adhoc

completed
2026-09-22T17:10:41.836817+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
184.5 s
total steps
243
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls: teal on the left, blue in the middle, and pink on the right. I’m positioning the left gripper above the teal bowl to pick it up by its rim.
move_to
left_x0.3600left_y-0.1400left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.606, -0.3759, -0.0227, -0.0288, 0.996, -0.0219, 0.7933, 0.6033, -0.3786, -0.0162, -0.033, 0.9977] state[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1813 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2948 right_y=-0.0 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977 state[joint_eff]: [-0.294, -1.5795, 9.894, 1.7705, -0.0513, 0.1294, -0.4322, -0.2803, -1.4154, 10.1402, 1.8974, -0.0464, 0.1343, -0.2613] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.14,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.20},"note":"I see three upright bowls: teal on the left, blue in the middle, and pink on the right. I’m positioning the left gripper above the teal bowl to pick it up by its rim."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe teal bowl is visible just left of the jaw centerline. I’m lowering toward its right-hand rim, with one finger intended to go inside and the other outside.
move_to
left_x0.3950left_y-0.1330left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5926, 1.3243, 0.7311, -0.128, -0.4717, -0.3573, 0.996, -0.0216, 0.8047, 0.6422, -0.4599, -0.0166, -0.038, 0.9975] state[eef_state]: left_x=0.3481 left_y=-0.1333 left_z=0.1308 left_yaw=-0.0232 left_pitch=-0.0643 left_roll=0.0297 left_gripper=0.996 right_x=0.2891 right_y=0.0003 right_z=0.1782 right_yaw=0.0034 right_pitch=-0.0538 right_roll=-0.0026 right_gripper=0.9975 state[joint_eff]: [-0.3897, -5.3265, 9.2376, 1.7509, -0.2711, 0.0952, -0.4274, -0.0479, -1.388, 10.7282, 1.8828, -0.0415, 0.0024, -0.0269] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.133,"left_z":0.065},"note":"The teal bowl is visible just left of the jaw centerline. I’m lowering toward its right-hand rim, with one finger intended to go inside and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe teal bowl’s right rim now lies between the open fingers. I’m closing the gripper to secure that rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5072, 1.6211, 0.6987, 0.1417, -0.4194, -0.3168, 0.9957, -0.0219, 0.8089, 0.6415, -0.4683, -0.0162, -0.0414, 0.9975] state[eef_state]: left_x=0.3807 left_y=-0.1251 left_z=0.0539 left_yaw=0.0023 left_pitch=-0.1349 left_roll=0.0617 left_gripper=0.9957 right_x=0.288 right_y=0.0001 right_z=0.175 right_yaw=0.0046 right_pitch=-0.0672 right_roll=-0.0053 right_gripper=0.9975 state[joint_eff]: [0.4444, -7.5282, 5.9556, 1.7607, -0.0659, 0.1587, -0.0415, 0.0205, -1.6068, 7.0769, 1.7607, -0.022, 0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The teal bowl’s right rim now lies between the open fingers. I’m closing the gripper to secure that rim."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper closed fully, so it did not secure the bowl. I’m reopening and moving two centimeters farther forward to bring the rim deeper between the fingers.
move_to
left_gripper1.0000left_x0.4150left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5041, 1.6436, 0.6991, 0.1432, -0.4198, -0.3164, 0.0092, -0.0219, 0.8108, 0.6415, -0.4717, -0.0166, -0.0452, 0.9975] state[eef_state]: left_x=0.3802 left_y=-0.1234 left_z=0.0459 left_yaw=0.0069 left_pitch=-0.1528 left_roll=0.0723 left_gripper=0.0092 right_x=0.2877 right_y=0.0002 right_z=0.1738 right_yaw=0.007 right_pitch=-0.0725 right_roll=-0.008 right_gripper=0.9975 state[joint_eff]: [-0.3214, -8.7179, 5.559, 1.453, -0.1783, -0.0171, 0.5348, -0.1846, -1.3333, 7.2137, 1.6874, -0.0415, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.415,"left_z":0.065},"note":"The gripper closed fully, so it did not secure the bowl. I’m reopening and moving two centimeters farther forward to bring the rim deeper between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe rim is now beside the inner finger but the fingertips are slightly high. I’m moving a little inward and lower while closing around the bowl wall.
