adhoc

completed
2026-09-22T16:28:08.864699+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
200.4 s
total steps
205
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 noteThere are three upright bowls: green on the left, blue in the middle, and beige on the right. I’m approaching the green bowl’s rim to lift it into the blue bowl.
move_to
left_x0.3900left_y-0.1300left_z0.1500left_gripper0.6500right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6064, -0.3756, -0.0227, -0.0254, 0.9994, -0.0216, 0.7933, 0.6037, -0.3782, -0.0166, -0.0334, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9994 right_x=0.2949 right_y=0.0002 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9985 state[joint_eff]: [-0.4034, -1.5248, 9.853, 1.7509, -0.0562, 0.1001, -0.0757, -0.3624, -1.388, 10.1675, 1.8779, -0.0952, 0.149, -0.1783] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.13,"left_z":0.15,"left_gripper":0.65,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"There are three upright bowls: green on the left, blue in the middle, and beige on the right. I’m approaching the green bowl’s rim to lift it into the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe green bowl is beneath the left gripper, with its right-hand rim beside the jaw column. I’m lowering toward that rim with one finger intended inside the bowl and one outside.
move_to
left_x0.3900left_y-0.1500left_z0.0550left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5026, 1.4044, 0.7887, -0.0799, -0.4042, -0.2935, 0.6521, -0.0216, 0.7986, 0.6086, -0.416, -0.0166, -0.0341, 0.9983] state[eef_state]: left_x=0.3765 left_y=-0.1236 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0667 left_roll=0.0279 left_gripper=0.6521 right_x=0.2907 right_y=0.0003 right_z=0.1734 right_yaw=0.0001 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [-0.3077, -5.9966, 8.9778, 1.8046, -0.2955, -0.0513, 0.0415, -0.1573, -1.2923, 10.0444, 1.6923, -0.0659, -0.022, -0.0269] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.055,"left_gripper":0.65},"note":"The green bowl is beneath the left gripper, with its right-hand rim beside the jaw column. I’m lowering toward that rim with one finger intended inside the bowl and one outside."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe green bowl’s side wall now lies between the open fingers. I’m closing on the rim before making a short test lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5541, 1.665, 0.712, 0.1635, -0.4259, -0.3229, 0.6508, -0.0216, 0.8013, 0.6079, -0.4191, -0.0162, -0.0345, 0.9983] state[eef_state]: left_x=0.3791 left_y=-0.1445 left_z=0.0461 left_yaw=-0.0339 left_pitch=-0.1411 left_roll=0.063 left_gripper=0.6508 right_x=0.2903 right_y=0.0002 right_z=0.1717 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9983 state[joint_eff]: [-0.4718, -7.6103, 5.2444, 1.7363, -0.3785, -0.0708, 0.0708, -0.0479, -1.4427, 7.3094, 1.6972, -0.022, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The green bowl’s side wall now lies between the open fingers. I’m closing on the rim before making a short test lift."})
tool
executing move_to over 7 steps (0.7s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe fingers closed almost completely, so the first pinch appears empty. I’m opening and moving slightly inward and forward to get more securely across the bowl wall.
move_to
left_gripper0.5500left_y-0.1280left_x0.4000left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5568, 1.692, 0.7082, 0.2535, -0.4458, -0.3382, 0.0153, -0.0216, 0.8024, 0.6075, -0.4191, -0.0162, -0.0345, 0.9983] state[eef_state]: left_x=0.389 left_y=-0.1482 left_z=0.0504 left_yaw=-0.016 left_pitch=-0.0827 left_roll=0.0328 left_gripper=0.0153 right_x=0.2904 right_y=0.0002 right_z=0.1713 right_yaw=-0.0 right_pitch=-0.0465 right_roll=-0.0004 right_gripper=0.9983 state[joint_eff]: [-0.4718, -7.9932, 5.4085, 1.5995, -0.1392, 0.0073, 0.6227, -0.0479, -1.3333, 7.0496, 1.6777, -0.0366, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55,"left_y":-0.128,"left_x":0.4,"left_z":0.035},"note":"The fingers closed almost completely, so the first pinch appears empty. I’m opening and moving slightly inward and forward to get more securely across the bowl wall."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe rim is now visibly between the inside and outside fingers. I’m pinching it again for a controlled lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4843, 1.7332, 0.6861, 0.3161, -0.4088, -0.3103, 0.5454, -0.0216, 0.8032, 0.6075, -0.4202, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.3973 left_y=-0.1256 left_z=0.0355 left_yaw=0.0121 left_pitch=-0.0962 left_roll=0.0338 left_gripper=0.5454 right_x=0.2902 right_y=0.0003 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9983 state[joint_eff]: [-0.841, -7.1043, 5.1761, 1.8339, 0.0366, 0.2271, -0.1392, -0.1026, -0.7453, 7.0222, 1.6728, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The rim is now visibly between the inside and outside fingers. I’m pinching it again for a controlled lift."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe gripper has stopped at about a 9 mm opening, consistent with holding the rim. I’m lifting a few centimetres to verify that the bowl follows.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4835, 1.7355, 0.6807, 0.3229, -0.421, -0.3107, 0.0977, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.3969 left_y=-0.1228 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.093 left_roll=0.0411 left_gripper=0.0977 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [-0.1436, -7.3231, 5.9829, 1.5018, -0.0708, -0.0122, 0.6178, -0.0889, -1.1692, 7.0222, 1.7167, -0.0317, -0.0806, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.1},"note":"The gripper has stopped at about a 9 mm opening, consistent with holding the rim. I’m lifting a few centimetres to verify that the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe green bowl rose with the gripper and remains secure. I’m carrying it above the blue bowl, allowing extra height to clear both rims.
move_to
left_z0.1800left_x0.3800left_y-0.2850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4835, 1.5852, 0.7696, 0.0719, -0.4206, -0.3149, 0.0979, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.3945 left_y=-0.1216 left_z=0.0822 left_yaw=0.0254 left_pitch=-0.1033 left_roll=0.0433 left_gripper=0.0979 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [-0.0342, -8.2256, 8.759, 1.5311, -0.2418, 0.0269, 0.022, -0.0068, -1.2786, 6.9949, 1.6679, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"left_x":0.38,"left_y":-0.285},"note":"The green bowl rose with the gripper and remains secure. I’m carrying it above the blue bowl, allowing extra height to clear both rims."})
tool
executing move_to over 15 steps (1.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe blue bowl is visible just to the right of the carried bowl. I’m making a small sideways correction while lowering toward the nesting position.
move_to
left_z0.0850left_y-0.3100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8814, 1.8145, 1.4502, -0.5632, -0.664, -0.6582, 0.0986, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983] state[eef_state]: left_x=0.379 left_y=-0.283 left_z=0.1697 left_yaw=0.006 left_pitch=-0.1185 left_roll=0.0314 left_gripper=0.0986 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983 state[joint_eff]: [-0.4171, -9.1009, 8.8, 1.0965, -0.4957, -0.0562, 0.0562, -0.0889, -1.265, 7.159, 1.663, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.085,"left_y":-0.31},"note":"The blue bowl is visible just to the right of the carried bowl. I’m making a small sideways correction while lowering toward the nesting position."})
tool
executing move_to over 6 steps (0.6s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe carried bowl is still slightly nearer and left of the blue bowl. I’m shifting it forward and right so their centres line up before releasing.
move_to
left_x0.4050left_y-0.3350left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9169, 1.9663, 1.3365, -0.3752, -0.6796, -0.6865, 0.0988, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983] state[eef_state]: left_x=0.3746 left_y=-0.3004 left_z=0.0848 left_yaw=0.0041 left_pitch=-0.1553 left_roll=0.0791 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983 state[joint_eff]: [-0.8821, -9.7573, 5.7504, 1.5263, -0.4567, -0.149, 0.0122, -0.0752, -1.2786, 7.1863, 1.6777, -0.0464, -0.0269, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.335,"left_z":0.065},"note":"The carried bowl is still slightly nearer and left of the blue bowl. I’m shifting it forward and right so their centres line up before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe green bowl now covers the blue bowl’s opening and is at nesting height. I’m releasing the rim so it can settle into the lower bowl.
move_to
left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9142, 2.1418, 1.4975, -0.3798, -0.6788, -0.7033, 0.0988, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.3974 left_y=-0.3281 left_z=0.0578 left_yaw=0.0178 left_pitch=-0.1664 left_roll=0.0814 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [0.3214, -12.0821, 8.5402, 1.0965, -0.3004, 0.1978, -0.0122, -0.1026, -1.2923, 7.3915, 1.6874, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.55},"note":"The green bowl now covers the blue bowl’s opening and is at nesting height. I’m releasing the rim so it can settle into the lower bowl."})
tool
executing move_to over 5 steps (0.5s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe released bowl is resting on the blue bowl. I’m withdrawing the left arm to reveal the stack and make room for the right arm to pick up the remaining bowl.
move_to
left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9138, 2.1536, 1.5009, -0.3847, -0.6781, -0.7052, 0.5451, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.3971 left_y=-0.3276 left_z=0.0526 left_yaw=0.0206 left_pitch=-0.1748 left_roll=0.0904 left_gripper=0.5451 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [-0.1436, -12.8479, 5.8462, 1.1551, -0.3883, -0.0513, -0.0317, 0.0068, -1.0735, 7.2, 1.7118, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2},"note":"The released bowl is resting on the blue bowl. I’m withdrawing the left arm to reveal the stack and make room for the right arm to pick up the remaining bowl."})
tool
executing move_to over 30 steps (3.0s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteTwo bowls are now nested near the middle, with the pink-beige bowl remaining on the right. I’m approaching its outer rim with the right gripper.
move_to
right_x0.3800right_y0.1150right_z0.1450right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.123, 0.9352, 0.8265, -0.6544, -0.1951, -0.0818, 0.5463, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983] state[eef_state]: left_x=0.2918 left_y=0.0021 left_z=0.1894 left_yaw=0.0753 left_pitch=-0.1844 left_roll=0.083 left_gripper=0.5463 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983 state[joint_eff]: [0.1846, -2.3863, 9.0188, 1.5897, -0.0464, 0.1392, 0.1099, -0.0752, -1.2513, 7.0222, 1.6777, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.115,"right_z":0.145,"right_gripper":0.6},"note":"Two bowls are now nested near the middle, with the pink-beige bowl remaining on the right. I’m approaching its outer rim with the right gripper."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe bowl’s right rim is aligned beside the jaw column. I’m moving slightly forward and lowering so the fingers straddle that wall, using the successful rim-grasp height from the first bowl.
move_to
right_x0.3970right_y0.1150right_z0.0350right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9405, 0.8261, -0.6724, -0.1844, -0.0784, 0.5464, 0.4313, 1.3602, 0.77, -0.1654, 0.3099, 0.2073, 0.6025] state[eef_state]: left_x=0.2891 left_y=0.0004 left_z=0.1845 left_yaw=0.0649 left_pitch=-0.2093 left_roll=0.0827 left_gripper=0.5464 right_x=0.362 right_y=0.1112 right_z=0.1204 right_yaw=0.0453 right_pitch=-0.1447 right_roll=-0.038 right_gripper=0.6025 state[joint_eff]: [0.0205, -2.4547, 6.7897, 1.7118, -0.2271, -0.0757, -0.0024, 0.1436, -6.0239, 9.2376, 1.7998, 0.2515, 0.1343, 0.0464] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.397,"right_y":0.115,"right_z":0.035,"right_gripper":0.55},"note":"The bowl’s right rim is aligned beside the jaw column. I’m moving slightly forward and lowering so the fingers straddle that wall, using the successful rim-grasp height from the first bowl."})
tool
executing move_to over 6 steps (0.6s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteAt the lower view, both fingertips appear inside the bowl rather than across its rim. I’m raising slightly and shifting outward to avoid dragging a finger through the bowl wall.
move_to
right_z0.0900right_y0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9424, 0.8261, -0.6758, -0.1837, -0.078, 0.5464, 0.3973, 1.6791, 0.6884, 0.1623, 0.2802, 0.1814, 0.5508] state[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1834 left_yaw=0.0639 left_pitch=-0.2146 left_roll=0.0835 left_gripper=0.5464 right_x=0.3819 right_y=0.1112 right_z=0.0258 right_yaw=0.0452 right_pitch=-0.2211 right_roll=-0.0639 right_gripper=0.5508 state[joint_eff]: [-0.2256, -2.1812, 6.7897, 1.5311, -0.1099, -0.0366, -0.0122, -0.6222, -7.3094, 5.5179, 1.6923, 0.1783, -0.0415, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09,"right_y":0.065},"note":"At the lower view, both fingertips appear inside the bowl rather than across its rim. I’m raising slightly and shifting outward to avoid dragging a finger through the bowl wall."})
tool
executing move_to over 5 steps (0.5s)
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 outer wall now runs between the two fingers in the wrist view. I’m lowering straight down to pinch the rim.
move_to
right_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9436, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2501, 1.4788, 0.7273, -0.0555, 0.1944, 0.0837, 0.5507] state[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1829 left_yaw=0.0645 left_pitch=-0.2165 left_roll=0.0835 left_gripper=0.5464 right_x=0.3797 right_y=0.0655 right_z=0.0758 right_yaw=0.0253 right_pitch=-0.222 right_roll=-0.0667 right_gripper=0.5507 state[joint_eff]: [-0.1709, -2.1538, 6.9265, 1.58, -0.1245, -0.0171, -0.0122, -0.4034, -6.7214, 9.265, 1.6532, 0.0269, 0.0024, -0.0171] 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_z":0.04},"note":"The outer wall now runs between the two fingers in the wrist view. I’m lowering straight down to pinch the rim."})
tool
executing move_to over 3 steps (0.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe fingers are at the bowl wall with clearance on either side. I’m closing to grasp the pink bowl by its rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9455, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2474, 1.5608, 0.6598, 0.033, 0.178, 0.0708, 0.5507] state[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1824 left_yaw=0.0646 left_pitch=-0.2184 left_roll=0.0839 left_gripper=0.5464 right_x=0.3696 right_y=0.0648 right_z=0.0352 right_yaw=0.0405 right_pitch=-0.2847 right_roll=-0.077 right_gripper=0.5507 state[joint_eff]: [-0.1299, -1.6615, 6.7624, 1.4823, -0.1197, -0.0708, -0.0073, -0.0205, -6.9538, 6.3111, 1.9072, 0.2271, 0.0904, -0.0073] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are at the bowl wall with clearance on either side. I’m closing to grasp the pink bowl by its rim."})
tool
executing move_to over 6 steps (0.6s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe pinch is very narrow, so the grip is not yet certain. I’m making a short lift and checking whether the pink bowl moves with the fingers.
move_to
right_z0.1000right_x0.3800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9455, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.2474, 1.56, 0.6479, 0.0566, 0.1535, 0.0795, 0.0385] state[eef_state]: left_x=0.2887 left_y=0.0001 left_z=0.1824 left_yaw=0.0639 left_pitch=-0.2184 left_roll=0.0836 left_gripper=0.5464 right_x=0.3694 right_y=0.0691 right_z=0.0344 right_yaw=0.0574 right_pitch=-0.2757 right_roll=-0.0495 right_gripper=0.0385 state[joint_eff]: [-0.0479, -1.9487, 6.9402, 1.5311, -0.105, -0.0562, -0.0122, -0.253, -5.4906, 6.3795, 1.0281, 0.4225, -0.0269, 1.0525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_x":0.38},"note":"The pinch is very narrow, so the grip is not yet certain. I’m making a short lift and checking whether the pink bowl moves with the fingers."})
tool
executing move_to over 5 steps (0.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe pink bowl has risen from its original position with the gripper. I’m lifting to transport height and moving partway toward the two-bowl stack.
