d7cDVqijJM80r8lt5hGvdXIN",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1284, 1.0706, 0.9703, -0.7994, -0.1997, -0.0856, 0.9943, 0.5034, 1.3586, 0.7971, -0.2001, 0.3721, 0.2691, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1885 left_yaw=0.0818 left_pitch=-0.3124 left_roll=0.1193 left_gripper=0.9943 right_x=0.3565 right_y=0.1271 right_z=0.1286 right_yaw=0.034 right_pitch=-0.1301 right_roll=-0.0303 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -3.5077, 6.5162, 1.3846, -0.0562, 0.188, -0.0073, 0.2256, -5.2034, 9.7983, 1.9121, 0.3834, 0.1685, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe49ce97180453c7c8908f303d34fa67d29c306315a0663161c6ad2ad2f82b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc31d20925f10d94e2e964cfefac9aa87765d95415716b90aebf1136f46b21d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35bdd791e55d721a77c7fefc8c1fafa44c81db945fd5e6f866d735afb8bc6cea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 3.801 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]: [-0.8993, 2.0743, 1.9209, -1.0161, -0.5892, -0.7486, 0.9942, -0.0216, 0.8173, 0.6048, -0.4156, -0.0166, -0.0341, 0.9982]\nstate[eef_state]: left_x=0.3804 left_y=-0.3151 left_z=0.1656 left_yaw=0.0321 left_pitch=-0.3096 left_roll=0.1269 left_gripper=0.9942 right_x=0.2913 right_y=0.0002 right_z=0.1667 right_yaw=0.0011 right_pitch=-0.0595 right_roll=0.0023 right_gripper=0.9982\nstate[joint_eff]: [-0.294, -13.1077, 8.4991, 0.9255, -0.3541, 0.149, 0.0513, 0.0479, -1.4017, 7.2137, 1.6581, -0.0757, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4WZAfv_2M_VzXSHzJDHaww4WGQihlimQVPgqki0rO1FBr7h3J3j2q9OsSYa3pG87gHmLIQOAHgpTyp5X2se3oXgBMEot05ugNr3TB19_o9Y_9aMDyaPHOiTO2-drR9C0t7kpmj6bukjsbUtxEka4Bsdl4vo6_ilqGf5RRE1y6yPeaZG7RFfthK7eBjXq0Rw4RMCuaOkQBwmEDT53bjRC2poFqEIdrcL42Hh946MtDUfY_Sc8oVZapM28QetRBVPA_S9BGzCD3ya933EiJl-gIksNSRQqwAcdI5W4ntZHa04x7YbqwkAFGCLTCDOQjClFP-14jgdeZ3BYF7NERtZftdfa0katdYZs9zM7dDXr5GZ-fQuR2cnVwCpMzZyx5NnYGGx7cTJLxSdYK5R0_j3UsGf27Jz0YmXL4WGS9q1nljRdsr8wHzpdSDOp8PxYdtep4sbuP2Q1Io_OYXuRbNKUS2t3g3Wi-zFSsz0yFMFkq2Qco7zfH34YOx9tjwPZEAM_BWaUSJx7OAIleLEpHxR9dRq9qXD-LMMthoPuiSf1FaDyC9ABqqmkCA0wgrtn2UgKGMSjwas16yMUM0_1p3UvDMzxZBq6qxLHAjWL9_8RlIwzffEw1B44IwEfm03IwFFUYvArYCCP7GIGMSLl8SdN0jAmg27924gbZ2zBmg_3mZFCh17R-kKu-_eRfCsPoNJtT8I95nG-hvkajkf48EvC715xO5ldr_Tysc-pWVyVV81BgTxEx9Fk9Aa-DxJPHR1_Z3U2XhvOoABSYBxm4TJkKcFPuO29mzc4rTKnY72LOwwzg0qtBTxw65hZTXNgJSrKZILzrPsVsqGZMZsacVYCAVy4By_fCdSToeMbViuiK4fPHjMdoi_CJk3J3X_no6d5McYX_eli-8ygfXxJof3wkNSSximidcNWy2x85aHWafau7dXX9LlTUkuXnk0E6kMSAraOF3eM0hTUI9mTK3jaQsmmvWIUE0Ye421rJAG7dPUatVk-7vIoYRDwnQGFhwpevB5-XCutubB5fJwvd6LhgRqKnuPs3opzsn_pIoEmzr9HI2ATb1OVuois7jYIgconZAD1V1WPi7tAmkSXBU83xP1ZzB-L0ZdFIA8AWVnVZYtkTKk__9n4qyISaSoXPPGKysJzhvW3U6p4lYqMnMubx73q-wQjva88VBMvocJ_O0aF5Tpastxap7DbPcIpeRVC7ye-miIGlzHgj3tF-lMEea2QtOIOkEFgrKnk7aObpoeXykVVP0odzn09QMe7WURXBrbZwOyzJnZeBk6vj37bSRIxDZQy7k6BRXUT_1Va8q4sGdqaA1VkP70j6zemhHp3eIYLaAySEndZKyVDgBeTeaIU3n_5PGdoySdR_eBYrZK0-lO3EmQZpNIVt1ZQB8xjn6WXtkIxx9ZGug0sDJiLvotfyZ2SuFqth3gm6KZ9H4ATOfNn7nm9kZpStYG3C6K_W9-P7E4IPyHf91OeNTWjC14h8IBPpBrwnd8EpC0vJka-vijtB_8kXcwMGDFsTH-iEto6C3hl75rmAfO0Dv_nbBB9S1L6Oog5P9FWHSEPdFOppeGEGBgYu_j_f6nrRiDvZXWkvFqe1hJMuLrtrPVScPGIJ3Q_MOcbCtbyT8Kp4APE-l0iLHR5aTn_LXgnuabE2MMGm8MpsovIMEBsHBSqAdTF2DPn1fqX61s4Im8bcrnwR9MuXWpHNjCYE5D5khmxwE-Cpgt4ArbJNBRzyWISIi0Q==",