move_to
left_y-0.1200left_z0.0380left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4561, 1.6955, 0.8219, 0.0624, -0.3901, -0.292, 0.9945, -0.0219, 0.8108, 0.6415, -0.4747, -0.0166, -0.0456, 0.9975] state[eef_state]: left_x=0.4055 left_y=-0.1201 left_z=0.0555 left_yaw=0.0188 left_pitch=-0.1728 left_roll=0.0764 left_gripper=0.9945 right_x=0.2872 right_y=0.0002 right_z=0.1732 right_yaw=0.0072 right_pitch=-0.0756 right_roll=-0.0082 right_gripper=0.9975 state[joint_eff]: [0.335, -6.7897, 8.3897, 1.4628, -0.1294, 0.1148, -0.105, -0.0342, -1.0051, 6.9675, 1.6679, -0.0415, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.12,"left_z":0.038,"left_gripper":0},"note":"The rim is now beside the inner finger but the fingertips are slightly high. I’m moving a little inward and lower while closing around the bowl wall."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe second closure is still too narrow to confirm a grasp. I’m lifting and drawing back so I can check whether the bowl moved and reassess its position.
move_to
left_z0.1500left_x0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.7302, 0.7971, 0.1223, -0.3931, -0.2958, 0.0193, -0.0216, 0.812, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975] state[eef_state]: left_x=0.4057 left_y=-0.1189 left_z=0.0426 left_yaw=0.0248 left_pitch=-0.1713 left_roll=0.0754 left_gripper=0.0193 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0092 right_pitch=-0.0771 right_roll=-0.0106 right_gripper=0.9975 state[joint_eff]: [-0.294, -6.5983, 5.3402, 1.536, -0.2173, 0.0317, 0.7937, 0.0889, -1.2513, 7.159, 1.6728, -0.0415, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_x":0.35},"note":"The second closure is still too narrow to confirm a grasp. I’m lifting and drawing back so I can check whether the bowl moved and reassess its position."})
tool
executing move_to over 7 steps (0.7s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe teal bowl appears to have followed the lift despite the very small rim thickness. I’m moving it above the blue bowl, keeping it elevated and allowing for its offset from the rim grasp.
move_to
left_x0.3300left_y-0.3100left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5434, 1.3781, 0.8677, -0.3218, -0.4301, -0.3611, 0.0248, -0.0216, 0.8162, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975] state[eef_state]: left_x=0.3548 left_y=-0.1241 left_z=0.1334 left_yaw=0.0024 left_pitch=-0.1738 left_roll=0.0609 left_gripper=0.0248 right_x=0.2875 right_y=0.0003 right_z=0.1716 right_yaw=0.0092 right_pitch=-0.0813 right_roll=-0.0105 right_gripper=0.9975 state[joint_eff]: [-0.3487, -6.3385, 9.7162, 1.4481, -0.4811, 0.022, 1.0281, -0.0615, -1.6479, 6.9812, 1.6581, -0.0171, -0.0757, -0.0171] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.31,"left_z":0.22},"note":"The teal bowl appears to have followed the lift despite the very small rim thickness. I’m moving it above the blue bowl, keeping it elevated and allowing for its offset from the rim grasp."})
tool
executing move_to over 17 steps (1.7s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe teal bowl is securely following the gripper, and the blue bowl is visible beyond it. I’m shifting slightly forward and right to center the carried bowl over the blue one.
move_to
left_x0.3850left_y-0.3550left_z0.1700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0088, 1.8359, 1.6951, -0.939, -0.6746, -0.8108, 0.0248, -0.0216, 0.82, 0.6411, -0.4751, -0.0166, -0.049, 0.9975] state[eef_state]: left_x=0.3299 left_y=-0.3101 left_z=0.2085 left_yaw=-0.0143 left_pitch=-0.1959 left_roll=0.0476 left_gripper=0.0248 right_x=0.2876 right_y=0.0003 right_z=0.1705 right_yaw=0.0094 right_pitch=-0.0855 right_roll=-0.0107 right_gripper=0.9975 state[joint_eff]: [-0.4991, -9.4974, 8.3897, 0.7741, -0.569, 0.1392, 1.0281, -0.0479, -1.6479, 6.9949, 1.6728, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.355,"left_z":0.17},"note":"The teal bowl is securely following the gripper, and the blue bowl is visible beyond it. I’m shifting slightly forward and right to center the carried bowl over the blue one."})
tool
executing move_to over 5 steps (0.5s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe blue bowl is nearly beneath the teal bowl but still slightly to its right. I’m correcting that offset and lowering slowly toward nesting height.