move_to
right_z0.1800right_x0.3900right_y0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9482, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2451, 1.4811, 0.8028, -0.2008, 0.1474, 0.0669, 0.042] state[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1817 left_yaw=0.0647 left_pitch=-0.221 left_roll=0.0844 left_gripper=0.5464 right_x=0.375 right_y=0.0707 right_z=0.0795 right_yaw=0.0662 right_pitch=-0.3002 right_roll=-0.0579 right_gripper=0.042 state[joint_eff]: [-0.1026, -2.3179, 6.7624, 1.5165, -0.1245, -0.0073, -0.0122, -0.8137, -7.8974, 8.9231, 1.5018, 0.0122, 0.0513, 0.779] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18,"right_x":0.39,"right_y":0.19},"note":"The pink bowl has risen from its original position with the gripper. I’m lifting to transport height and moving partway toward the two-bowl stack."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe bowl is securely following the right gripper. I’m moving it over the centre stack while keeping its base above the other rims.
move_to
right_x0.4150right_y0.3400right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9504, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.5785, 1.6413, 1.338, -0.6563, 0.3202, 0.2974, 0.0425] state[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1811 left_yaw=0.0645 left_pitch=-0.2233 left_roll=0.0846 left_gripper=0.5464 right_x=0.3858 right_y=0.1898 right_z=0.1649 right_yaw=0.1139 right_pitch=-0.325 right_roll=-0.0674 right_gripper=0.0425 state[joint_eff]: [0.0752, -2.2085, 6.7761, 1.5116, -0.0952, -0.0513, -0.0122, 0.1983, -7.8564, 9.1009, 1.0965, 0.3492, 0.3443, 0.6325] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.34,"right_z":0.15},"note":"The bowl is securely following the right gripper. I’m moving it over the centre stack while keeping its base above the other rims."})
tool
executing move_to over 13 steps (1.3s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe pink bowl is above the stack, slightly to its left. I’m correcting that small offset while lowering slowly toward the top bowl.
move_to
right_y0.3250right_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.952, 0.8261, -0.6769, -0.1833, -0.0784, 0.5464, 0.8192, 2.1342, 1.9114, -0.8635, 0.4168, 0.4801, 0.044] state[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1806 left_yaw=0.0646 left_pitch=-0.2252 left_roll=0.0849 left_gripper=0.5464 right_x=0.4054 right_y=0.3343 right_z=0.1348 right_yaw=0.149 right_pitch=-0.3794 right_roll=-0.0959 right_gripper=0.044 state[joint_eff]: [-0.1026, -2.1812, 7.0632, 1.5067, -0.0855, -0.0611, -0.0122, 0.3624, -12.0684, 9.2376, 1.072, 0.5348, 0.3394, 0.6129] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.325,"right_z":0.085},"note":"The pink bowl is above the stack, slightly to its left. I’m correcting that small offset while lowering slowly toward the top bowl."})
tool
executing move_to over 4 steps (0.4s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pink bowl has reached the stack and its rim is closely aligned with the bowls below. I’m opening the gripper to let it settle into place.
move_to
right_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8082, 2.1349, 1.7027, -0.7326, 0.4099, 0.4713, 0.0447] state[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.394 right_y=0.3156 right_z=0.0739 right_yaw=0.1266 right_pitch=-0.4452 right_roll=-0.1496 right_gripper=0.0447 state[joint_eff]: [-0.0752, -2.0718, 6.8718, 1.4823, -0.1294, -0.0611, -0.0122, -0.5675, -12.8205, 7.1316, 1.243, 0.2076, -0.0611, 0.6276] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.55},"note":"The pink bowl has reached the stack and its rim is closely aligned with the bowls below. I’m opening the gripper to let it settle into place."})
tool
executing move_to over 6 steps (0.6s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pink bowl remains on the stack after release. I’m lifting the open fingers straight up before withdrawing so they do not catch a rim.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8047, 2.1349, 1.692, -0.7326, 0.4038, 0.4564, 0.5459] state[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.3925 right_y=0.313 right_z=0.0699 right_yaw=0.1332 right_pitch=-0.4583 right_roll=-0.1609 right_gripper=0.5459 state[joint_eff]: [-0.0342, -1.935, 6.9538, 1.4774, -0.1245, -0.0317, -0.0122, 0.0342, -11.9179, 7.3094, 1.0085, 0.2515, 0.1392, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.18},"note":"The pink bowl remains on the stack after release. I’m lifting the open fingers straight up before withdrawing so they do not catch a rim."})
tool
executing move_to over 8 steps (0.8s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe fingers are clear and the bowls remain together. I’m parking the right arm away from the stack for an unobstructed final check.
move_to
right_x0.2900right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1234, 0.9524, 0.8261, -0.6769, -0.1837, -0.0784, 0.5464, 0.8047, 2.1433, 2.0918, -1.1286, 0.3958, 0.4454, 0.5459] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1805 left_yaw=0.0649 left_pitch=-0.2255 left_roll=0.0853 left_gripper=0.5464 right_x=0.3928 right_y=0.3152 right_z=0.1658 right_yaw=0.1443 right_pitch=-0.4675 right_roll=-0.164 right_gripper=0.5459 state[joint_eff]: [-0.1983, -2.1402, 6.7624, 1.4725, -0.1441, -0.022, -0.0122, -0.3761, -11.6991, 8.4718, 0.9499, 0.3053, 0.1001, -0.0171] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2},"note":"The fingers are clear and the bowls remain together. I’m parking the right arm away from the stack for an unobstructed final check."})
tool
executing move_to over 27 steps (2.7s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteStacked all three bowls together, with the pink bowl on top, and parked both arms clear.
done
hindsightThese bowls are wider than the gripper stroke, so grasp a side rim with one finger inside and one outside. A secure thin-rim grasp can read only about 0.04; verify with a short lift and visible bowl motion. The successful left rim pinch was near x=0.397, y=-0.123, z=0.035; the right bowl rim near x=0.37, y=0.069, z=0.034. Wrist views at low height were essential for ensuring the fingers straddled rather than both entered the bowl.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1238, 0.9546, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.0154, 1.1816, 1.1473, -0.9993, 0.0521, -0.2367, 0.5459] state[eef_state]: left_x=0.2893 left_y=0.0001 left_z=0.18 left_yaw=0.0643 left_pitch=-0.2274 left_roll=0.0854 left_gripper=0.5464 right_x=0.2929 right_y=-0.0011 right_z=0.1962 right_yaw=0.0961 right_pitch=-0.4782 right_roll=-0.1718 right_gripper=0.5459 state[joint_eff]: [-0.2256, -2.2769, 6.7897, 1.5165, -0.0708, -0.0757, -0.0171, -0.1846, -4.588, 6.4068, 1.1648, -0.1148, -0.0366, -0.0073] camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together, with the pink bowl on top, and parked both arms clear.","hindsight":"These bowls are wider than the gripper stroke, so grasp a side rim with one finger inside and one outside. A secure thin-rim grasp can read only about 0.04; verify with a short lift and visible bowl motion. The successful left rim pinch was near x=0.397, y=-0.123, z=0.035; the right bowl rim near x=0.37, y=0.069, z=0.034. Wrist views at low height were essential for ensuring the fingers straddled rather than both entered the bowl."})
tool
done: Stacked all three bowls together, with the pink bowl on top, and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.24 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6064, -0.3756, -0.0227, -0.0254, 0.9994, -0.0216, 0.7933, 0.6037, -0.3782, -0.0166, -0.0334, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9994 right_x=0.2949 right_y=0.0002 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -1.5248, 9.853, 1.7509, -0.0562, 0.1001, -0.0757, -0.3624, -1.388, 10.1675, 1.8779, -0.0952, 0.149, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a96a66619c14c4df493dc597e08c91a9bfdfdb66fc57d557fec3134b52f554a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a73290ee8a17db15b003278f180ffe1aff1238fad83e3cafcd190497b34f23c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49eb9d2b2814b625a24858d6eb23cf1881c28ef0b9ced8d5bb2f0d73cc08fa0a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a96a66619c14
wire blob 2a73290ee8a1
wire blob 49eb9d2b2814
call 1 attempt 0 · /responses · status 200 · 15.32 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqyvOhTT6yEY7axtshcFc2wyLb5sXtQfJqJMZnbvW80RFvXf0ljMqZoJvJjm5o4FENkRWx2yN-0i-kyICHlSRvzq4FxmlUR3_ISf1yjz178VicVy565IXHGrElkLKExWaXxejIrUSDNFMbZUFb8z7X1y4ynppZc_WD55yl4hQf7ynnkZxJZ7vKVIvUePe2dbnGPhLVyJfJ4DPc7S2VoteF6Nak468uS38T0FQc8I_ymPhFp28MRzvuRsvaw2XPIdjX4e2rJgkQ6LDOsMOv406wE-WJUzsPmdeNzzp4bDpvUgzo7tbH3qgHUvicSa_MiCUR3uU5c2Vls4TfCA5HMG-b8vQ3SbAQ05LDjSMs4kJuSFPelyP33TC-QsZpUN4Q8bY4NZfFbEaM6N20B8YLDovxeijkUOI5aL2LzpFrL3q7z6e0Guh1rfjrkldmRavF9GjqyfOW23Ymp5XTtGPwKMKJhxb7isyT4csisa6d6VCxGrGiGoqJBwqRsj8dR-2oSwdVYYfco0mj8iuQBdHKi_QJPIIYxdwXwrDL30pbZ1PQ0dSP5NWiVlMdpyhVYqIODL2KvoGbeGVnEWfxXBcfwtk09792pt_PT_iOUnmtGcvBQc_UDB65KdIR0NOSTN6PbAnpQ8huzeNPMNZEkdi3_Qs3FZ-un8Cz6UNDeL2TJeAsoeIfF2-0x-0iU3WMyORUPo7DZHmRpDoygKwSDPDRUtMoSwAByTkpK_snkTIxND6NwncSeF-bzUw02My0RDs2GvafTz4N2tu58pJ6Ne6mE05DZ3Fcb6FKeAOcHtubeAKgqKG-RcKWlswN72tnhSC-h9MDDqyMLuUHmP5SoLz8xKt5EfMbQEd6hEydJM-ipo0aaJAxoB40y2gmtP7sFaDWpmKnLArdMTMZX54ux_2_HByAxnKuL3ydla28IYQJ_1LhO8wv0cDhK__9KV5UiVLX_fS26t5NebR6zsek4Z69MTSc1WyoEn5R9noeO74LFMKTdBplbWS2HPrw1TzIBOJwysr7qszLB2QW349nn6e4IhYloOxLUBl6NdP1SJCkaQb74RU7A9gw3bJSGdMh0By4oX2Akvk3_8HXMhKj9PPTv63aTUjXazNRwRijKh8785yCmPM0oENZjXAbE7i7_He_s0t0c5ODTnpq9xDFRsy5T5J9g_NLiLBcCa0KaVTnXTNZ6SkNilXeXEJKeqYuMxmuccjlf9zL1YNW1QhWtY4eNX_jRzE2TAaVPkLO7ohH1Em44jt0QPjStfrSYGHKrv8APyVvqJbRfZ1dnN3PEljz6Zlrc03WCXla6yF54x7L_NEaj_o4hT0HTqkfRriCUNPq7a4OHJ7fCJelS63ZuVAIqYWHEAd5MA1YNnh2j5xVlVVGnfR5uCuEMmchdy1dipUgWM4hIroD4cKVaRcdWL346rKK31FcWPOLC5yXjKiF4DR5nISUA9zUL2uqSO98ndgmqXH-CINjUpZfyPvtUBHPOKwVZrkNLFc2zusJ3b-hB-14n5DbQJRkMA5wkSj-0oYiWQYMNG8lEFdWbAJoVaQTeLVaWtRkh4Qo_UeeLgFi9C3INCeaIhCETNoC5IiE_t3TUo2wI3-bxyeOmsW0xkc-s0owvhzC8N-CFMvlx4Ld3sdsWZZkSbDtIfboFt58L2zCwv2EV6tUA63PNlGNrOPg4-TbP3JgvNrvig6Ml-RR82IvwHFmn_5Dfy9cgt3bnIX3waM-PZ-iGW5lU676wh0uiJM-oCiC_MZ-RaIfJE96YW5BmnkvXhd7uOxtkZACWGbadowWPKYNmAY5E0ED7Dhu1bW4NUTg==",
  "id": "rs_00fb5de4fe46fd7e016ab2aca81b3487d09a6202e870c9d9bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":0.65,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"There are three upright bowls: green on the left, blue in the middle, and beige on the right. I’m approaching the green bowl’s rim to lift it into the blue bowl.\"}",
  "call_id": "call_dXYw11DQK6isLuKH5SCBwGbz",