  "id": "rs_0974558dfb454b7b016ab2ae0f242087d0a0434996e2ddf6e7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.115,\"right_z\":0.05},\"note\":\"The pink bowl’s right wall lies near the jaw column. I’ll lower the open gripper to rim height and shift slightly right so one finger is inside and the other outside.\"}",
  "call_id": "call_YFxKTVcqsYNxFtyNDwOTaYZm",
  "id": "fc_0974558dfb454b7b016ab2ae14636087d0870726c33f6a1929",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YFxKTVcqsYNxFtyNDwOTaYZm",
  "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]: [-0.1272, 1.074, 0.9634, -0.8043, -0.1844, -0.0788, 0.9943, 0.437, 1.5677, 0.638, 0.1078, 0.3244, 0.2245, 0.9983]\nstate[eef_state]: left_x=0.2952 left_y=-0.0015 left_z=0.1836 left_yaw=0.0668 left_pitch=-0.3302 left_roll=0.1147 left_gripper=0.9943 right_x=0.3626 right_y=0.1112 right_z=0.0417 right_yaw=0.0263 right_pitch=-0.2003 right_roll=-0.0588 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -3.2068, 7.1726, 1.3846, -0.2564, -0.0904, -0.0171, -0.4581, -6.4068, 5.4906, 1.8242, 0.0757, -0.0708, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e2e16f2597853951bbe7f5b2e81c4962bb2bdb375bc6874d53a0d081ef64c75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e7cf3fe5277659564ce1c42772b6bf5b3f0327f382f37c728d4ff9e9557658e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:160813f1f763d6c3233e96419b88729544e67cc598c030fa7fec6e568d1bd96e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 4.31 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1284, 1.0706, 0.9703, -0.7994, -0.1997, -0.0856, 0.9943, 0.5034, 1.3586, 0.7971, -0.2001, 0.3721, 0.2691, 0.9984]\nstate[eef_state]: left_x=0.297 left_y=0.0006 left_z=0.1885 left_yaw=0.0818 left_pitch=-0.3124 left_roll=0.1193 left_gripper=0.9943 right_x=0.3565 right_y=0.1271 right_z=0.1286 right_yaw=0.034 right_pitch=-0.1301 right_roll=-0.0303 right_gripper=0.9984\nstate[joint_eff]: [0.2393, -3.5077, 6.5162, 1.3846, -0.0562, 0.188, -0.0073, 0.2256, -5.2034, 9.7983, 1.9121, 0.3834, 0.1685, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The jaws now straddle the pink bowl’s right wall. I’ll close on the thin rim for a test lift.\"}",
  "call_id": "call_CL5WDLm2un9pah9N6qN2ue5v",
  "id": "fc_0974558dfb454b7b016ab2ae19624887d0bb17df3305b68691",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CL5WDLm2un9pah9N6qN2ue5v",
  "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]: [-0.1272, 1.074, 0.9634, -0.8062, -0.1833, -0.0784, 0.9943, 0.4328, 1.5723, 0.63, 0.123, 0.3058, 0.2245, 0.038]\nstate[eef_state]: left_x=0.2948 left_y=-0.0016 left_z=0.1833 left_yaw=0.0657 left_pitch=-0.3323 left_roll=0.1144 left_gripper=0.9943 right_x=0.362 right_y=0.1126 right_z=0.039 right_yaw=0.0377 right_pitch=-0.2032 right_roll=-0.0449 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -2.9197, 6.7487, 1.3455, -0.1148, -0.022, -0.0171, 0.1983, -5.8325, 6.4205, 1.1648, 0.2906, -0.0464, 