move_to
left_x0.3950left_y-0.3820left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9588, 2.0975, 1.853, -0.8944, -0.6441, -0.7914, 0.0255, -0.0219, 0.823, 0.6407, -0.4751, -0.0162, -0.049, 0.9975] state[eef_state]: left_x=0.3732 left_y=-0.3408 left_z=0.1473 left_yaw=0.0192 left_pitch=-0.2522 left_roll=0.0968 left_gripper=0.0255 right_x=0.2878 right_y=0.0001 right_z=0.1695 right_yaw=0.0087 right_pitch=-0.0889 right_roll=-0.0108 right_gripper=0.9975 state[joint_eff]: [0.0068, -12.9983, 9.9077, 1.116, -0.4322, 0.2906, 0.6032, -0.1709, -1.6068, 6.9949, 1.6532, -0.0269, -0.0757, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.382,"left_z":0.09},"note":"The blue bowl is nearly beneath the teal bowl but still slightly to its right. I’m correcting that offset and lowering slowly toward nesting height."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe arm stopped above the requested height near its extended reach. I’m adjusting the tool pitch and easing the sideways target to allow a controlled descent.
move_to
left_x0.3900left_y-0.3650left_z0.0950left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9554, 2.1201, 1.8797, -0.8757, -0.6437, -0.7822, 0.0285, -0.0219, 0.823, 0.6407, -0.4747, -0.0166, -0.049, 0.9975] state[eef_state]: left_x=0.3798 left_y=-0.3473 left_z=0.1474 left_yaw=0.0127 left_pitch=-0.2401 left_roll=0.0836 left_gripper=0.0285 right_x=0.2878 right_y=0.0002 right_z=0.1696 right_yaw=0.0091 right_pitch=-0.0885 right_roll=-0.0106 right_gripper=0.9975 state[joint_eff]: [-0.4581, -13.2581, 9.1556, 1.2381, -0.4127, 0.2466, 0.8425, -0.1436, -1.2923, 6.9675, 1.6435, -0.0415, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.365,"left_z":0.095,"left_pitch":0.3},"note":"The arm stopped above the requested height near its extended reach. I’m adjusting the tool pitch and easing the sideways target to allow a controlled descent."})
tool
executing move_to over 19 steps (1.9s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe pitch adjustment allowed the bowl to descend, and the teal bowl is now directly over the blue bowl. I’m lowering the last few centimeters with a small leftward centering correction.
move_to
left_y-0.3500left_z0.0520
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0439, 2.17, 1.3201, 0.2142, -1.0103, -0.4717, 0.0301, -0.0219, 0.8234, 0.6407, -0.4747, -0.0166, -0.049, 0.9975] state[eef_state]: left_x=0.3878 left_y=-0.3619 left_z=0.0883 left_yaw=-0.004 left_pitch=0.2405 left_roll=0.1008 left_gripper=0.0301 right_x=0.2878 right_y=0.0002 right_z=0.1695 right_yaw=0.0091 right_pitch=-0.0889 right_roll=-0.0105 right_gripper=0.9975 state[joint_eff]: [-0.7863, -10.4274, 5.5863, 1.7118, -0.5055, 0.0757, 0.7595, -0.1436, -1.1966, 7.159, 1.6288, -0.0171, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.35,"left_z":0.052},"note":"The pitch adjustment allowed the bowl to descend, and the teal bowl is now directly over the blue bowl. I’m lowering the last few centimeters with a small leftward centering correction."})
tool
executing move_to over 3 steps (0.3s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe descent has slowed at the bowls’ contact height. I’m releasing the teal bowl into the blue bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0355, 2.2009, 1.2491, 0.337, -1.0073, -0.453, 0.0313, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.049, 0.9975] state[eef_state]: left_x=0.3871 left_y=-0.353 left_z=0.0659 left_yaw=-0.0036 left_pitch=0.2485 left_roll=0.0995 left_gripper=0.0313 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0095 right_pitch=-0.0908 right_roll=-0.0105 right_gripper=0.9975 state[joint_eff]: [0.5675, -10.1675, 5.4222, 1.663, -0.2955, -0.0611, 0.7497, -0.1436, -1.4974, 6.9812, 1.6435, -0.0562, -0.0806, -0.0171] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has slowed at the bowls’ contact height. I’m releasing the teal bowl into the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe teal bowl has been released. I’m lifting the left gripper clear so I can verify the nesting before handling the pink bowl.