  "id": "fc_00fb5de4fe46fd7e016ab2acad64e887d08b0fae6258c140e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dXYw11DQK6isLuKH5SCBwGbz",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5026, 1.4044, 0.7887, -0.0799, -0.4042, -0.2935, 0.6521, -0.0216, 0.7986, 0.6086, -0.416, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.3765 left_y=-0.1236 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0667 left_roll=0.0279 left_gripper=0.6521 right_x=0.2907 right_y=0.0003 right_z=0.1734 right_yaw=0.0001 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.3077, -5.9966, 8.9778, 1.8046, -0.2955, -0.0513, 0.0415, -0.1573, -1.2923, 10.0444, 1.6923, -0.0659, -0.022, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2faf06be420772adaa631fdf3410e5b86813d83da4b7110d64c37ed90585999c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:deb6243644511ee50a7e569dd230afd35fc334811ad70bf5b2fd07dbceb0cf86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a1708045b5674ecbb9d9be60976d67198b3a6bfed6b9077e89645b7155e2697",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 3.727 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6064, -0.3756, -0.0227, -0.0254, 0.9994, -0.0216, 0.7933, 0.6037, -0.3782, -0.0166, -0.0334, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1817 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9994 right_x=0.2949 right_y=0.0002 right_z=0.1804 right_yaw=-0.0003 right_pitch=-0.0004 right_roll=-0.0002 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -1.5248, 9.853, 1.7509, -0.0562, 0.1001, -0.0757, -0.3624, -1.388, 10.1675, 1.8779, -0.0952, 0.149, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzAqektBCf0-hqEXdvOaIbgofSSChe5L0z3dXKtdO9am-sVHtGSg_nV0ogOy3lvJairZTpn7PshDA7KpO5lDxlxr7oiz1ZdfpYcHlH27L_tQcFRPHUznxqclkwGi7ft8ALyAA_YctpiJ3_YaMxQyA7SAkQZBG8ng5UhA_2di9xE-bGytzEJS3UWIvm__MEhIP-8zAvJFloW1wfxt4rFYuV2LEfWNvuDsvlVkeokQNGmUvQZx-7e4P0nRkvXDN_Dkuokb0I7JoAwC_dp5sS5dGH_2bjQkUYxTfxpYBwZ59ivPoHjsR6tNfa40HhLg0n1lN89GyHekzOXsjscCmsgNLXqDO2KVJRn5BPsJi-jt9UEbDRbcUbMRrjwh9naX7jUwZIJtH9G0ouaxWiZnoOh6wIsLByCTVZ9P7E3c51pWPJuFGkE7Ou6jddUjehl0og5Ubor-jjdnNiqqgxQlyeSupeCcV8uJ4UbwnTIMoHFRAE6bh6Jt34sVRN1gpgcqy8ZSUw89snAK8e8GEatvygA303jP5B7muyuhrif3UBAXHuZXVHqx0t3Vj7cM2hY-juCWfeHvddrrNGBFrRxII-Gt9rTaGZjqNItgzcdRvO6cKcvj_Asm_28ZXlcWRD7t9V2Y78w4zAyU3JqQp4_sv6a0Khuw3f0JNtomixRM3yPJqk8bMUfX5QMcwbyhC9oUA4Vkl2di7WHa-unKxazHI0Ss-jD-sQ457xCsE6EwOx0z4H0nrmvWXWOHHBNOIFD5OTDTU6pXDfg0_yam_OqzPCyq7hD_pVPIT-tGcXTZvDZoUGYP-09eGASjso7QbjA4yQ0f-E_zUoeuoJKWuWQDgrIsdK9a2zas_dL3gczFQG96P2gMFtxn_d7-LQHY6wankcoZalbBta04DUIk9blsuUOyVkVq16NCvl1vaBxWCcG9SVCx6CcugpE2zZ31zEurlE6WELTTTzhKx8hCbcMw7NWkkzO_zOzngXcIeuTiHvkhaVHbrlmAw5V1GDwVQUwZ8HOftQdYZ4qEvpsN3L1syzgV2ruCNCcpl6B0GJwVRMIiLXRLfLx6kU03MbUotLgcYHoWVEGu5yW10SWx_EXJ-XRagns28grRzhO3w3sRjOMqE1qifBfu1Yuq_nexApEYu3EtQxtjkay62f3El7SF59XLDWfVKcy3AEKhqfz7QBP3CoGSvQbg4K_DeXMSG4a87D1JG52iWI2UORzHhdHhCvmm9GywSvivbOAAyqWSlQnJToKmlKnMb6duU3P9oahNIgRH7JJ_FRcSlEoTHpN2ZQLu5y77Z_PykAjooL4U5qqNrw8ZuaxCR920hCYTQlgjJouR_tHD5aPETCEETLtIdkZm8VzlgGq4vB9OGi-1LD9fQHbagpeQtWcMef2Us4h7_t9QqvC_ty4R2f0PzMI-bx6c09UV-LI_Gp51JRS6DkyjfjMnu8zhnr6XGCiWyGWLWuwiLqNdhLwH4cMw859l0KGnWP7T0UNtwf9v2-jntXYRLT9lQQCGvWW5ovBCUgFrmnlAS5O6zDfeamfoPsUZj6Nxr2ZoCExOta4Y64mIcj0DBk2scrzPSRIhwQzczoWUfFikDiymBXGJldLICKZWcXhlhcrcgXq0xo3TwrU0-hEZtgWbCj8xlVMjUlIDEl8X8B4btJfcM4GMY5YKNWrxYfowbco61TY3dOJJirgWHUfiUntSroozlRVqv_ZsDnsz1WayDn1F5xzo3NT-R5Vx0Ny8nyrhFwmlLBrroNNWIF_h6QNPCQBe08u9WvKmhDqRWBH8LohUkcb7VJZqImcPRNIUBIbN5ZP-Eig97RbRyxd1Nw0RMaOvP5zKjUTusVU0otC0Fx-cBjebHANkuoW7eiAPreM2pd6UVJEW9lQvKuFCq71WWbJjkDv8NHt5cPbTzmoPXukRrcNHPP4cbg_WtfbYKNelsRUficERr1ZKoZ7Oup6pCQT9M-onz9SMY0OS-cYvKzRscCadZfFocQdSPpokpDZpcBOY403THemHhcRTtMVSnuYFnRRj9yYyJzO0k4tzCMuumCLrir6_EcxxZBUECIVRQP0xV7HXWOVYGLDWnegN0qvGs6vlLio37Laud1PHunCK2v_C6p1P31YAKTENXut4-32_wk-DxcvryGiUZaEEJ9nK5I_FnqF4wSWRv6yAvD86HFMd1XPOQen8WC1aV81WqXqewvbS2BvbO6XdLOMfbL_5UEpe8zSpO2miHfABZtWvgaZlDrUaARK1hINBhjEweU7F1CMup8MJ30ozT9yOayweYg8ttJkPTQr9nQtFpHjGtOWs7k6Exg1OMNjqeLaBJ_ot5UD4cRTy1Na6kKbRYnW7FF8oFfzyhlZdqx9-xQgC7cDzyUVu5VuhdyXOIxRlbUCBHK9KqcakPGYihmTJv-OmsNgPOCmutl3wMr09vSwxT6jqRkXFRiDuSBYBZ11yw==",
  "id": "rs_00fb5de4fe46fd7e016ab2acb31cc087d09aeaf6090dbf6c1d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.055,\"left_gripper\":0.65},\"note\":\"The green bowl is beneath the left gripper, with its right-hand rim beside the jaw column. I’m lowering toward that rim with one finger intended inside the bowl and one outside.\"}",
  "call_id": "call_fnj7g4noNpN2P5mxfRMafpRf",
  "id": "fc_00fb5de4fe46fd7e016ab2acbdecf887d09f7db40283718ddc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fnj7g4noNpN2P5mxfRMafpRf",
  "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]: [-0.5541, 1.665, 0.712, 0.1635, -0.4259, -0.3229, 0.6508, -0.0216, 0.8013, 0.6079, -0.4191, -0.0162, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.1445 left_z=0.0461 left_yaw=-0.0339 left_pitch=-0.1411 left_roll=0.063 left_gripper=0.6508 right_x=0.2903 right_y=0.0002 right_z=0.1717 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -7.6103, 5.2444, 1.7363, -0.3785, -0.0708, 0.0708, -0.0479, -1.4427, 7.3094, 1.6972, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec36b85d31715f4efdc6f3fd21a429305cee49273247fd55d7fb9fc4b55de162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bfc6e106113347ab9b84ef127f0c3bd4ea81a60cc2890ee79c02aed6ce6f6c60",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d50cc69665c0ae803ef630f110152c10a881ba73bd7aa9359e88b592f1c1ede0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 14.16 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]: [-0.5026, 1.4044, 0.7887, -0.0799, -0.4042, -0.2935, 0.6521, -0.0216, 0.7986, 0.6086, -0.416, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.3765 left_y=-0.1236 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0667 left_roll=0.0279 left_gripper=0.6521 right_x=0.2907 right_y=0.0003 right_z=0.1734 right_yaw=0.0001 right_pitch=-0.0385 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.3077, -5.9966, 8.9778, 1.8046, -0.2955, -0.0513, 0.0415, -0.1573, -1.2923, 10.0444, 1.6923, -0.0659, -0.022, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The green bowl’s side wall now lies between the open fingers. I’m closing on the rim before making a short test lift.\"}",
  "call_id": "call_Gnse4VliAPv2deHFO9jZV48f",
  "id": "fc_00fb5de4fe46fd7e016ab2acc2cd1087d0bde391b58b3c7d16",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Gnse4VliAPv2deHFO9jZV48f",
  "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]: [-0.5568, 1.692, 0.7082, 0.2535, -0.4458, -0.3382, 0.0153, -0.0216, 0.8024, 0.6075, -0.4191, -0.0162, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.389 left_y=-0.1482 left_z=0.0504 left_yaw=-0.016 left_pitch=-0.0827 left_roll=0.0328 left_gripper=0.0153 right_x=0.2904 right_y=0.0002 right_z=0.1713 right_yaw=-0.0 right_pitch=-0.0465 right_roll=-0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -7.9932, 5.4085, 1.5995, -0.1392, 0.0073, 0.6227, -0.0479, -1.3333, 7.0496, 1.6777, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0004d455e9db7f02dbfe9c6d2e21ed4f3f1e11d207ad09cb30b92497a9127a4a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6489ef5720f469e8f5e21c2619ac95313d3c6e90078c7354283ee508b4e8fb1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bed2f5cbe9a40d9933740de488c2ecc1c39777501ce76851e5262613da9bb6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.571 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]: [-0.5541, 1.665, 0.712, 0.1635, -0.4259, -0.3229, 0.6508, -0.0216, 0.8013, 0.6079, -0.4191, -0.0162, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3791 left_y=-0.1445 left_z=0.0461 left_yaw=-0.0339 left_pitch=-0.1411 left_roll=0.063 left_gripper=0.6508 right_x=0.2903 right_y=0.0002 right_z=0.1717 right_yaw=-0.0 right_pitch=-0.045 right_roll=-0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -7.6103, 5.2444, 1.7363, -0.3785, -0.0708, 0.0708, -0.0479, -1.4427, 7.3094, 1.6972, -0.022, -0.0659, -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": "gAAAAABqsqzTKMHjjiT4KfKYm237nJO5VB23CCzhDNdSC3vEAR21ZawuYq6jF_cT_hwMmr31xr0VX3plIldqrlKNz6A9d77bG3QZE8lk2_nHQaAltfn1QJwPC9vJ7fJ6XemA-E3SXjxMTfa4UT5kFS173yQifvVmxV7DO5y-jA6gL-sk2GVfDrRT8HZyrSA0wwyFn_Q2HeqJ5Y89K8b7Y8jHkjds-3WBmN0aeiKydBRPKjXPmFyAhHlRcm9gEqRDoNZIKElx8Zz5RtGf1zJ9VgIad0FhqDie6VJQgbKg2w4A7E_AIYF9Uwl5SUuERQMnw6H4W1GKBn1gBwlRzztgLM9baJx4qZJ4BqTUOtW1xC_K1DYU6OxcMvcDyycD5Iyx5lFnssZ7TnoOSBxJCXTJyMjAW6TmAn43pBJa4fYOgFydN9JL_qHLzOsgk1OXyFW7EZ1LrblSqELYu4s3gH0T3mUvGD1oilCQs3gY-C8rQjotAIxYqx3gdyMYg4EHfCDIYyQoCrEXUVykojd9gyVtBbKFU4MdPtFV0r1h-rmSxfFrCgl37b1vYes8x4Hryn06DaTYI05dZ11ejTVVO1yPcFIe4wTMA300heuW0pbbM5UaK9YflrLz7RrEC1EM2I8wzFY0emb-pxVikQzEaRuQPsi5xiUHeg7mtHt-MeGOFfjMhsoJL3nATFeOAHuj-PyPPjCKUkK-sxs34QgyDKWQI643wgZp5Xzy8Yu0-pBVAVGqBo12dpedFnBzDexkB9pH0sKuCli1jmD5eKXB2PgJwJkSWiUYZglDkKbrHiVOfu67UNzUSWg83C02ts_ndOmHvixplYI4asefhYJK85srlxF51k-iTl_x2L7x-VUV8Qoj3l6PqrfkRL_zU_3hH3V1E-GXkZP84sFUq-ldyAU6Kc85nnikwqFmZ0vQpExigiNnCB7a6nTw8B1a2Xhq6Vwh1yRKOWBpxYX8Ty6tJ0ViEM7Gy7TSDp8a7nUubns8rLL4nDQCEoCkuUoCApBALynkGNPUoe2E2sD82Kg5Xh0qDZz0yjQ9b3o__ZGGiRfVaLZa9uTCkD2Cs39ykl0pSvSqmSMJH-I1HwF43la5kNuUUhwkH4ug1VedY3z2H6TC1kmWc8FSvVOzvlejML_waiqAqN2vbfSviq3cVR-NKIhi2fxw9ZnXSYcIVqQ7i66wfYP98eb6c7EI36uEjMtuD0bpwqDFnkNbZpY1ZovZQ_7YJC9Emna5uuPDfpB8isP_VWa_7BVxonK6oirm2aurk-wUZp--G14KG8dha-vbJngb6jDWtOK-KiMA_Z9j1552FJmxhlZy3iXYccRlSYXWP6pz-ymyTHZaq1rBJsi0zNA8p6aIMsTMCs0QYTq74NHKkmaw6WHwPXPfkVqb6Z1IzawN0dKv9e6rS1QTtsxXQveIg8XTKv4iD0Yoew==",
  "id": "rs_00fb5de4fe46fd7e016ab2acc7bd1487d09e1cca6a96e4a1ae",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55,\"left_y\":-0.128,\"left_x\":0.4,\"left_z\":0.035},\"note\":\"The fingers closed almost completely, so the first pinch appears empty. I’m opening and moving slightly inward and forward to get more securely across the bowl wall.\"}",
  "call_id": "call_FqDF2HUAn2KwdxCGEORRE7wa",
  "id": "fc_00fb5de4fe46fd7e016ab2acc9e0c487d0b0ce182232e54a51",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FqDF2HUAn2KwdxCGEORRE7wa",
  "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]: [-0.4843, 1.7332, 0.6861, 0.3161, -0.4088, -0.3103, 0.5454, -0.0216, 0.8032, 0.6075, -0.4202, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.1256 left_z=0.0355 left_yaw=0.0121 left_pitch=-0.0962 left_roll=0.0338 left_gripper=0.5454 right_x=0.2902 right_y=0.0003 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.841, -7.1043, 5.1761, 1.8339, 0.0366, 0.2271, -0.1392, -0.1026, -0.7453, 7.0222, 1.6728, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccecb2b9425f4c8b31b8a6efcd0799a2e48691e6bbac55538191b84ad69cf969",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa7c396021b4cffae692428a3076388fe3b5bcd0ecde264a13dc284b9fc54655",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4097aad0729e08eaa769fe69be3dff238efc58a5cd722dc6c6d3259a6fb81ed4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.846 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5568, 1.692, 0.7082, 0.2535, -0.4458, -0.3382, 0.0153, -0.0216, 0.8024, 0.6075, -0.4191, -0.0162, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.389 left_y=-0.1482 left_z=0.0504 left_yaw=-0.016 left_pitch=-0.0827 left_roll=0.0328 left_gripper=0.0153 right_x=0.2904 right_y=0.0002 right_z=0.1713 right_yaw=-0.0 right_pitch=-0.0465 right_roll=-0.0004 right_gripper=0.9983\nstate[joint_eff]: [-0.4718, -7.9932, 5.4085, 1.5995, -0.1392, 0.0073, 0.6227, -0.0479, -1.3333, 7.0496, 1.6777, -0.0366, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The rim is now visibly between the inside and outside fingers. I’m pinching it again for a controlled lift.\"}",