0.8767]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c16d55e1f2e18459fa3058c2bc1ff14df9bc2c12d6d6ccd1a9eef3bd9c04bfed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d46c07087028f7a81fb11cd3c93a767f276a552abe1ba24fbd9db44146cd74e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bbfcd2764de98cd40002796448f92f60384de0adde7c9705ffa2d576fa0036d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 8.091 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.074, 0.9634, -0.8043, -0.1844, -0.0788, 0.9943, 0.437, 1.5677, 0.638, 0.1078, 0.3244, 0.2245, 0.9983]\nstate[eef_state]: left_x=0.2952 left_y=-0.0015 left_z=0.1836 left_yaw=0.0668 left_pitch=-0.3302 left_roll=0.1147 left_gripper=0.9943 right_x=0.3626 right_y=0.1112 right_z=0.0417 right_yaw=0.0263 right_pitch=-0.2003 right_roll=-0.0588 right_gripper=0.9983\nstate[joint_eff]: [-0.1573, -3.2068, 7.1726, 1.3846, -0.2564, -0.0904, -0.0171, -0.4581, -6.4068, 5.4906, 1.8242, 0.0757, -0.0708, -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 gripper has closed around the thin wall. I’ll lift a few centimetres and verify that the pink bowl follows the fingers.\"}",
  "call_id": "call_evNxImWUdaA1Mt0ZaRJ4E8L7",
  "id": "fc_0974558dfb454b7b016ab2ae1df89887d0aeb4c3f0432867c2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_evNxImWUdaA1Mt0ZaRJ4E8L7",
  "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]: [-0.1272, 1.0752, 0.9627, -0.8066, -0.1833, -0.0784, 0.9943, 0.4335, 1.4433, 0.7479, -0.1429, 0.2989, 0.2157, 0.0389]\nstate[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1827 left_yaw=0.0658 left_pitch=-0.3345 left_roll=0.1148 left_gripper=0.9943 right_x=0.3587 right_y=0.1127 right_z=0.0855 right_yaw=0.0473 right_pitch=-0.223 right_roll=-0.0539 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -3.0564, 6.6667, 1.3358, -0.0952, -0.0708, -0.0122, -0.335, -7.0496, 9.0462, 1.5165, 0.1978, 0.0122, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a349f8775f2c36cc9fa4622670415409de089f9b91566e65c281a2b3ecda0b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bf31df7951dbac96bb020d4238c7fed504e2801ee90ffaf3d8432cc5241aa8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7423c5f3a3cc4e234c214779af90d4352de32609cf7bb670a8f4484106acbdf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 6.178 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.074, 0.9634, -0.8062, -0.1833, -0.0784, 0.9943, 0.4328, 1.5723, 0.63, 0.123, 0.3058, 0.2245, 0.038]\nstate[eef_state]: left_x=0.2948 left_y=-0.0016 left_z=0.1833 left_yaw=0.0657 left_pitch=-0.3323 left_roll=0.1144 left_gripper=0.9943 right_x=0.362 right_y=0.1126 right_z=0.039 right_yaw=0.0377 right_pitch=-0.2032 right_roll=-0.0449 right_gripper=0.038\nstate[joint_eff]: [-0.1162, -2.9197, 6.7487, 1.3455, -0.1148, -0.022, -0.0171, 0.1983, -5.8325, 6.4205, 1.1648, 0.2906, -0.0464, 0.8767]\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\":0.185},\"note\":\"The pink bowl moved upward with the gripper. I’ll raise it to clear the existing stack before carrying it leftward.\"}",
  "call_id": "call_UpjRi6Jbke0h4UYDyufZpukx",
  "id": "fc_0974558dfb454b7b016ab2ae26e68c87d0a11f4f72b17f9358",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UpjRi6Jbke0h4UYDyufZpukx",
  "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]: [-0.1272, 1.0763, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.4335, 1.3666, 1.0271, -0.5259, 0.2977, 0.2081, 0.0408]\nstate[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1823 left_yaw=0.0659 left_pitch=-0.336 left_roll=0.1152 left_gripper=0.9943 right_x=0.3582 right_y=0.1127 right_z=0.1637 right_yaw=0.0501 right_pitch=-0.2487 right_roll=-0.069 right_gripper=0.0408\nstate[joint_eff]: [-0.212, -3.0017, 6.6667, 1.3944, -0.1538, -0.0611, -0.0171, -0.3624, -7.159, 9.4564, 1.5067, 0.1783, 0.0513, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c210ad4da9f3bf3c09d4c7c67fb16d1fcf2cd169152576e94196238f9e5cdc0b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:705fb4bd184d1736ded88f7a71683eef26c888d420730c9ede77f1276990e7be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:600714145f37ba43d69015e6975c4e7c5355ebde07d40ff2e0fb006df08bb2d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 4.242 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0752, 0.9627, -0.8066, -0.1833, -0.0784, 0.9943, 0.4335, 1.4433, 0.7479, -0.1429, 0.2989, 0.2157, 0.0389]\nstate[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1827 left_yaw=0.0658 left_pitch=-0.3345 left_roll=0.1148 left_gripper=0.9943 right_x=0.3587 right_y=0.1127 right_z=0.0855 right_yaw=0.0473 right_pitch=-0.223 right_roll=-0.0539 right_gripper=0.0389\nstate[joint_eff]: [-0.0889, -3.0564, 6.6667, 1.3358, -0.0952, -0.0708, -0.0122, -0.335, -7.0496, 9.0462, 1.5165, 0.1978, 0.0122, 0.8767]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4uObfX_Ou-_i3NOExZAtPSnoGwTBhB4neogZtas_Dzd9oH9facbSFTJ20ghfeuJo306OUypR_lEWHlABQ-xuC2IR9M2p3K1Kk_5_09a65D92PeB6aInqwb_RJ_JSMEZEPhXj_uaBTYlgMt2jMNLamyoRoDCt9Ph8YRiuz6I-n98SbajfHPGv9Pt7PtTqv8t-8qTY7v4zWxkgqDAUYE6VmQkMjmBqBNqL2FVqLJ7DQI-pkTxDVUROxa0LwohT2_SZCgqI3CeGFp7iw_BUWO0SwNqgJn9fWiyYyxH-TuwE0oAsXQ056ICHYth9yGtrjtSNQMEVdvktlSB-eiRGVvsULce5L7dqifUhd3y3kIV7D6Pb3YYxbG_HATK0lUC4uLPqfmOt42_X4nJ4nJLib2u0qxyShHcEyMLAQ_vD9gKTd1UbRXHkBYJ8PbC0bNgBqf6ChV_itsx78gSm3xQZhDUiPhtscwaJ97fbp6Uwq5dNkLHUP7cVGn3eaz_QmmqlC4_zmYZpTiSfn69gpfXqoLHK6cfOzuXc-R3vlIVatOlERLTsY0pG9g7W1oJm3DXtmUE0tkqyBzMq1XWMICIBlhaQmtawvYO6x8MxbeiRkPScUL1n3LksiQ3CafsCs9MSJO8M0VCkRZ-qGFnmTLtcl0Jge2zK2iQXFMJclwuYxXoFInLMEo5mkMz_akUT1x0CcU5___kE79QGpn1jei7LMBinMS9QeIRJPwcFAmauJ90vJnje_AQM5CIFcxHUaqouGzk3gRT_EJ5XKE_4GIkaFHhB6zdw3xXA6HoLQTCNp926VfXqdsmdGtK09D3OH0nzHlmaTeq0Hgg5aov6jgJjEmHzHp3ESJ7AELmU9vSD2m07TUJ95FMHWDo_5ooWrkeSMnbR_tpJz_U6Ecvx4254d9VQiKisx414_k_Ad_73k6DfPXqzoh09XmIERk_tD1TA7i1wwG5jTcZQIs74a7kIcdOHR2eD7iikUZuxqGDKzxtnZ7mUiiPZADxfs7IhBLAR2c1KQoAOiUZABWZG_Mf4QKCBMki1vpdopTJ0h6SXdzSuVrsu3UAyxW6I5WsSaiHUDv9iR1DdP7NELY0pm7JVi6BdQA-LngM7XkV2HslaZzDIiAKknQXlSbIrL_78yQIcICbHsbUF8uI8ahob12dkAKBGcaoPLq0-x8qqQILBHGlo_WJvjrGlTjzdLBsvAoJSrDTf7TKP9DjCb5SzhZufwEsj6mmtpf866huWNrB31QgfyP-e7JfQ1C-hWGR1DCP5tP91BRh6zG2YMNZioWno5bEhZlot2sy5Wny3gLUniyg5ZJpW_1kR_W5cR1xdRPe3K-O5JATNWLBccHpsix05UNKaPEESvHOrn3MMIUAj7Jc6kt5N0sIK6BGukk5pWABl6AvkBxVEfMA42798dREL7PY1ZBdnQ8ll03KySVts_pH_9mpJq7uN7mFXZpc12EfLZmtHLMoi2tLrzFzxsaTQALGV5kZaWBtRD-N3q9eeTr37YO98A=",