  "call_id": "call_B7raE60OkX4byq8vFKpBGs34",
  "id": "fc_00fb5de4fe46fd7e016ab2acd638e087d099d0825300f7d20c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B7raE60OkX4byq8vFKpBGs34",
  "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]: [-0.4835, 1.7355, 0.6807, 0.3229, -0.421, -0.3107, 0.0977, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3969 left_y=-0.1228 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.093 left_roll=0.0411 left_gripper=0.0977 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -7.3231, 5.9829, 1.5018, -0.0708, -0.0122, 0.6178, -0.0889, -1.1692, 7.0222, 1.7167, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a68c7a969ef0bcadc96cb837dc9053c3751cbb7ce57fa0ee5253002c2f85eeff",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9569372f916140337df3d693e0b82961d663d0d9e3ab1f6ca685634d8853749",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5e6bc78b5575042a0ef3e10903a4cff9934196f3a34ba943bd5669e48cbef5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /responses · status 200 · 8.116 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4843, 1.7332, 0.6861, 0.3161, -0.4088, -0.3103, 0.5454, -0.0216, 0.8032, 0.6075, -0.4202, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3973 left_y=-0.1256 left_z=0.0355 left_yaw=0.0121 left_pitch=-0.0962 left_roll=0.0338 left_gripper=0.5454 right_x=0.2902 right_y=0.0003 right_z=0.1708 right_yaw=0.0003 right_pitch=-0.0484 right_roll=-0.0001 right_gripper=0.9983\nstate[joint_eff]: [-0.841, -7.1043, 5.1761, 1.8339, 0.0366, 0.2271, -0.1392, -0.1026, -0.7453, 7.0222, 1.6728, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.1},\"note\":\"The gripper has stopped at about a 9 mm opening, consistent with holding the rim. I’m lifting a few centimetres to verify that the bowl follows.\"}",
  "call_id": "call_WDup4uwYQiLT9zBB2j9Y3z2v",
  "id": "fc_00fb5de4fe46fd7e016ab2acdc3bf887d095cd4338c2e0a80c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WDup4uwYQiLT9zBB2j9Y3z2v",
  "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]: [-0.4835, 1.5852, 0.7696, 0.0719, -0.4206, -0.3149, 0.0979, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3945 left_y=-0.1216 left_z=0.0822 left_yaw=0.0254 left_pitch=-0.1033 left_roll=0.0433 left_gripper=0.0979 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -8.2256, 8.759, 1.5311, -0.2418, 0.0269, 0.022, -0.0068, -1.2786, 6.9949, 1.6679, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3d40276465913b0dd7463b5d1e82359ec5deb56806ee689fb2f7146e8f021d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46b278486cff506e8d6b66e60cf10d848c497499c0a2f135d7ec57420456b382",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8669b234ba23e9954886e6aec4aa164b7a59df8fc91e20671824ee5b655cb727",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /responses · status 200 · 6.017 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.7355, 0.6807, 0.3229, -0.421, -0.3107, 0.0977, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3969 left_y=-0.1228 left_z=0.0345 left_yaw=0.0228 left_pitch=-0.093 left_roll=0.0411 left_gripper=0.0977 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -7.3231, 5.9829, 1.5018, -0.0708, -0.0122, 0.6178, -0.0889, -1.1692, 7.0222, 1.7167, -0.0317, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzmrL21fT_4U-p8tG5G-Nqh13iMIKkORsxZIsbdEG8V6-CPDMzhVFq_sNryTvnZKEESQnClb1okBA8TE1lErFC_7kVQZrqN6kprgTWqmH48BJMRI6nP1fZUcoZvStXe4MwFqXMC5gHBSDlM2rfw1Hs2E50Is7_EfSf4T-DCmj661Zo2trz-lgZeov-RGg3PeBfZJN3eHY671972MYDofGVET8-T52iWOjILBlEAXTH8BU2-s-BHPuCMfsNLGEVyW25tO2LndeVZObdT2P2rib0JEZtuOmEW7Be23qpzhHKrdyNyUe5hku_GykJnoBbug6H4WsEQIenQ4FOsVmqdMc3llvD55s3VVZv84Wq_ocKs-uxgUpgI7mnbYTOVx_fvlqEkB1jlwNBpn_81r0iXYZrdXadUQUz68Zmp8Ki1foZFwKMrW04C03q2bJ8aRPBkXXNlcfv2STNduNltjdAh3qpSOAq6zYfhkvdY6JMRKUxnvV9hPsbZHxKpbrjMThfmlo6SinXK7pcrS5cSxklRvFlsz7LaR2ndeBsdReHV2ftkb2cWy9eVoNFppGx_clN6SvssazDOol6l1hxkoSr2Y3WC2bu2_bHD8bepvtxF5hed11Mqfc3H71uzTpUv0KnP-gBV0L8HQFORyq14k9G9zlLVB2wL3jGEY4tcdkdT4PTCqlNMhd0lTIH7-ctoL0KvTlOZy-jJFa5SF5nploqxQgvqhe28NJxJdaf7zc2K-MqB2QY7_OSOmipD84XKR_p7MVNTVFUq02Nq0Qa6UFvmv5K9stIPhAL5ewX2uxJjzcLlNHFlb_qU1po_VNqaajGJwpS3M_Jb4x_Qs-3j6vAZ7ifjJ4AJYCBi4cYnjXztIHxrc5tGgaMpO2bdecwIXJG_Kw0t7-AcCL9QGdQ0af-6fjQDQ4bnuTu5ljIBUfJSX0ZnS-XJl5zORGnL4VFgDu_D78yPpC8sdJjraD28veDkS7iuPSgFP5jQ6kWrE2qpSM8QND88V_ZaDZpgxmsX2YCx03O7P9eMtyZXZCL2MwHGhcNTkGLOxaD2yLA4B5G-S9iLJ-pJQ_jiQl30GQPyYLjyt3ipwyHwpb4WjWm4WidHGV7on_6HVRG-iQzfpWcsIVFgn85YHg1HEqsUe23plFXe4ENeDtN-NQl1TBoSC8XgZqRdJL8UiqRGZAY5i6_E72BN5HDVi7cghBs6kJBr6EEz8Rp7bm29Xj7D6GLRhJCly-ZeK2FuSuOLecxZv1-MlqOoz7ubAZpQ6t9wKB2RMHog3xJMGiwvKRmnxv65gZQTQwQFhbM27pwejGzYRzWXTFbPPm-lXmpEzG3NUXibcqf73vDxH45YwxZ7tjXPI-GRffzPg5vRDFDChqPM1bVwyMas2lo-3ld87Tg5dUbb6gPuLqwKSXUVWryaC_UrdPbXaZkeh9YyqzcCinkxsMlH43S0lzIkFcethXilDYCWZGA-aiVN-blcJyjlPTcGYhAL51lfZsoDC9ByaS5YHk0y2fGvQzo=",
  "id": "rs_00fb5de4fe46fd7e016ab2ace1892487d08a660786748257ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_x\":0.38,\"left_y\":-0.285},\"note\":\"The green bowl rose with the gripper and remains secure. I’m carrying it above the blue bowl, allowing extra height to clear both rims.\"}",
  "call_id": "call_cVLhL3Av8V9SlV3p46gxLLvG",
  "id": "fc_00fb5de4fe46fd7e016ab2ace4785487d0b1ae7f181b0e1aed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cVLhL3Av8V9SlV3p46gxLLvG",
  "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]: [-0.8814, 1.8145, 1.4502, -0.5632, -0.664, -0.6582, 0.0986, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.379 left_y=-0.283 left_z=0.1697 left_yaw=0.006 left_pitch=-0.1185 left_roll=0.0314 left_gripper=0.0986 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.1009, 8.8, 1.0965, -0.4957, -0.0562, 0.0562, -0.0889, -1.265, 7.159, 1.663, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed876055966b6bfb284007b6ced51ecd670fb00e12488f3fd2a229c0df992eb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d6a17dc4d9f6e392ccc574d0dfc4a0e8c8f066064609f08683b092a8e3b1fd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b252d0245ee73dd62eb4d6fe098e27659b15e048be43870dea2138a60e559330",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 5.07 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 23 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4835, 1.5852, 0.7696, 0.0719, -0.4206, -0.3149, 0.0979, -0.0216, 0.8043, 0.6071, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3945 left_y=-0.1216 left_z=0.0822 left_yaw=0.0254 left_pitch=-0.1033 left_roll=0.0433 left_gripper=0.0979 right_x=0.2899 right_y=0.0003 right_z=0.1699 right_yaw=0.0003 right_pitch=-0.0523 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.0342, -8.2256, 8.759, 1.5311, -0.2418, 0.0269, 0.022, -0.0068, -1.2786, 6.9949, 1.6679, -0.0415, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzt9ROQvUxLryI36-A_3Mg8ayrwzJQ-I7Qy8iDXE6ClypBOFyrErKhLMNcNtULwboIhO0S1NggnIeWxioKsPOAKvAutbBE9aGdg6VVdiyrWVDmj3Ft0ufX8q6SqcMsrPZxHZ9zB-xwuOa9hbl4vyyUSOLTixyLKqL_T0yKCM4S1hWzQOPbWcNH61T8-KluiLin6CK9nyeOd6_F2SEy2cKq_KXxJTKhI91HGKSZY6Izrl-VMLdOS02pviYhffIkLDRB_K93iVX0kmhBM_mIpCH3AVEvGE1vk2qiMl419Axa3mUrucThUHyYfNcsRMD6f_U7z_vMUII1cun05dDabEqvfMVy8Ga-8bzGgt019wBfovUroSVyv0oJH02nwR0lW0GlPqgcQYnWH4QG_tI8VfM7AMSOJIA9NS7NjOoxsy446Xeiw8F5RYuvRUzeyfibfhF6VOKDFjsu2aLlnkwIF4taMtL3UH_iieloejCfjlFB-qipDkQgrqSNz4uhMSND-0ddz0iyx3ZN-GwA59tmrXAZ7h710kVAs4qO_g2ZFAfJ4WCvrBOAAfmof-_Hbhn6jCq5EXPEfBKMfBU-y0POG9_e5kYly42hlLeZ313tDdxLCZcWGRtwqYOn6Yi7IhraIxYBeKevKVdVhN9Wq3aylEKfQMFvlT9ci1H8crvxKdVWRX8oBL1uUdOq7Ossh40FUGvp3-2n_DBrJKZZQn6cWoOLr-E_QJLYvgkxmJ9huFotPFlyRv_VmySGMaIKoCqmVCELdQCnVtdLO10r-c7xz5BFWragevxeexIVLuVArrh44xukk4JCLU84_mUQQkrZ4JkG-z3VbOICX36q8DIcTZGgr0lFIxn-kKfhaPKAssevWi0pmh8t9durv3W0FQmbjT4KKSx-_RHIH59JF7TnocE_figyurWzn_pwUTuOUPY2q920W2xtjcrxTkJKUU2d-PGJnVvuUYFpy5O3GlBB8CudNXMD0fqSN1KVRMV5s68fYRZkZBYjGEKZ5uOfBzUEHOtLRio_grX4x3uelU77DV1MsZg1an3BYHtpr2gDAGwRMMJo5T92momh91dFn1fjcMq290NKJkLxJ2E7JY8GPD1biJgf6m0bvZyicpERg1i19EizEWi45K7j880ldC0jjsM-SdZhduW9eOpCK2InMs8ZQ8StTbqQbm01usq0GhbJXSAw2FlBNyiiEUPl8-YO0tyFZUIgK3iuIjc9M3WE_MWLW254Bt9_ai4ZnIeI3622ULh20WhPVhIcukoPb9HWAY7_OnIPNeJkuJYvR4gKDQ-GI-f2JCyIOnq70snFU6OrLOFjOzcTN7fMl7-gAi5hUyMKwZMlM2bm_QoOELvShpwfBsehBGKprnMoDoyv0pvSTwXYTuYaI3ft-G7uDmvUwPvfHsEjqkJzP1cwiMi5nGEJSUTezYO9MXQUbpUDcDvKsSTSWbXqciguQQRrasB0MCjwho_Q7mtO5_S-X6V-OzgS4L4wBWhROBMUKLzMm7b-pN70=",
  "id": "rs_00fb5de4fe46fd7e016ab2ace9f55487d09451e105841d60af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.085,\"left_y\":-0.31},\"note\":\"The blue bowl is visible just to the right of the carried bowl. I’m making a small sideways correction while lowering toward the nesting position.\"}",
  "call_id": "call_O2YrvqBZaQtjlw8BdKnYCrUE",
  "id": "fc_00fb5de4fe46fd7e016ab2acec2cd487d0b2033b6b0b9bc53e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O2YrvqBZaQtjlw8BdKnYCrUE",
  "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]: [-0.9169, 1.9663, 1.3365, -0.3752, -0.6796, -0.6865, 0.0988, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.3746 left_y=-0.3004 left_z=0.0848 left_yaw=0.0041 left_pitch=-0.1553 left_roll=0.0791 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.8821, -9.7573, 5.7504, 1.5263, -0.4567, -0.149, 0.0122, -0.0752, -1.2786, 7.1863, 1.6777, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a1ac00f785208bf1be76ea43d74ae813a70fa9eaf62165a4e23da3a82c73200",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6769e4e331c550bf4e21da385f74b0a24eb22dc8ab292e4e047efc0e897c33db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68ed90e44079dc7841f3f1735fd810492158e264097d4249424982a92f6b9b9c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.161 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 27 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8814, 1.8145, 1.4502, -0.5632, -0.664, -0.6582, 0.0986, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.379 left_y=-0.283 left_z=0.1697 left_yaw=0.006 left_pitch=-0.1185 left_roll=0.0314 left_gripper=0.0986 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.4171, -9.1009, 8.8, 1.0965, -0.4957, -0.0562, 0.0562, -0.0889, -1.265, 7.159, 1.663, -0.0464, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqzzCYIaudPvjA0AZ1k91R9wgWkbHUhFXstic9QUeXz0ldI_SRcwwlhE6SNqyzhK81uzE2BgibhuP7icLM1jf-DmTOuM2Fqom065M3pjEJbhaOPbY9SbqS2VAcgujsuXSQU4bosmk8-ih56u52MI5XduPdMlaYvZkgbalqwBBy9KRm-g2m0aDvuubRzM6zZTMU4hXTT-ZNhGR6WHWcC9-js8AbZxgobEtu0CBQN-H1aoJMn9Kh9sS0xfFLw_liEWIw55QBTuzs1_h2TIwWyMcENU4eu4cwykuRKp59jrE9oSru3fRIiUItmuOgM22hmeWntQ00HwOENMCx996ZjaaAYU3dX2GJjnVTrd2E5ctlmKFTOnFDJNVB-ko4S1c7DIt1l0F2CEhXLYerI3n-WS_uwHjkRyR6KLgZNGodS-XwGCc8IP7_u4xSMCgZVWzthm2mu6GIw_3udf-x4nH058l7oLnrDIdIVfHHct8zbYl0Fxv5FJuofG6FGrShj21K4-stIDlsWOHH-PllQSV0HBjlQnMIKFaKfkrEbWr2Aqv__JViBLMNIpyRgs88Zug0qX6qAPmWTyHbZjm4_zo-crrWOGNZO_VcNMGGHSUmYJniVDP2t8KXYupbKHAj1-P0pTmetfjygtpaZVCv8zspc_dFXo_nj2VK3UY1xcTCG2cDXqS4z1f84969EL4c-U6E4c7WZR-5iK0i2AsA4j0TNcU0UqcPZICypioUw0xcg9ynROzHR-jeJwL6hYe5lCJxIGHYLCLIxEVGawckX0iznJYsztHRZdLWU5pMCEnZ2BzhEG9Io8qDH0-Pp6r9Dfr7Dw5F5bkGusKQ2xCqMqZzODIxqZBuUTkhwzffRfH8S6nbv0hbfmmyw716HT3QFjngPHXHtrN-16X7n8SzhfvUeBfl97gqDdUHzdLxrU0vn8NFEqUf6ogPs9IgRCS6HremKkcmg5VpWxGDX2Hc-_YNDIbRTBBmriu4tAXGcVaQH2w2GNoDYMMlGw_0-XaKTrPDZp_YJK6lX4ktPk9giY4DiW_L7P63uICXDdzXp5pCmVMPTSOQV-l7a2eevnOfWzqC1m24bFL_OuPnrqsTsVjU3uXCSUcwLJ6_lUUrQFnRzZ6ZIlE3GInqp_gKJJnbx4T1Hz9DLY5ZNqWGpJTe7R7kS5XaHnM4vsWDIIS7WPb0fLD0pN_jIfwVDhucRzVzr-VTI7bncSv5Pz0g71sg2nZILjramzX346ykhEVfCMrCXB7A2_-5sZOmKjQWRvxrQzY_L1iVf9O-BkofJOYENRuCONdvGi7ka5WMhtRxYCVR3GQ0TM1Y4A9V0WK0RVyHWLRET6a5tK1WyiJy-YPS9sAw2d75oGUa0IgSKRxab5lx-2xm_k35M=",
  "id": "rs_00fb5de4fe46fd7e016ab2acf063cc87d0b1e5a753b4bf638c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.335,\"left_z\":0.065},\"note\":\"The carried bowl is still slightly nearer and left of the blue bowl. I’m shifting it forward and right so their centres line up before releasing.\"}",
  "call_id": "call_Kx9SNuLUBmQ7p4yZvUb4ND4M",
  "id": "fc_00fb5de4fe46fd7e016ab2acf1ba0c87d0bd1348743fa9bcf0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kx9SNuLUBmQ7p4yZvUb4ND4M",
  "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]: [-0.9142, 2.1418, 1.4975, -0.3798, -0.6788, -0.7033, 0.0988, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3281 left_z=0.0578 left_yaw=0.0178 left_pitch=-0.1664 left_roll=0.0814 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -12.0821, 8.5402, 1.0965, -0.3004, 0.1978, -0.0122, -0.1026, -1.2923, 7.3915, 1.6874, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975516c3408f1dec9e804b98c73d78310ade76b63e025681f40165fc6a96ea9e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57349a168fdfe45e6f337e672a184ad7a0337b717494edb1dcaae2f2c3d045d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc1d2ddaf01b189f7e6cf044c03f3f100187d3d50252109ec103fe28c3277678",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.888 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9169, 1.9663, 1.3365, -0.3752, -0.6796, -0.6865, 0.0988, -0.0216, 0.8043, 0.6067, -0.4225, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.3746 left_y=-0.3004 left_z=0.0848 left_yaw=0.0041 left_pitch=-0.1553 left_roll=0.0791 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1697 right_yaw=0.0001 right_pitch=-0.0526 right_roll=0.0003 right_gripper=0.9983\nstate[joint_eff]: [-0.8821, -9.7573, 5.7504, 1.5263, -0.4567, -0.149, 0.0122, -0.0752, -1.2786, 7.1863, 1.6777, -0.0464, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqz3erry3b5FOgAPgM_TZU2P16-rQot8YfYrj2-PyPZD2h39_gCdvIbF0Gm1JV5rdJP3oWjl6Xb9JK5a7EoRrTadYSV1iIW5DxcUwuix8gb47XVuU172-13utXbWnEHMyga9oZUf8QRgJOooTJ31k_e6mKsucLC40heIiPMqZnUzg_bABXB7mpk65tqgVOdmvKwE5R7gRp_vM0nzaE5GesglsGhShSVAVEwLiyuixJnTD6ucS5R7wkLhoWTY1K_OKCQAoYt3Zjne_GpuH32BN3CY5yQsEaQFzh2eg9uanAECF06RXdImas0y6_cl7Ez2fj0Kb159ZNoowMtd6Dn23HUdCFaHj5jhjM6zq1yE78p1crUQ-Lj_6zR8TDQE4HqAOYv18hDSdxYiESfTKsnzBNDE8EEr0Ha86WJOOrQZCnMoGlA9RRNp652asNNpWWR74t1Qvi3vbxemfrmePsdat3uAlWAefcM4NPScsQqbWu2ccIgaj122-JfdEl9yfWKmzcNUy6lsguuR1_5jnhi6HKSkcASrkzkNszc6-aP74h6oqhlBO-cMCcW8xHDKzWt2bT9p9CNn9uOjtDBe8TgJK_O-RE2RJe6uQ2eWyBJ6IjchVHaockPxK9WPPZIerc0pzkxrOU5rag7KqhSI8ASoEP7dJXMLk1ADMYDHL9f2JpYApM5t71P21ZK3a-_7Y3_2hpvcPqudp6W_QOzAcBPVVFjYuLpJB4xgYBP7YTJYVnvTyDijEY3DdwuR6e06TpzKHW32SLLP4KRxVIY6XdBA0V_Hu9qbHwMYfFHHDR3T8LTUNmpvYWq2MWH3TDPmkjzF-p121sttP_wdqsWks-Q91dbzqcvTNJd3wDKgJoAbsGv-MMGInaqFE_YoxnQjRc47I-_2g-9Bjb2XHCrQdMt8r9vwYsbyg79I7buNarbrh3kc4riGKknYcOW2k6stDhp9XCzpiXNFmSjn8pLjDOeLej9JcdEIINudH0JjtxLpjc2tYKR36NAJT1fo8Hx4hsFOQ1ngMg6MywlXBq3zvIAJRCRT924ID070RoiRftAXDYTH7D2wLCS_AKiC_15aglNRKfW3lhWWsgybQV0Xv-AZ7L6H4oDREuHCRReCkb3bxLoJSYQixmYfwOCnhyuDmQjohG95Sot5R6828pKgOglSuC-s9-S_ghXcTrOyqjXTys_OWZzdce2cdd3jOPnt-A9ONfwo",
  "id": "rs_00fb5de4fe46fd7e016ab2acf5df3c87d09f0bbd40bc922e22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.55},\"note\":\"The green bowl now covers the blue bowl’s opening and is at nesting height. I’m releasing the rim so it can settle into the lower bowl.\"}",
  "call_id": "call_QAVxiBRkBVKVtxcjQvc8qyb2",
  "id": "fc_00fb5de4fe46fd7e016ab2acf65c7087d098f6171f522c693c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QAVxiBRkBVKVtxcjQvc8qyb2",
  "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]: [-0.9138, 2.1536, 1.5009, -0.3847, -0.6781, -0.7052, 0.5451, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3971 left_y=-0.3276 left_z=0.0526 left_yaw=0.0206 left_pitch=-0.1748 left_roll=0.0904 left_gripper=0.5451 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -12.8479, 5.8462, 1.1551, -0.3883, -0.0513, -0.0317, 0.0068, -1.0735, 7.2, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb15c86370bb857bdf83c2cbf74f201728eff502bd3a27588beb107d979be6cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0175225d57b37dc5ccee8c116c2b0014eda532a9cce2fccd599287a69a75b2e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a62721e82a6945035805483e46558a934d0e8b54a239eac5373393fac96b393",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 8.989 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9142, 2.1418, 1.4975, -0.3798, -0.6788, -0.7033, 0.0988, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3974 left_y=-0.3281 left_z=0.0578 left_yaw=0.0178 left_pitch=-0.1664 left_roll=0.0814 left_gripper=0.0988 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [0.3214, -12.0821, 8.5402, 1.0965, -0.3004, 0.1978, -0.0122, -0.1026, -1.2923, 7.3915, 1.6874, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2},\"note\":\"The released bowl is resting on the blue bowl. I’m withdrawing the left arm to reveal the stack and make room for the right arm to pick up the remaining bowl.\"}",
  "call_id": "call_alj1IpG9jVYglhXEa9pSwObp",
  "id": "fc_00fb5de4fe46fd7e016ab2acfb8e9c87d0be14efa0910d9ef4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_alj1IpG9jVYglhXEa9pSwObp",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.123, 0.9352, 0.8265, -0.6544, -0.1951, -0.0818, 0.5463, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.2918 left_y=0.0021 left_z=0.1894 left_yaw=0.0753 left_pitch=-0.1844 left_roll=0.083 left_gripper=0.5463 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [0.1846, -2.3863, 9.0188, 1.5897, -0.0464, 0.1392, 0.1099, -0.0752, -1.2513, 7.0222, 1.6777, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc9f2e30069d3017a62f9d63575492a690ce71e6ccfcd75dd02f4c2c911b541e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0eaad28c591559cd4185f634a4a60e093ace3dd475c3e24011a39f7e48e5ff6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae30668fa68d5cd9924dae185843cbeef88050aee93c66cf3ff3913f46bfb8ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 7.854 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9138, 2.1536, 1.5009, -0.3847, -0.6781, -0.7052, 0.5451, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.3971 left_y=-0.3276 left_z=0.0526 left_yaw=0.0206 left_pitch=-0.1748 left_roll=0.0904 left_gripper=0.5451 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -12.8479, 5.8462, 1.1551, -0.3883, -0.0513, -0.0317, 0.0068, -1.0735, 7.2, 1.7118, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq0Jzw0at9aW-mPuIhnIlY9iBOP6xWMjQSnHov-femR0FURQ3ybCiND5016X6Cyl8N6sxDrt77pzTyEBuOr-VnvVChMiOXW9H2-mIgvw8SPoj4BD5Ud5fdfRNu4Ry5VY6FpVqt-l4gjalWzHcJ8nXjSmfvqnG68ayJsT4pcDzHbNUOG0GgByqXZnpCy22VwawicTnv-DZ0Ubd911ICQ5Clacabm91Apb41aqFh6XIu5KEnLnbhtLwL7W8ke-uMe81ue7seul9NvW7UADNoKw99sQhVUraA-aQHUefXZgqJGM_YImFRrqnaKk9GFPnOUTHZqEMCPi0p5J5rTPNvar4w-TV3JmrlC9MbwKXwBmysx4gMDlXpWnvRS4nE2Af-K_hB1_O5PvJ-vjHogYG2Zc565qMZmFS0sbuu0KsmHZE6jDdh436heCZjgYIlb9edQpniAtWB3us2wIcCNs7DLs5Ngq1ziGTQCBBzxC0l-vv9GN7o4v-p9HgT47pZEVjJVMWA5P831ZHrIglYXzoDSIsR0ce_vDC7-YIwbuSrepADdTfx4A--vX_NGoX4YrvFFAZ6LZVMFkho-KxMJ8cuhWegXF24jEAno33sC88BZn_zM9TfT_od8V5BClD6rYRvoVnKqExM6FFD31gDzGoiNnDkYgrNdGaXzwa0ebVy031ZTTquRzDUOtbfcvAcVxhWD05vXafMW_VZBMHdnQvqCwckA8NPfAvClgl0NFopxf4JroPtZL1n7gby8DS1LGGBD3nRyuVJVNNWbGCE4QIodZ9JqVczqVVj3vk1K6Z88p4yte3HNGNAMvUlb9vlYp4pciwn-dq1SZYPLqcgPLMMy1Tz0LocgpjlXI6mVFoxhrzphhTwiY2Hu7jSHHQbxNBPYvuvaOP7anC-DwGNOYdnNRk-dDfWGjfEWgAPDMQE-KCRnt8f8pVv-5ZnThLP2ErVqC4_zJNHfNLVgFZGH3hOv82iuUndBCVhtJYru2RLVvorzaI3ldLpEBUpaku9hEihwmwQZwvo1WGstRP1LmtTFTBqURblPynNbn6Xta1qCAimoOV0HmAwUH2hsTrN4o3OD8qNsKh0R1Ls2ZdCWmQCMAix48Dw8wvPP3kYBcNKLypV8jAFgcAAJXhKjIF7IDJHIVi6YEtFivHKYYrdteSsgr3myvYxOthQ7vWfaQwou_7IdnjoBIhsCh10oS_g4JAQXlvcG56WlKVpgxXX0VIsy-zhDUH6QFP6jlk3EWB9w2Ge7TNXglaVHJaGKTa5b6GCRhcndNvC-qXiEjgllG2z5blGDMbMUaNwjUfs-PPn1kPugG7dZ86s9HSYBCLeN46IVdSbhi28WRJhiNM4WtheW-l2FSRz9L4Mou5uggrMXFalq-nu124RInvU9Ejp8360Q_Ptl641iexDcNIyhau0WHUCP_nGt_NKX-xoDK_sc9qeDsBoK76ZxRVvlz7nNkyjZ1sQTbMDVCLA4l8cKTj00ALadbByulKO5BL0m1cJwrN2DLGGQq8RohK3H4qkkG_dj8od46yQ4NK8a5awdEMtoji3qCrzSZ_EygrwkyIq9BmB4gumvs0zQftqN4_Hp5m4PLHzMcjv17WsVnq6aZhm7kAV2wI4s0EquF4AoLC8x14RwPyFSV5reLixcKytBxCiG8Wxw_-O1nOBALXnkq0jH5gEmgpiyrKoaN_MXuFSpS9T76lZhHLvumZWVA6AU3zytx9bLlRr1bRPSIgu0RV7O6bpDDB1DCcY6KItEbOTyG2xpHI7dbH7pckWKEbpNnVwwZueQub5G_H_NeyvkSwTp8XdFA_JOioGtdkUDATk4lgSS27h-HbAvkpaDb17oMWRgtrx8UbJS7Z-z2tbnU_VoPIiBl4kb_ff4FCFSB6X6dLFfPABw=",
  "id": "rs_00fb5de4fe46fd7e016ab2ad02519087d0ad2a29e50acbb23c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.115,\"right_z\":0.145,\"right_gripper\":0.6},\"note\":\"Two bowls are now nested near the middle, with the pink-beige bowl remaining on the right. I’m approaching its outer rim with the right gripper.\"}",
  "call_id": "call_Rld4KCmwNN4Uqzn1EO9bMlyi",
  "id": "fc_00fb5de4fe46fd7e016ab2ad07597487d0a64daf7a1b00c143",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Rld4KCmwNN4Uqzn1EO9bMlyi",