  "id": "rs_0974558dfb454b7b016ab2ae2af2a087d08d120e9f0e726298",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.325,\"right_z\":0.185},\"note\":\"The two-bowl stack is directly to the left of the lifted pink bowl. I’ll carry the pink bowl over it at a safe height.\"}",
  "call_id": "call_DAB1M4SRdt4BPTXJsD8VRyHW",
  "id": "fc_0974558dfb454b7b016ab2ae2d422487d0b3ea510b0ba89e0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DAB1M4SRdt4BPTXJsD8VRyHW",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.079, 0.9627, -0.807, -0.1833, -0.0784, 0.9942, 0.8772, 1.998, 1.8034, -0.8749, 0.5259, 0.5667, 0.0435]\nstate[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1816 left_yaw=0.0661 left_pitch=-0.3387 left_roll=0.1157 left_gripper=0.9942 right_x=0.3777 right_y=0.3212 right_z=0.1685 right_yaw=0.0861 right_pitch=-0.2969 right_roll=-0.101 right_gripper=0.0435\nstate[joint_eff]: [-0.1573, -2.988, 6.612, 1.326, -0.105, 0.0122, -0.0122, 0.1299, -10.9744, 9.1419, 1.2283, 0.4908, 0.1929, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:708add2241afb972be0d423bf58874845dd4abe0ea2790e94296d2e3ecdfa039",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d0f9e855f4b8a8789cd7d9f5a1037cafc48146eacc41adb45c0e4f24ca71e92",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1006cc99dccfca1dda60ae80c8317c2de2bc42cdaf317dbe0c724e7b8589f341",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 10.67 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0763, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.4335, 1.3666, 1.0271, -0.5259, 0.2977, 0.2081, 0.0408]\nstate[eef_state]: left_x=0.2947 left_y=-0.0016 left_z=0.1823 left_yaw=0.0659 left_pitch=-0.336 left_roll=0.1152 left_gripper=0.9943 right_x=0.3582 right_y=0.1127 right_z=0.1637 right_yaw=0.0501 right_pitch=-0.2487 right_roll=-0.069 right_gripper=0.0408\nstate[joint_eff]: [-0.212, -3.0017, 6.6667, 1.3944, -0.1538, -0.0611, -0.0171, -0.3624, -7.159, 9.4564, 1.5067, 0.1783, 0.0513, 0.6667]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The pink bowl is above the stack, with a small rim offset visible. I’ll lower partway to judge the alignment more accurately.\"}",
  "call_id": "call_MYU12G4lEUnokd9cnCVa0JN9",
  "id": "fc_0974558dfb454b7b016ab2ae33a42c87d0bf497f7adb590dce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MYU12G4lEUnokd9cnCVa0JN9",
  "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]: [-0.1272, 1.0798, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8795, 2.0129, 1.589, -0.7082, 0.5179, 0.5652, 0.0429]\nstate[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1814 left_yaw=0.0662 left_pitch=-0.3394 left_roll=0.1159 left_gripper=0.9943 right_x=0.368 right_y=0.3131 right_z=0.1023 right_yaw=0.0796 right_pitch=-0.3459 right_roll=-0.1439 right_gripper=0.0429\nstate[joint_eff]: [-0.1299, -3.0564, 6.612, 1.3748, -0.1294, -0.0366, -0.0073, -0.4444, -10.6462, 6.8444, 1.16, 0.315, -0.0464, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61b636d3d923146a3f70d70f7fbb0d4f48afd422c1304d88cb108966675e1e55",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ad20face2506863ce951e42336e94a312b6d1ae6a60198a6baf1c0ae1664fb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f1fd3603ef7edc1bb39d6d641da4bc4c709de7c5a6e21a9f8ef13a429cf75df",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 