  "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]: [-0.1234, 0.9405, 0.8261, -0.6724, -0.1844, -0.0784, 0.5464, 0.4313, 1.3602, 0.77, -0.1654, 0.3099, 0.2073, 0.6025]\nstate[eef_state]: left_x=0.2891 left_y=0.0004 left_z=0.1845 left_yaw=0.0649 left_pitch=-0.2093 left_roll=0.0827 left_gripper=0.5464 right_x=0.362 right_y=0.1112 right_z=0.1204 right_yaw=0.0453 right_pitch=-0.1447 right_roll=-0.038 right_gripper=0.6025\nstate[joint_eff]: [0.0205, -2.4547, 6.7897, 1.7118, -0.2271, -0.0757, -0.0024, 0.1436, -6.0239, 9.2376, 1.7998, 0.2515, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff1b1699a3cc27d342dc7b819dd291869272437740f90826507e4237a42f1e4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f35ffaa12b51b97a8b64722dba8369b3bc98ffd74a054de4241c39ffd26c9e89",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f55e98b7332b0a2b50b4f2c4b3f785747f7a530e663b6e437320d580f9f82e86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 12.25 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]: [-0.123, 0.9352, 0.8265, -0.6544, -0.1951, -0.0818, 0.5463, -0.0216, 0.8051, 0.6067, -0.4225, -0.0166, -0.0345, 0.9983]\nstate[eef_state]: left_x=0.2918 left_y=0.0021 left_z=0.1894 left_yaw=0.0753 left_pitch=-0.1844 left_roll=0.083 left_gripper=0.5463 right_x=0.2899 right_y=0.0003 right_z=0.1695 right_yaw=0.0003 right_pitch=-0.0534 right_roll=-0.0 right_gripper=0.9983\nstate[joint_eff]: [0.1846, -2.3863, 9.0188, 1.5897, -0.0464, 0.1392, 0.1099, -0.0752, -1.2513, 7.0222, 1.6777, -0.0366, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq0R3JeUYXrsb5PKc2fZ8LQFYoAZLDfRxcgeF6cVtQpzRp_BBpyqZTvj7EkT6R0TRQZK_nEj1GnDkQEDOvp_c_DIo6WObsCB_FhWJq8AquNGQKdNQj80fJCbSZWAYKbxOnjxPJZF1Ee-2H4gMd7rKLhAc0IcW7yZg6f7X0lZicAE97M0gYJZIsR7AYR8VCC-iPlGMHQQAZwHsYkx5pjgmePQh8OTXSuCjgifAPWH76qBxrLfcLWir2Y-DaDWLat67PwoEffgkGh8oJfTgvTjbut8PitCWDy8XLANwK1vfQgNiYAZ3h9_eBYIA8Cgrc0x8yw_KG-GczhBtW19uQck6WvT1NMJLI_jtjWEJNLZIvFn1XIQtQK7s3PtQiiPjiacsCYeK8tM4wpeaJNZqt8_HUj-Dagrx2IS7pwcUSGfbRBQs3jpwDzfbhvXKs9LBrb5ATAdhjhdVjY-u9SyecFk4ezjkZQpNUhNpgf34oSuldgKD-GFN7R0G7ZONa8mFNYZuI2ZpKa0xLlhpxP6W6KbLch1ZIWi41WNQJoaga_NaAXGvgZDhkcR0IcMnnkHTnWxM02si2uJxE6-oC95AXg88enm_t2nexNlMwYKMfOfy5_Wf1aVQ2u1ukjuMKbvUI2UGaDojRdxeUg_IRBtNpwCseRSrkWkofMbwzHSewl_w2sZw_J25rMhTBdRzQco555HODC_9CCMGtPokcDZhQBj0LxJfnPF77v56ryMC6s6ioJ1rsJ6OHz8W5TAX1dzH6Y2y5ZFiRJdWIV6yzi9YZUUD6V3jFRohVCk-j4NDB37Y-yhT9AS148KEijuBsZql5pcYS_FCkOVEedR_qRIcC2YuKtSx7hxgIugRBzWRAN0uAi8AHbnH2nhypOAo8-MBR9NyioJCrQxRRN7P8bC4Ko2oc3iGst9WhwmQY4bgs_Iq27PNE9cCCElynSAry68J5tcOx8pwIhdKPvsHIaTFNZj2cby56-ZI0lIGGTOyrVD9qHGGm6sZJa1S5Hw4tyf-CoZIIdzqBgxv88YgSV4dlmDO051BKVaEWjDwy1iUyI2-cpVmvpAh2HUY4yZwtL_KW3nGTJG-jBJ6M2LtnMb7brl2SrDit1IAtKbjxocS0STYEqwWiGsHjad931cIAKggshsMC54zg2Z_Cpgdy_vi3GPQgOcVAzg9WSYvwGZjScAdBCt752GmNHUCt0-8sOMi0e0C4OLnhQ6KzEvQ9mT_8QENIJ61ztUelE-jpJG2B4btIRS6hMQ99wS0Wy-27sGUCqlxPtouEqtzZzEYzc2oDdom70ByO93D1yXQfP8cVu5srbR5sd94p6u7o1SfrcFW93Megoor7IPsJeGRKoyCOgvY4wKcYeccJlQDjeFW2ufkweilyVBwVoZjuy34DaTFixZXJY-4UARwqwnjC_k7yvxOkMpSjM51f69yTDCbqKHse0Y89U_sr8M7iqj17d6dAC14Jtp",
  "id": "rs_00fb5de4fe46fd7e016ab2ad0d431c87d0a7f4edb720fafadc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.397,\"right_y\":0.115,\"right_z\":0.035,\"right_gripper\":0.55},\"note\":\"The bowl’s right rim is aligned beside the jaw column. I’m moving slightly forward and lowering so the fingers straddle that wall, using the successful rim-grasp height from the first bowl.\"}",
  "call_id": "call_ApbQqKLNbNPY2tC1XTaPpSjn",
  "id": "fc_00fb5de4fe46fd7e016ab2ad0f99f487d088edab703c37c3e6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ApbQqKLNbNPY2tC1XTaPpSjn",
  "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]: [-0.1238, 0.9424, 0.8261, -0.6758, -0.1837, -0.078, 0.5464, 0.3973, 1.6791, 0.6884, 0.1623, 0.2802, 0.1814, 0.5508]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1834 left_yaw=0.0639 left_pitch=-0.2146 left_roll=0.0835 left_gripper=0.5464 right_x=0.3819 right_y=0.1112 right_z=0.0258 right_yaw=0.0452 right_pitch=-0.2211 right_roll=-0.0639 right_gripper=0.5508\nstate[joint_eff]: [-0.2256, -2.1812, 6.7897, 1.5311, -0.1099, -0.0366, -0.0122, -0.6222, -7.3094, 5.5179, 1.6923, 0.1783, -0.0415, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1203b6d6a2fe8147036983284c5a3e73860a9d444e1c8283084b01360e4659",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:90efc2952a79d5f1337181fdf123099c68ad13c09be5c0badffc822a88ed2498",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15407824ee4c621924743e0bb5f8e031f9cccd1443128d82b48406774dd91d11",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 3.996 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9405, 0.8261, -0.6724, -0.1844, -0.0784, 0.5464, 0.4313, 1.3602, 0.77, -0.1654, 0.3099, 0.2073, 0.6025]\nstate[eef_state]: left_x=0.2891 left_y=0.0004 left_z=0.1845 left_yaw=0.0649 left_pitch=-0.2093 left_roll=0.0827 left_gripper=0.5464 right_x=0.362 right_y=0.1112 right_z=0.1204 right_yaw=0.0453 right_pitch=-0.1447 right_roll=-0.038 right_gripper=0.6025\nstate[joint_eff]: [0.0205, -2.4547, 6.7897, 1.7118, -0.2271, -0.0757, -0.0024, 0.1436, -6.0239, 9.2376, 1.7998, 0.2515, 0.1343, 0.0464]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq0ez0P-h6wBhxrSm4zu-P38oCHTivSFgo0l2o43SidNzRGAHvngAddBf_8tqSaBzcJw7W-uD0n8fOE8mwLMY7Gwr8x281M5TYxBRwnuHyLMTXk35OR3vtZhHcnPFDr6x0SYP6OYLGr2Pg_UUiXWB-E6G8GOdBioDUGry38DT3Q2ineH7g7H3VfjUwFEc3I8lEdiWTrraKbKNZK_hZ-wNM8VMiFJA5DoHrCg7t3x1Hka3kkeuwPp-2wKJc5hSEVyRNsr7hjG8qH8McuQw6ZRSrKXnlDXDHqumnrF8iMwPf7q1KB1ASn94tzlX7brOPZj-5WeR_RqTfUUdAki2YTLmVJgjYkCb5myX-TW0ITWPIBGXpr7EtWr5pskMb-rPe97N-_LVcaAi3PsN3wJ5YEK5E8KCZT4g6Mvk4hLaakU5ZnBpLNdGAYn07Gnr8Krvu-9pScHvKoyLFKAgQVkDDoavxIQdcuTx0EFzmy9d9FLEAgbnJl72w1LagEP5N_Qjx44dFguy7kr5bpIX4xqqQG_iZx9TBVZM47g5Ybe9wntGVhvd7fQv18_F8-3yMG0OG86jgoiE3PAIwoinmPhb7jaEVYFWsSm-4TIjSHt5T3UR_BBiJx7625zV9Dof25wEEtECP6MsWe6NZREE4XBToTihQFJe1AadMDrwKVhJCUutW0aHiUgxsOrDmDWME4o7yDCPfoOvO87DkaPQmg6rNzuLpHMcYc0NIKrA0zdbWltm5bKKVPMbQIDzIvVdNLjBw_PA38KDq5e7YUv0YhuDAaByT2KQVmwiluoUKLO2eZKSBDmqXJJDcouwV0BQyeiJsMY1QFdTGVJIQafOLxapwwYehvMiLMuBmn0pu0MeOK-yUx8k1KisJwgFOUHo3AnzpVikCBdLePZALlN-6OTcToJAgEc1QmPUYKUbST2uDqBQLVvnazEEn7N7pM0FJuv6d_SQ3rvNBQn0V9f23D0dz6AqKH6tyW-Rzpxv8lCpqaqBYgVOFYVOk8A9-yJ4v_6QrMAsIszUHW24we-1oXZ-lIs3NhHe8F5acvV_NuLzMNOIfKlUbXxTj7SpvgWQY28UivGM0jf7BhmurgHHQBcukL5dXd3d5KQlO-Bwyuithc3YlCNcvOMZZ-nVgCNeXu7XOsRCmlt_oJNmIFk6ec0wsVUBNTZu8xLCh7TgtuTLILuCVcZectMjlhLoqaF2fNvImkerm4CwiSFxc8OKS5qgQhj-m5-R9-SNzfXHo2KKZ28AjKMAlEsiomh9vB40_vFa_1nEE9bGv0O8CR2X47TMfIR81e_1T0L65kjeYGYu8Z2OfJ6XaC1DlJGQTvFzaiGY1dKFjcoM0Rf5i0E2wTxf22m8c4Kc9ncet1A1FkJvMuBo75axJgdu86UR0yQYim17QwrUToVEwZAGfH_9iGBudVJ8iMGb0DGRLv2FKhidDbG0JA39bjm8-B8IAt45zVtWlqAn4ZhmElZLReOixijNOaIFMcFKwMOyUcmMVSGDEwbSPld1WI-5Fi4yeLuXExkdCM22EJGGd1R1dlg5HPNJUruJt7iM8hr5XM7wYwkq78H3gnf16cvbc0VQL0mXEXR8-lcPRONgJAuAi4J7EL0BiBCkaZJky1Wc8YIOuAyv_oBjHjJxBgXdc7lYJ3xkOLIFdfM-xWpDWldmY-qaefWPOy7bWNwKjH90C3UuoOLmeA98pk52T0=",
  "id": "rs_00fb5de4fe46fd7e016ab2ad173a8487d08142da8279be9444",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09,\"right_y\":0.065},\"note\":\"At the lower view, both fingertips appear inside the bowl rather than across its rim. I’m raising slightly and shifting outward to avoid dragging a finger through the bowl wall.\"}",
  "call_id": "call_UPBKQPgNxXPlIN4VDwUwnu9j",
  "id": "fc_00fb5de4fe46fd7e016ab2ad1baa3487d0947ffcf236132085",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UPBKQPgNxXPlIN4VDwUwnu9j",
  "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]: [-0.1234, 0.9436, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2501, 1.4788, 0.7273, -0.0555, 0.1944, 0.0837, 0.5507]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1829 left_yaw=0.0645 left_pitch=-0.2165 left_roll=0.0835 left_gripper=0.5464 right_x=0.3797 right_y=0.0655 right_z=0.0758 right_yaw=0.0253 right_pitch=-0.222 right_roll=-0.0667 right_gripper=0.5507\nstate[joint_eff]: [-0.1709, -2.1538, 6.9265, 1.58, -0.1245, -0.0171, -0.0122, -0.4034, -6.7214, 9.265, 1.6532, 0.0269, 0.0024, -0.0171]\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,$blob:71638481cd45213b6713370ca180a8fbf6947e2a626b8aa68d6486310543061f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7f34f31bb2428a7461caf56974c4040a0e15e387b6c82edbc730bc1281adb48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c7edb0dcada5f00196e04c0bd60503e2078329422a8c89c3b1606f910c823aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.776 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9424, 0.8261, -0.6758, -0.1837, -0.078, 0.5464, 0.3973, 1.6791, 0.6884, 0.1623, 0.2802, 0.1814, 0.5508]\nstate[eef_state]: left_x=0.2886 left_y=0.0002 left_z=0.1834 left_yaw=0.0639 left_pitch=-0.2146 left_roll=0.0835 left_gripper=0.5464 right_x=0.3819 right_y=0.1112 right_z=0.0258 right_yaw=0.0452 right_pitch=-0.2211 right_roll=-0.0639 right_gripper=0.5508\nstate[joint_eff]: [-0.2256, -2.1812, 6.7897, 1.5311, -0.1099, -0.0366, -0.0122, -0.6222, -7.3094, 5.5179, 1.6923, 0.1783, -0.0415, 0.0024]\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\":0.04},\"note\":\"The outer wall now runs between the two fingers in the wrist view. I’m lowering straight down to pinch the rim.\"}",
  "call_id": "call_nb8rQUquLm4ABZQoAmjMbd8X",
  "id": "fc_00fb5de4fe46fd7e016ab2ad215fc087d09f4eb102dce67a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nb8rQUquLm4ABZQoAmjMbd8X",
  "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]: [-0.1234, 0.9455, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2474, 1.5608, 0.6598, 0.033, 0.178, 0.0708, 0.5507]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1824 left_yaw=0.0646 left_pitch=-0.2184 left_roll=0.0839 left_gripper=0.5464 right_x=0.3696 right_y=0.0648 right_z=0.0352 right_yaw=0.0405 right_pitch=-0.2847 right_roll=-0.077 right_gripper=0.5507\nstate[joint_eff]: [-0.1299, -1.6615, 6.7624, 1.4823, -0.1197, -0.0708, -0.0073, -0.0205, -6.9538, 6.3111, 1.9072, 0.2271, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf7e9496fa6ae5d4684ef9c279657d2a5e86cf38db38715bf61447d8a9214109",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:24b395344a1d6286faf248bdc93a2a3fa5757007bb8dc553ebcbb5240aeef756",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5815874c814669c30d0ccff1bd69e3fc4b4c7cb5907d6b5b9bb34c88110ee00c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.916 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9436, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2501, 1.4788, 0.7273, -0.0555, 0.1944, 0.0837, 0.5507]\nstate[eef_state]: left_x=0.2886 left_y=0.0003 left_z=0.1829 left_yaw=0.0645 left_pitch=-0.2165 left_roll=0.0835 left_gripper=0.5464 right_x=0.3797 right_y=0.0655 right_z=0.0758 right_yaw=0.0253 right_pitch=-0.222 right_roll=-0.0667 right_gripper=0.5507\nstate[joint_eff]: [-0.1709, -2.1538, 6.9265, 1.58, -0.1245, -0.0171, -0.0122, -0.4034, -6.7214, 9.265, 1.6532, 0.0269, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are at the bowl wall with clearance on either side. I’m closing to grasp the pink bowl by its rim.\"}",
  "call_id": "call_BAzRFIA4KxcbJcu1WX5tB859",
  "id": "fc_00fb5de4fe46fd7e016ab2ad267fd887d08dda80ece1215573",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BAzRFIA4KxcbJcu1WX5tB859",
  "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]: [-0.1238, 0.9455, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.2474, 1.56, 0.6479, 0.0566, 0.1535, 0.0795, 0.0385]\nstate[eef_state]: left_x=0.2887 left_y=0.0001 left_z=0.1824 left_yaw=0.0639 left_pitch=-0.2184 left_roll=0.0836 left_gripper=0.5464 right_x=0.3694 right_y=0.0691 right_z=0.0344 right_yaw=0.0574 right_pitch=-0.2757 right_roll=-0.0495 right_gripper=0.0385\nstate[joint_eff]: [-0.0479, -1.9487, 6.9402, 1.5311, -0.105, -0.0562, -0.0122, -0.253, -5.4906, 6.3795, 1.0281, 0.4225, -0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bed794358e92311f6864276705ec0ae0e6bd2f153791b7afd886effc3f6321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ed8ab44a1231237a6d52917fb5307a2c4c6555cc0304466c9bc483e6cea2e08",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78e3c222afc880816c2acab64b0f477701b522b88b2386eb296b10dfeafaed00",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 7.302 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9455, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2474, 1.5608, 0.6598, 0.033, 0.178, 0.0708, 0.5507]\nstate[eef_state]: left_x=0.2887 left_y=0.0003 left_z=0.1824 left_yaw=0.0646 left_pitch=-0.2184 left_roll=0.0839 left_gripper=0.5464 right_x=0.3696 right_y=0.0648 right_z=0.0352 right_yaw=0.0405 right_pitch=-0.2847 right_roll=-0.077 right_gripper=0.5507\nstate[joint_eff]: [-0.1299, -1.6615, 6.7624, 1.4823, -0.1197, -0.0708, -0.0073, -0.0205, -6.9538, 6.3111, 1.9072, 0.2271, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq0tx0el6-IEhLLX-MmxMgF-kyCe0LpMZuvODadpoLP-ZwYD9DQoWU0AiiOK-YQD_m5aBwCSXtlkDfZ7QMSAmwkRBKbtbVIbtSTvjJsKmdzf_vv3rFWGtpzklfw9_HctSymVGqkZxELmkvWvN1WrPIeinESqm5HMUKVro6pqnuK-huYBfZgSqP4wgflssnCLT7HqoRfaYHXJ0BkQnHdOC4lBKrQUPIyVdM81pEwvbKwrYoTuozSQ6x433ZsNuDDxN07v23qx-CUtPmXRld9Dm94sG2y8IjxAFdzZoPSle9bofx9mAW0bFGH9By58ixZgUUfyt64as3mUkfaUxSzaBtu9mSouddX3f7pIx8RhMfkbIV-vrK3FCmYXlHJVtiFp9NPiDNBEvxEECfsB_GYlgHIfzs8_6XPJ9pJUmh78_iwOMmDKF3PsROebs3TTcjrTTINpO8Q3fCiWGeVBfc8O5yJsN5Ot_X3gynjh953Yt3Tj4M5XDwLXfWu7l2qRC5EgUMLNXIJYJf4k_mOLJJGjEzSM0gHdeCuLvu4Wt07S60AVqNCUjkF6792RHCDjcNTJe_a7Zet0_VULEHyWlYucvonf4EmlMJPmz2Q1b4YasIf7JRcLvnRPHGysOCgG4LnDQgciCtP0EmVQNnRFzo5bKHBX1ScF6Mb6XNlZVWNUMCn7-kNgfZs8B9yyHaMfpDCxVdXIpEWenQ3OGLnQdKMpqsQPa-loKwCos792dncgsG40lBUpXCftUkXzyZiKO3AUVo5e2hlTZP_J6p8AoJhiLdIARMAH7VLX-96zN7d1_ru_SJzIrFUykvfSvHeqHLHAFFmI6QGZoEE7be2DLyWQD1XMxwv7AruOIdtC-lgSGA9OyGxtltjCN6E7rL7-vHpKrbGe_GjCBHWbepO6S5AMeRLNC6QjmbestiL9q-6URDfbLULeYCrJruGIddoh9_o4Lty52IChELU6Ns3P8Sk6Tm13kTl49MgMdLinhsohqE3dCWuP4GHMHhW_RomlQptvNfQY-BSoeK4sCXtqftMSUfLbG1tL-3rNHIvWyqLOk9JF4p_s3wgtxWDIgAqsZGK9sb3ObA8zVD09IvggpBsAaOMhPv_sBw5FL33LgQxNOlOzF43-i--4DyMaTT_8Q1CEujv-ANrO7lKkMuMs_fXHZJEowJbayJo22fINQotzZ_u_yCTBY6yR6Hs5AGe1gValUqLyHuE65yGaG5jNLeYyzGHhWW27ccW5zDQhapbVVQu41YU=",
  "id": "rs_00fb5de4fe46fd7e016ab2ad2af76c87d0a626899c1fdde51b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_x\":0.38},\"note\":\"The pinch is very narrow, so the grip is not yet certain. I’m making a short lift and checking whether the pink bowl moves with the fingers.\"}",
  "call_id": "call_eEoeVDGxgcWiQkpPuhmByDci",
  "id": "fc_00fb5de4fe46fd7e016ab2ad2bd65087d0b791c26ebd5b0710",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eEoeVDGxgcWiQkpPuhmByDci",
  "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]: [-0.1234, 0.9482, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2451, 1.4811, 0.8028, -0.2008, 0.1474, 0.0669, 0.042]\nstate[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1817 left_yaw=0.0647 left_pitch=-0.221 left_roll=0.0844 left_gripper=0.5464 right_x=0.375 right_y=0.0707 right_z=0.0795 right_yaw=0.0662 right_pitch=-0.3002 right_roll=-0.0579 right_gripper=0.042\nstate[joint_eff]: [-0.1026, -2.3179, 6.7624, 1.5165, -0.1245, -0.0073, -0.0122, -0.8137, -7.8974, 8.9231, 1.5018, 0.0122, 0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca9b3779f28816898570adb52d6f5404d7371a08969ebc2b1149c1203e9ccb27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20958d1cf5a84c727a88d095c7a3bb0dc073548f30155945cb367c3e57a4bf36",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03cfd99793e68c6774787af6a29e60118f35f063c4464c4bd1e9d9a9ec38e550",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 12.28 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.9455, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.2474, 1.56, 0.6479, 0.0566, 0.1535, 0.0795, 0.0385]\nstate[eef_state]: left_x=0.2887 left_y=0.0001 left_z=0.1824 left_yaw=0.0639 left_pitch=-0.2184 left_roll=0.0836 left_gripper=0.5464 right_x=0.3694 right_y=0.0691 right_z=0.0344 right_yaw=0.0574 right_pitch=-0.2757 right_roll=-0.0495 right_gripper=0.0385\nstate[joint_eff]: [-0.0479, -1.9487, 6.9402, 1.5311, -0.105, -0.0562, -0.0122, -0.253, -5.4906, 6.3795, 1.0281, 0.4225, -0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq01tdOWsPuBHFgn9qETJn-JkdaPLh3Nw1ED-B3EkhsJR_4FkVoA1kvTKFaL-p7etKoWH7SdaSmZV24jCSeGdnKs6ZjN8jII_doCCHKQaadx5pygAmcDPvwt4UFxmzEqsIkONUYz_jxSrZnd_t1uZeim18IUZBFFWqFHnb2BAZHyOJ7MIEkGoi_hhIM4ZBNx3hY_WdNw9i6C53jxVQhYoA9Ax5an0eDfEwQAiJMLfGPaGPPpRSkcQeiPc19H3gDOEt2DDCQsStx9JGlMXdPU2fWgtRgfKT99nodvBSSezvtFDg_coMuinVvCFM83xGbJfPMSzYcmZazSB9V6KFOArt4OkA5XdI84I2Kzng3NcUtH-VAWVnVgw3d5QkowNbBK93SCSr8DuwPWIHEpaLzro1617XBlYmU0VKOQZ1tBqDlg5ioPDCtAN8spbaH3UKC1kgWEbPVX-Rqc57uPSFQ2o9hCS7X_2y9Nqt5SfsA_uE2FkheCacjeIKhK2wY-fcVIx8gYWuMbfMfi86woK0BbXv987QoKdfUuP4RC7xTP9skbrmvA65lK6O8HgGz9o4unQOFDVKKAS98fWfBaYwrRtfWF85OwAjZTdSPSE9Hr1jQspfKw40JM3Iisq7gw14YQHnha5UjlrBKwnI6bzcF1gwQmKMYSnugixCrPGOfyNCXnlFtOVpcPOXaorKKOVsOoRXkt_7qWENEJonOfSyXQNmie3357-yAMC-qHD1faOr-YYmMwSJXI5biPyXoEpr9AL9ZcjGNfqwmrmJP71t2qBN_GLoWBYFMyaVXHUs3acNcQeQnaHrn163z3uNigBiTRCOjI5nRSJpBvB9uBbd3h4px1Slzuo8WHB7tBCAJeeSxLGIZUsCXYQ9wSTY1cU1ARb9uWANsnuVUgSAtYG7a9RJ9fSDat7lr0yuhBbyf18QsAQgREYA-tGaFXkmqi7fu-D8lfuqV3bZl6Vkh7ipJZMjAbka5CK5pFKkkjGG8zccMZIElZ_a__sp2qjIZ0P340feAw5R-AOITz4XSmr6sFPNwqud9qFXTQLPEd8aoG9xTsA6rO7QDNRtP7Mi412HM_WjXhNsufSSQxEBGWQlg5jGU3qL4jYuEahFPSXmu-NIbCNoPICJ9HOVLQQ5H0C9bVyBDExU6tLEJRjTIPFFP5ygAJW269XZm9SRBSJkNtOobmE4SNMTQ1QtV6Ulnk91nppC5rTzQAuGSgEJyGo93YmYChKauiomtN7KCtGLt0I-oEsD2fIjatMRqGX0YYIKpV3DpQyXzBurxY13lEzPHB5E8Y9KfssmF4TXXjLBalt0GpgIpyK0rTR91P6wXDmEr2zAz3bx12yYLltOGleA18PK4d_RiWtdIgZlAwIaJ885DWg7N14e_Wp6A9MWpV5SyfqoCR",
  "id": "rs_00fb5de4fe46fd7e016ab2ad3092d087d0ac86a7cee7e34a9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18,\"right_x\":0.39,\"right_y\":0.19},\"note\":\"The pink bowl has risen from its original position with the gripper. I’m lifting to transport height and moving partway toward the two-bowl stack.\"}",
  "call_id": "call_RQb4oC6bjrbA9xKL7h5BC14f",
  "id": "fc_00fb5de4fe46fd7e016ab2ad32700487d08275459968f6682b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RQb4oC6bjrbA9xKL7h5BC14f",
  "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]: [-0.1234, 0.9504, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.5785, 1.6413, 1.338, -0.6563, 0.3202, 0.2974, 0.0425]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1811 left_yaw=0.0645 left_pitch=-0.2233 left_roll=0.0846 left_gripper=0.5464 right_x=0.3858 right_y=0.1898 right_z=0.1649 right_yaw=0.1139 right_pitch=-0.325 right_roll=-0.0674 right_gripper=0.0425\nstate[joint_eff]: [0.0752, -2.2085, 6.7761, 1.5116, -0.0952, -0.0513, -0.0122, 0.1983, -7.8564, 9.1009, 1.0965, 0.3492, 0.3443, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d8377344a8debb49c0f7c42cb54ea61753d8ae403d65fdf5e2b841868a132e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:873cee8862b663306e97ac9ad182f31882642d14575095f397be4d21eedb1dc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff333b6ae5264b48a81564bad5ebe597c9d0f1105ac84e0a02eaf5ce7b3ed88",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 9.384 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.9482, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.2451, 1.4811, 0.8028, -0.2008, 0.1474, 0.0669, 0.042]\nstate[eef_state]: left_x=0.2889 left_y=0.0003 left_z=0.1817 left_yaw=0.0647 left_pitch=-0.221 left_roll=0.0844 left_gripper=0.5464 right_x=0.375 right_y=0.0707 right_z=0.0795 right_yaw=0.0662 right_pitch=-0.3002 right_roll=-0.0579 right_gripper=0.042\nstate[joint_eff]: [-0.1026, -2.3179, 6.7624, 1.5165, -0.1245, -0.0073, -0.0122, -0.8137, -7.8974, 8.9231, 1.5018, 0.0122, 0.0513, 0.779]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1CVnX4-Drrd_6mdqE83H8B3lJSoEMgLR4xe7qxgVGxqFk7fHR1LxvlbIvVzVgXJdMYh7SJAfnWr8ojpCiqxj98rupcqBzF6vBgn9ydLFUD8YbjMkDpPWlSvvmRI93OKD7isHyzTm8lPgUjlkIrYmTP08NOB9XDKwCC7ANUTEt4_sO6nIT2fFsrYtf6G8Fk0L9j0ypfDy5m2rB3r_ShaDUfxpumXxDrMfW_3ROjMdiJiHW_iX-0VoH9WPEsXPCeGCS6zIgHh8gPFGUoMr-OSZR6bm53lVahcMyjCJM3seg1UkthrDMjPZHMuod9-7hf5JhsM41xcBvA1qhY_qkviKOPjlPmErw60UFGCq98OfjDzsWAfz0VV5LpPPige2zsBR5KoKkjmmSr-fI9PAaQ57FEgY41IQcE8YbWuU6ZvGT5i3dgFJ5UZQ3dig1GTL3ELo-YWqUkJVQjX3kHMZIMgou6ekuOS3uQeCIt6MhSMa1s38KuXjXeMLhwQDLNVdIUpz4JwLZjs-GaXFZnEmq6DZXPO-Of4tdTASwBvs-4-o7Y_0oGIN3wsearOvBI7-8mINqQGlPGeEISZhTWFQdgTNyJwgzDD20U1pkaTIbY5kRxR2Xl6k32jXq0IZnSA6eRntqR93CXq6PAjIMB18nUlgWKkR6-b1BIYd8DGwPcIDg4NWpFELRGaxNHUuMUl-dB8Sx-oRCfIVp48Rv-QkE1OSUGSkinLKBO9SiHbjeerWmjd-JcNAisFNrmbAMWuBYkfv8aQ75kg_7qTIrB6dVW9fmVVQwV0QfdzhRgwVoUVHtzGxwDXbM30bAOrQl5bZ4jRl7FKewj84gbkCOw5KquGWN524T5cAgoRRUBWcqOfhAfE6whYLxaht3uurC3a8-FinJ_B2enR5Av-av54bzIxNsQdxolOXY2YoAb98m7JfpovCXc6gmI75REddzb_6SibTsa3dlKFQxY5e3RfvNZka2sIXpz3dlGbErOzsC8gri529DerwSX567P_I_0tV_5JOT2K7S6XEbEK2uqekY8F6va1h51qotWI2LA-Gdh1LN8w5qKCbyyVLlL9AIElCH-Dw9TUJPfx5y0C0y8L8P5hR3LdAOyDACuLRy8zVnv_fsqSO1S_a54ZWryyrqhGqxaoWaBh_ePLMibQOU0b42o-Rp06PGoXHXHvU4xoQeovU4LTX2cz8ZvGA2vUMTqQCCEWfEOovvIwLCINI5-p7dKQaAy_kbcabmteAsXklPouEYlUbeTW7ZiJIawQ6KvsA3mFQ8gU8noT80QU1IYOd0oNCMlAOHojq3OuaBEdB-faquscvBCV2HJHcrni0NyvDql--ol18An1nl8PRJO3U50Lv_uVYGVsWrESl8R3PtZfM9yqEA45ZtiMdtUnfNEzi5gGRsZV_ca64GzyvnAvRCp27Zeeu6QwltQzV7ikguPZ0q4RroMD3PsYZJulKs1IDBKSnTn-z23W8ChNUVP-1rMjZNMxqMsUgQyvPDnBIT-lgqc0epA3p0WQ7cq2ZPwSX4jW4uqm17Ume63yrDBo1hTc5Sit7EBK9OMXszgJRixHVdpeDKJv0Y3QbN5iS50a7h5MK1giycRJbXmBFAP3y9WX2e_LTlr3QqEmao9K2neoHLuqzU=",
  "id": "rs_00fb5de4fe46fd7e016ab2ad3c209487d0ae58cf6c98dc6316",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.34,\"right_z\":0.15},\"note\":\"The bowl is securely following the right gripper. I’m moving it over the centre stack while keeping its base above the other rims.\"}",
  "call_id": "call_WNnpQtUeY4mX4yQgTKe3bZQE",