10.52 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.079, 0.9627, -0.807, -0.1833, -0.0784, 0.9942, 0.8772, 1.998, 1.8034, -0.8749, 0.5259, 0.5667, 0.0435]\nstate[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1816 left_yaw=0.0661 left_pitch=-0.3387 left_roll=0.1157 left_gripper=0.9942 right_x=0.3777 right_y=0.3212 right_z=0.1685 right_yaw=0.0861 right_pitch=-0.2969 right_roll=-0.101 right_gripper=0.0435\nstate[joint_eff]: [-0.1573, -2.988, 6.612, 1.326, -0.105, 0.0122, -0.0122, 0.1299, -10.9744, 9.1419, 1.2283, 0.4908, 0.1929, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq4_y1WHtqvU1YQaYdbDr1T2VMOkEoK7goItc8klgnD3zCSV2zYPI0evp06dwb5CB3iRcbMiuLmLxAJM4liK6TuqpwBIcN7HIba-40FCB763zVpUW4yJgApxUIYHWTtD-c_Bo1yG5gr8AKbovVhr3SSYYkDaYswvZyEY_VxVoomve1eVMTA0zx4jq3N8dCrzXLe3syejd1aHv6yiVj2Qkb9SHBAoUhj9KNth19nBtMlTASgJvsdtROe7ToQHRjzNKa3Ewh_3VfMbRTZFv3dXxN4q_aa0pao5QWl0xSgCsKZnboZDWrYH4W1YZ1GWDxJIDg8RNm7_hPpgUV1sR--39Alwgax0Pr-gn2esp_bvf-vm7j8hUAi4YFrzEjZaCmSemL8GOT6x_U7lMWvSfWfhPLwOEzpGd238clKAj-X4elX6scZhZwWHTwl84NmAq1rJFw8RbYTMSa6z3Sy2hyiedjJtIDH_BdG5WlkUJd9n-man11_wRMpE6lC_w3TR4tzpAyIB7Yd6f4IHd9oABr9b3g6xZsVMVEiQmrDbA8B1Qml1l8_IUSYSfig7YMH5Jv83Cu5iNkMCV_zl12kQ1zhYmoy3zx2i9i0H3c-3NKZy-YAM9wiW2yR2ONZdlf8aR17hq3FmlSfFFzMHD2bMPl8rPdK3XLrI74CWlCdPV0oTu9r-U6iQW0CEKI5R5RDtetVGwMTmS5pb4N8i1JR3RqDLVAYhGJK4zKlGrpJ8lM9knrmoIf1_8lbL5v4WPEyyNHGRvN_LpusFQs6IsHOOGfkRNxsc_08a-i_MUV_NNu6QYuGtW4WfsOdbscnZADYe7O3Yv4rbJSztX4brxzcTjmwL_HFLezi5qxURXLRZzQWwi6eiUsfzwtQSlTmWgvJLeRiLiiPsRblxRhQGxlvFAKDx9HfwL-kcVkfQ22bD_pStFIAxPFeEbndjxFqHxZodnapQP9ZmapL8260Cvebj_YooVuq3-EJRl4Z3uXn4DNXnphlqXWOa_X0yTpiqoEDi7msYpR8nwos0i5UufCcRJTp736GVltCLUgR5pQBBwq2dMo7zpYBNaJjqjvWDki0drb3Et6H3qUg98VD-yygquEYMhOHExB_d-gIvOZvZnuN6ABfHjyEIIPJ1Jtio2jJ6411wkpum6EPrAR6J98F4wQVTXlRacFXxLvXg2T0in7md2wYw32PixZ2t9nVkT25KpLvZ62PN5s9gdDo7xvfv4SvYnsIIVyfjT0CXrmHyNeCKi11ZT2CR1EeX5hkTJkGzkPC9B7KH_10wWsdByeKmB9C-lIfddXX7TgNiIhiuBwwmm2pqgebFnisnnhkQege3ohmMSER8bDY6qqb_sWG_vmeeM3WEuhuKN9UuMvpeFDl3B1pDQVOhOvAInSdaxutUrW02zB_1AY55rt3c3M2d4laBnArYfjcQzxtfoIHwREn2DuOg_whz9dUKi2UqatjGrBf7FO2DUiedUgMB1NryU_jC6Cqe223Q-M4jo9zPKDbN5xB12UIh440KHaAYN5FaSvKoIozOLxbVft48JIo5Fe3hjPvsbnmDw_IrqrHukL-rdw-gGHyssomIKKXtY-lQOe687Xwe7eW0UM0JvnM1CcycNSkoGuMOo8IRdrL8f5zvNntUCv-jEYCH5PFOFvqssnYaN_sU7RsmZiyhgCxKDcnDlpG9N96OZWGZxhcbM9XBuWl-JvM7DZFAdNPkCAUbkKzMPhp3GtP18UgkBWAnsimI9skZVUEsveZd1UB7KvGSogHzq_0BoIDYOlpKmRXQo6PXYUh3KJSEzF4Z1bWY7KPKFK3gbBDOUKMoclzPraNxsEnkaiCxIGZdoNeSLf0FaB-F4sXOyNZdHBXObo6WONIKLyRsCixOvFGujtEXDLH2gwEYNEVPP_ufMitO7_ubA9wKdClNnPOgsDXld1qhOGaIkZmBxliomR25Ue8wh8ijISpgXNzArJojJJOc28L-LWEGTYOF4_G43Zx7gmagfCMJAHcF5w==",
  "id": "rs_0974558dfb454b7b016ab2ae38d1b887d08325615f3ea2681b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.31,\"right_z\":0.07},\"note\":\"The pink bowl is slightly left of the bowl beneath it. I’ll make a small rightward and forward correction while lowering it into the stack.\"}",
  "call_id": "call_mql3Kj817L6ZoabfTbXZPdCw",
  "id": "fc_0974558dfb454b7b016ab2ae3e7fcc87d0aad555a093281329",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mql3Kj817L6ZoabfTbXZPdCw",
  "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]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.844, 2.0678, 1.5726, -0.635, 0.4961, 0.5232, 0.0456]\nstate[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3831 right_y=0.3098 right_z=0.0767 right_yaw=0.0829 right_pitch=-0.3619 right_roll=-0.1546 right_gripper=0.0456\nstate[joint_eff]: [-0.1026, -3.0154, 6.8171, 1.3797, -0.1294, -0.0366, -0.0171, -0.7043, -10.3726, 6.5436, 1.2967, 0.3101, -0.0415, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05cea7d308e246d1fc95e2ec22fabd20c972526bee98f881c05f78431406f9d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01e40478bcecb93004e947ea8b5fb9e16280bb61e4761402a85e8b8e52f8afc1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cbdf8d6f0e107fe3ac316cac1d6643dbf46ff1f3bf7c9a4f3dadf157e84f404",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 4.348 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0798, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8795, 2.0129, 1.589, -0.7082, 0.5179, 0.5652, 0.0429]\nstate[eef_state]: left_x=0.2949 left_y=-0.0016 left_z=0.1814 left_yaw=0.0662 left_pitch=-0.3394 left_roll=0.1159 left_gripper=0.9943 right_x=0.368 right_y=0.3131 right_z=0.1023 right_yaw=0.0796 right_pitch=-0.3459 right_roll=-0.1439 right_gripper=0.0429\nstate[joint_eff]: [-0.1299, -3.0564, 6.612, 1.3748, -0.1294, -0.0366, -0.0073, -0.4444, -10.6462, 6.8444, 1.16, 0.315, -0.0464, 0.2711]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The rims now align closely and the pink bowl is seated at the top of the stack. I’ll open the gripper to let it settle.\"}",
  "call_id": "call_qhlzrj4B8EdgsgnHpJfLTsBO",
  "id": "fc_0974558dfb454b7b016ab2ae49461487d0bc06d22c72f0b148",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qhlzrj4B8EdgsgnHpJfLTsBO",
  "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]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8291, 2.0892, 1.5726, -0.5972, 0.4889, 0.5007, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3917 right_y=0.31 right_z=0.0698 right_yaw=0.0899 right_pitch=-0.3563 right_roll=-0.1521 right_gripper=0.9952\nstate[joint_eff]: [-0.335, -2.9744, 6.612, 1.3846, -0.1245, -0.0659, -0.0122, -0.3214, -11.0154, 6.5026, 1.1502, 0.2662, 0.0659, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75c8d142c0e21074eb607b866844b0c50d4428da5a9dd79dcc51840d22d85e57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1bae5e85065384f9cd88c167268f08ee0b5eee1f2b2ad98c610ed344b5baca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a3acde61f1efba9b8dcb1fb6177188f6f360a76865cba845775e52c999f624a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 4.195 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.844, 2.0678, 1.5726, -0.635, 0.4961, 0.5232, 0.0456]\nstate[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3831 right_y=0.3098 right_z=0.0767 right_yaw=0.0829 right_pitch=-0.3619 right_roll=-0.1546 right_gripper=0.0456\nstate[joint_eff]: [-0.1026, -3.0154, 6.8171, 1.3797, -0.1294, -0.0366, -0.0171, -0.7043, -10.3726, 6.5436, 1.2967, 0.3101, -0.0415, 0.5543]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The pink bowl is released and remains on the stack. I’ll lift the open jaws clear before moving the arm away.\"}",