  "id": "fc_00fb5de4fe46fd7e016ab2ad409b0c87d09692adca4e9010ae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WNnpQtUeY4mX4yQgTKe3bZQE",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1234, 0.952, 0.8261, -0.6769, -0.1833, -0.0784, 0.5464, 0.8192, 2.1342, 1.9114, -0.8635, 0.4168, 0.4801, 0.044]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1806 left_yaw=0.0646 left_pitch=-0.2252 left_roll=0.0849 left_gripper=0.5464 right_x=0.4054 right_y=0.3343 right_z=0.1348 right_yaw=0.149 right_pitch=-0.3794 right_roll=-0.0959 right_gripper=0.044\nstate[joint_eff]: [-0.1026, -2.1812, 7.0632, 1.5067, -0.0855, -0.0611, -0.0122, 0.3624, -12.0684, 9.2376, 1.072, 0.5348, 0.3394, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adf330ef7f355a11f0bb7c9ae498282045970ffd946611c01f174a164154779e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:323f79af2f669560465495a70f92086b701f28802f23e58412a1730e2052590f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d15f91f79ca8eadd5ccf371ea63f5a5dd72f352a7de30c0d7f26609e1b503fa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 4.325 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]: [-0.1234, 0.9504, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.5785, 1.6413, 1.338, -0.6563, 0.3202, 0.2974, 0.0425]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1811 left_yaw=0.0645 left_pitch=-0.2233 left_roll=0.0846 left_gripper=0.5464 right_x=0.3858 right_y=0.1898 right_z=0.1649 right_yaw=0.1139 right_pitch=-0.325 right_roll=-0.0674 right_gripper=0.0425\nstate[joint_eff]: [0.0752, -2.2085, 6.7761, 1.5116, -0.0952, -0.0513, -0.0122, 0.1983, -7.8564, 9.1009, 1.0965, 0.3492, 0.3443, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1Mf_lDoms_tvA89rot-M-bJYdgLpspFOjHSDTeDG2-02FtmRKXtv_eRXcXxVii--04mGat9fY7LqjARqSXX_oHpGghXHie8NUIkvrBpkj6FvLmz4UJPCkci3wml9h3IELreqYmqHBpwgNJSINa7CvUEb30gRtwT3-VKmqAQWQfGxHpZLKw1Mi_q602ezgKhcMQBpeqhauHjNwWMnltlnLrARZFtYEi_mgStPldWOA-2Hnpe32DGgZc9opnPGWw0K25abNHBPcusYQF89upH-wZM41Tn1aTFO8n9mrVwlfxuhrdfcVocdSlNCbPKqcf69Sdz5s2MtmWZ98KUYrAGDF8tbzqRBr-gT9SSzyR4b9KtYDObHF_NCHi36YvjdD3_GI-fwz-wOVlSvfOAsKfMUi6wrP2p2llXQ-wI75ft5pHBE-sCfAVi3hHXclKo425ijrJtH33NVKPke1yDy89NeadRB2fAp_asKXKnkUelRJQxx4gRo6WOIJ7zkxdEN-JfIhwJFCRY9vJGf8yO_eA6JpHcXVDL1gu85WgARAk1FgMCYTq828qvNgwBDgijNLomecreoLLAdZdEBMJS1ghyxAX9b-HdMQ2D0QXtKI4vwRj9prb7SZueIQgdyfPQeBUvFtmdmIoRztMJZgqMbZrA8gSISt5JjTIH-VUpCyQt9m2t0SSdHNtYxJ923aA0sL87EnZvWsGz7PQeKw_eongYU1fPYYZW0i5tlKqDNQ8DFmj-T8jnrgFstgEWgqL2e6CAI48cd_Tu7chMe46aENgCV_Z2h3q4whJiv-ZB6cjyS2aZb1SAWEOueQA7w4ZXQXBrsG-qTG8JcdtNNJnwfl_VFLQVE5_S2rt7feCoeFpuvotgaHuRPxD7cWPbW_HhUryiiniZA6bJITK-OhjYtewAVdut4mZ6_rUehBP9sDkvaYolhbwdhvo-5kJwoh3lHL7jigeYaaOuN8fXkpowHkPWw0cR89opMQ4wuuFkNpyalFnCBPXpDA9SO-c0HfbGMSCxGLVoQp_2_Irajb4o-Zqt8OJDqpZ3F_MvbryIMrR0R1M6tozHT1BzjF0XN13t_03V7TNV2o0DsSgIMjvsyWalsg31BugR8auyKCbgwMvdRzzFiY48bCi7OjUbc1OHvJZXq4-aaZGCO1DMcJ_1RmjiDn_asHf83gFsC2iV1ZO4XdEIA3rEu6XgnF_61n96azfq_LRJ7PmEVWYfl3Y_eF7C9AdOgAqIwApRDJMO069rPR9z1Z8AT0mOKNPcDgXUrzzDaqij7JI_WhYKmTNhh0lDSr0BPJwQC7bV_PjdH-iW4KS1E9D9Z0bkVvW3Os2T1YYq2fxS36C8CNmEr23A0P4ZAHyY46N2wcxqWKZ6exUR9Hutqskiy9QZZ9asgieT-6GhE-lF35ek5sGDMJH5JXPWAl2aU9Sry0kopHeK-WwpwgK3mCjCc1kU2xo29H95bno8ZxRmbYwI-YXjK2XYdZV6riOqsRwKf6237hFtslWgYpa0XHR6UCi8wPjSV8gj8rOx5tkyoazEdhyh5680Dy0vTbZfiDTj2bYqe8728xYFlpSfvcB57g_5sE43lDtR2gyjyxU4Y4-AAYhFHN2VcSS2qnZTK4Abhh3aC7abv788ehGrVxbUjrEQjkEmzRWXpnYJNwkm8y9gnkVfmFXXixcGyURtN1le6RIDvkfFaQTC2VhnCi8SfBELv4kbGHJxqK5Vrxi",
  "id": "rs_00fb5de4fe46fd7e016ab2ad478e5487d0bbecc19c9fb9624f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.325,\"right_z\":0.085},\"note\":\"The pink bowl is above the stack, slightly to its left. I’m correcting that small offset while lowering slowly toward the top bowl.\"}",
  "call_id": "call_ddaDJMvUUcp2d2boMJpxzS7y",
  "id": "fc_00fb5de4fe46fd7e016ab2ad4b5e9c87d09c117faaf9c78354",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ddaDJMvUUcp2d2boMJpxzS7y",
  "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]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8082, 2.1349, 1.7027, -0.7326, 0.4099, 0.4713, 0.0447]\nstate[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.394 right_y=0.3156 right_z=0.0739 right_yaw=0.1266 right_pitch=-0.4452 right_roll=-0.1496 right_gripper=0.0447\nstate[joint_eff]: [-0.0752, -2.0718, 6.8718, 1.4823, -0.1294, -0.0611, -0.0122, -0.5675, -12.8205, 7.1316, 1.243, 0.2076, -0.0611, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:580ca7a47570c7f2ca89786c6e7b1a294cb13328f68b2f0686fa0d713dc4a119",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c63813089a221feaa20991205fff28b7f0e0cdd491ec02e9040e89c3261024e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:889ebd4894e7e0a6bb73229e0f1858e32512128b820c9a43e692f534bb642885",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 5.539 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]: [-0.1234, 0.952, 0.8261, -0.6769, -0.1833, -0.0784, 0.5464, 0.8192, 2.1342, 1.9114, -0.8635, 0.4168, 0.4801, 0.044]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1806 left_yaw=0.0646 left_pitch=-0.2252 left_roll=0.0849 left_gripper=0.5464 right_x=0.4054 right_y=0.3343 right_z=0.1348 right_yaw=0.149 right_pitch=-0.3794 right_roll=-0.0959 right_gripper=0.044\nstate[joint_eff]: [-0.1026, -2.1812, 7.0632, 1.5067, -0.0855, -0.0611, -0.0122, 0.3624, -12.0684, 9.2376, 1.072, 0.5348, 0.3394, 0.6129]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1RU60u5FVG4OVpEqF02ZiW_9I58ajCTWIEN7oW4Rs8oRFvDoowgmx-ZYnT617g9jAP0hVuE6LthRAX0hOy0MBNJcPfOvozyqtGt3v-m5OhjOihhXQ-x5KG0gmAk3AzMOOTweBTsGzdx90B_Nro2o5kektVzI9DyF1dVUyjEGtQ_y-QQI0RAEAf0FUMpBiMR5uKIUab9OOGyBvIc78v3I-syvh2CU8w0t_yYQUGRujxRn6_CopcZQaulggkdMpDpPamCbLrXHr_E8_-Y5DwwCGqUONULJPNEi0LLYaRt_9xohSeGdKKLAfgN7BDgsbl-vaN35C7GM2LKYhC42Dis1MXkgZ2KoOLuCoOUHAip4H_gkI3wg9N6HBUw7Nxt5Hj1fjSVguTDNCfNOhneTBRTqXXsHymF9xRDbqYQlyeeVc69w_Z4Y2sSgLhTmumcyhL_7D0zKCJ-d38h6-mLjyYUmP8vGq3_1hX3VNpPqGYsTScwwQ1Vi0XOGNmw4nO7Fec1b-HvIsgz6TCKwtMrngwvqL6_e-PLIVhVrsvUz5kCYBc0gaL3QUeMTHXIu6nJxXzOKDjW6RhgejtdrMM_HOdgb9CuCAHoCSbwnCo9gcLxx5Ju4ei_DwsMslSCMwxrBf0qizl-9MutayPSoxjobeJhDTwHr81Fw6zkTcOebjO0aDr5plg2WssgKkf_puy9oEao7Q-YuClrIuFPDAZSxiW1EexRCLoC8onu5swZ0cNMZrafPxC8Qb3HttTAz7bS7OUkZNStgHSaQQqPlQ594BZdGdvbHnJK0vBK4AC1cgvzn6hxv05lTv5SuRpzBHIc98_0l3hmm2KSA4xTQ9gD-alsvQMMU4rZ74ho0V6bz-lKVJJxH3tXNa4tSlh9Mf5k9SFdiwU-LmzdSlViiOFDSgRRi4HwtGKAkm9mKuT0Wu5Ed-sv5K98ydU2dH8-S4sYSzOJqBX3UaNFIdx-WIJ4dRMoOO6BQTMyn2EWgC9Vteg33alAWFwz4Qhfy7o_fxfGfp-ZDbTMZKdXNFWZ03pZejYUUrjkiJfgBuGzBsrOOWVlvp_1UueP_5EuGWWz3i5Q8gwyh9nE2Gve2ABAo_jRh_ewwDf4NIVKmmMvypQXRhnJoKsx-BBiD0wZntiJQcTuX__7kGBQrur_FO58C9Ha1uGuwgEk356J9MStv6G8hUpD0hLhLz2CzUFE_sYqTcqj07ueTEkg0CcA7Jy7RTbbAxJhdn1Og==",
  "id": "rs_00fb5de4fe46fd7e016ab2ad4fa99487d0b82ba91028e2fd2b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.55},\"note\":\"The pink bowl has reached the stack and its rim is closely aligned with the bowls below. I’m opening the gripper to let it settle into place.\"}",
  "call_id": "call_G4SbwD2QunQDrUiKTmNM8HNv",
  "id": "fc_00fb5de4fe46fd7e016ab2ad5008e887d08891fd34aa305b6c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_G4SbwD2QunQDrUiKTmNM8HNv",
  "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]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8047, 2.1349, 1.692, -0.7326, 0.4038, 0.4564, 0.5459]\nstate[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.3925 right_y=0.313 right_z=0.0699 right_yaw=0.1332 right_pitch=-0.4583 right_roll=-0.1609 right_gripper=0.5459\nstate[joint_eff]: [-0.0342, -1.935, 6.9538, 1.4774, -0.1245, -0.0317, -0.0122, 0.0342, -11.9179, 7.3094, 1.0085, 0.2515, 0.1392, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a2c968557129bfd1cf38806fd9a026712b8f0cf84e6c74b6bc953d182135ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:588d2cfa6262ad2b4c40ba807d4166f4a63c25cafdad31c64fd34c69385991f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3801b99326e33856e0708d77d4f9ccdc9b539d3fc619f3cb7c11fddfeed9ab8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 4.046 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8082, 2.1349, 1.7027, -0.7326, 0.4099, 0.4713, 0.0447]\nstate[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.394 right_y=0.3156 right_z=0.0739 right_yaw=0.1266 right_pitch=-0.4452 right_roll=-0.1496 right_gripper=0.0447\nstate[joint_eff]: [-0.0752, -2.0718, 6.8718, 1.4823, -0.1294, -0.0611, -0.0122, -0.5675, -12.8205, 7.1316, 1.243, 0.2076, -0.0611, 0.6276]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.18},\"note\":\"The pink bowl remains on the stack after release. I’m lifting the open fingers straight up before withdrawing so they do not catch a rim.\"}",
  "call_id": "call_9RgyXG4lXwXoK6tbnftmgMT5",
  "id": "fc_00fb5de4fe46fd7e016ab2ad55217c87d0a56eef39b3190b92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9RgyXG4lXwXoK6tbnftmgMT5",
  "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]: [-0.1234, 0.9524, 0.8261, -0.6769, -0.1837, -0.0784, 0.5464, 0.8047, 2.1433, 2.0918, -1.1286, 0.3958, 0.4454, 0.5459]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1805 left_yaw=0.0649 left_pitch=-0.2255 left_roll=0.0853 left_gripper=0.5464 right_x=0.3928 right_y=0.3152 right_z=0.1658 right_yaw=0.1443 right_pitch=-0.4675 right_roll=-0.164 right_gripper=0.5459\nstate[joint_eff]: [-0.1983, -2.1402, 6.7624, 1.4725, -0.1441, -0.022, -0.0122, -0.3761, -11.6991, 8.4718, 0.9499, 0.3053, 0.1001, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad096701d109421f46d5d66a85c4a7a3a3f9cec565f79ab0fa6ddd85453bccb0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76cc497d6fdffe92d4688a369cdb1431ac5776940208458f505a3549c9dd96ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f96f763d3403d918824a9a6702c58c64573ebad931683d926e7fb9cf6ea685f8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 7.175 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1238, 0.952, 0.8261, -0.6765, -0.1837, -0.0784, 0.5464, 0.8047, 2.1349, 1.692, -0.7326, 0.4038, 0.4564, 0.5459]\nstate[eef_state]: left_x=0.2892 left_y=0.0002 left_z=0.1807 left_yaw=0.0645 left_pitch=-0.2247 left_roll=0.0852 left_gripper=0.5464 right_x=0.3925 right_y=0.313 right_z=0.0699 right_yaw=0.1332 right_pitch=-0.4583 right_roll=-0.1609 right_gripper=0.5459\nstate[joint_eff]: [-0.0342, -1.935, 6.9538, 1.4774, -0.1245, -0.0317, -0.0122, 0.0342, -11.9179, 7.3094, 1.0085, 0.2515, 0.1392, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2},\"note\":\"The fingers are clear and the bowls remain together. I’m parking the right arm away from the stack for an unobstructed final check.\"}",
  "call_id": "call_6ttzHd4E2vryUAGb4OTTssSS",
  "id": "fc_00fb5de4fe46fd7e016ab2ad5b233c87d0a9509e913d25430c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6ttzHd4E2vryUAGb4OTTssSS",
  "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]: [-0.1238, 0.9546, 0.8261, -0.6765, -0.1833, -0.0784, 0.5464, 0.0154, 1.1816, 1.1473, -0.9993, 0.0521, -0.2367, 0.5459]\nstate[eef_state]: left_x=0.2893 left_y=0.0001 left_z=0.18 left_yaw=0.0643 left_pitch=-0.2274 left_roll=0.0854 left_gripper=0.5464 right_x=0.2929 right_y=-0.0011 right_z=0.1962 right_yaw=0.0961 right_pitch=-0.4782 right_roll=-0.1718 right_gripper=0.5459\nstate[joint_eff]: [-0.2256, -2.2769, 6.7897, 1.5165, -0.0708, -0.0757, -0.0171, -0.1846, -4.588, 6.4068, 1.1648, -0.1148, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:585719e66c8534d3d2b5c92430fdcd812429fa0708575caadb2c3ce81e7b1f81",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b46941e4bf89ecbcb7b3fc17c628b8d807d708d5e5a7e3fe100adc00ac6e2883",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01edd36847cc6826dcd64cb6ae21e097990ff222d8706ef1606b5b2ff0625d7b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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