  "call_id": "call_kdk0xc6TKJz8BmVFFpag4QsH",
  "id": "fc_0974558dfb454b7b016ab2ae4efae087d0b02b7269557d48b9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kdk0xc6TKJz8BmVFFpag4QsH",
  "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]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8307, 2.0823, 1.9648, -1.0153, 0.4755, 0.4934, 0.9963]\nstate[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3915 right_y=0.314 right_z=0.1675 right_yaw=0.0998 right_pitch=-0.3791 right_roll=-0.1608 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -2.947, 6.6256, 1.3748, -0.0952, -0.0611, -0.0122, -0.4444, -12.506, 8.6906, 1.2186, 0.4029, 0.0562, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb60f618d21e9a9dd6209ea9d29dd8eaceae178d308c082c3e968011fc8415db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:056626497c3f945d56958b93be4627ba32e1a7c4c1be3e23b9b0c8c638906d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5847de43877e1e155353a0dec3e674453d2a428366ca6835a5d8257bb90f8ea2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 7.386 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0801, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.8291, 2.0892, 1.5726, -0.5972, 0.4889, 0.5007, 0.9952]\nstate[eef_state]: left_x=0.295 left_y=-0.0017 left_z=0.1813 left_yaw=0.0662 left_pitch=-0.3398 left_roll=0.1159 left_gripper=0.9943 right_x=0.3917 right_y=0.31 right_z=0.0698 right_yaw=0.0899 right_pitch=-0.3563 right_roll=-0.1521 right_gripper=0.9952\nstate[joint_eff]: [-0.335, -2.9744, 6.612, 1.3846, -0.1245, -0.0659, -0.0122, -0.3214, -11.0154, 6.5026, 1.1502, 0.2662, 0.0659, -0.0757]",
      "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 stack stays on the table as the gripper lifts away. I’ll return the right arm to its parked position so the completed stack is unobstructed.\"}",
  "call_id": "call_tdkOHd14KRCG82Jf0x1jfOoQ",
  "id": "fc_0974558dfb454b7b016ab2ae537c0487d0ae9e103e2735f47d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tdkOHd14KRCG82Jf0x1jfOoQ",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1272, 1.0847, 0.9627, -0.807, -0.1833, -0.0784, 0.9943, 0.0311, 1.1149, 1.0317, -0.8639, 0.0822, -0.1802, 0.9964]\nstate[eef_state]: left_x=0.2953 left_y=-0.0017 left_z=0.18 left_yaw=0.0665 left_pitch=-0.3443 left_roll=0.1169 left_gripper=0.9943 right_x=0.2969 right_y=-0.0017 right_z=0.1888 right_yaw=0.0499 right_pitch=-0.3867 right_roll=-0.1681 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -3.2068, 6.694, 1.3407, -0.1245, -0.0366, -0.0122, -0.1846, -3.8769, 6.0923, 1.5018, -0.2076, 0.0073, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:624d614bc384658cf53adbbada597ebf174301e52aa8d9701a1ca503bbcbaff8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be052d301f2bf50e799365182c881c624ab623464349bc94600531ff197fe15a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05c442585032e9554fe03561f95027b281e8de344138b70c43d3c131a3a9226d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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