move_to
left_z0.2100left_x0.3000left_y-0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.034, 2.2189, 1.2385, 0.3626, -1.0023, -0.4606, 0.9948, -0.0219, 0.8249, 0.6407, -0.4747, -0.0162, -0.0486, 0.9975] state[eef_state]: left_x=0.3869 left_y=-0.352 left_z=0.0568 left_yaw=-0.0022 left_pitch=0.2449 left_roll=0.0932 left_gripper=0.9948 right_x=0.2879 right_y=0.0001 right_z=0.1691 right_yaw=0.0085 right_pitch=-0.0905 right_roll=-0.0104 right_gripper=0.9975 state[joint_eff]: [0.0205, -11.0564, 4.9983, 1.5311, -0.3199, -0.0073, -0.2369, -0.0342, -1.388, 7.1316, 1.6679, -0.0562, -0.0659, -0.0171] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.21,"left_x":0.3,"left_y":-0.16},"note":"The teal bowl has been released. I’m lifting the left gripper clear so I can verify the nesting before handling the pink bowl."})
tool
executing move_to over 18 steps (1.8s)
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 teal bowl is now nested in the blue bowl. I’m parking the left arm and bringing the right gripper toward the pink bowl’s left rim.
move_to
left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000right_x0.3700right_y0.2000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9306, 1.1591, 0.6983, -0.0368, -0.923, -0.3809, 0.9955, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.0486, 0.9975] state[eef_state]: left_x=0.3045 left_y=-0.1671 left_z=0.2146 left_yaw=0.0224 left_pitch=0.272 left_roll=0.0441 left_gripper=0.9955 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0092 right_pitch=-0.0908 right_roll=-0.0102 right_gripper=0.9975 state[joint_eff]: [0.5402, -3.6444, 6.0513, 1.4725, -0.1392, 0.2271, 0.0513, 0.0752, -1.0462, 6.9949, 1.6435, -0.0659, -0.0317, -0.0122] 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":{"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0,"right_x":0.37,"right_y":0.2,"right_z":0.15,"right_gripper":1},"note":"The teal bowl is now nested in the blue bowl. I’m parking the left arm and bringing the right gripper toward the pink bowl’s left rim."})
tool
executing move_to over 17 steps (1.7s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe pink bowl’s left edge is aligned beside the jaw column. I’m advancing slightly and lowering so the fingers straddle its wall below the rim.
move_to
right_x0.3900right_y0.2000right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1081, 0.8097, 0.6487, -0.432, -0.1902, -0.0895, 0.9955, 0.6968, 1.533, 0.9871, -0.3077, 0.498, 0.4072, 0.9977] state[eef_state]: left_x=0.2938 left_y=0.0053 left_z=0.1872 left_yaw=0.0851 left_pitch=-0.0168 left_roll=0.0431 left_gripper=0.9955 right_x=0.3576 right_y=0.1939 right_z=0.1303 right_yaw=0.0472 right_pitch=-0.1563 right_roll=-0.0536 right_gripper=0.9977 state[joint_eff]: [0.253, -1.8393, 9.6752, 1.8437, -0.0562, 0.2466, -0.0073, 0.2256, -7.2, 9.1692, 1.6288, 0.4811, 0.2173, -0.2564] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.2,"right_z":0.045},"note":"The pink bowl’s left edge is aligned beside the jaw column. I’m advancing slightly and lowering so the fingers straddle its wall below the rim."})
tool
executing move_to over 6 steps (0.6s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe close view shows the pink wall slightly to the right of the grasp point. I’m shifting inward by about two centimeters and closing on that wall.
move_to
right_y0.1750right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8116, 0.6487, -0.4522, -0.181, -0.0792, 0.9955, 0.654, 1.7813, 0.8963, -0.0265, 0.4644, 0.3698, 0.9975] state[eef_state]: left_x=0.2912 left_y=0.0039 left_z=0.1824 left_yaw=0.0716 left_pitch=-0.0398 left_roll=0.0506 left_gripper=0.9955 right_x=0.3765 right_y=0.1934 right_z=0.0385 right_yaw=0.0437 right_pitch=-0.22 right_roll=-0.0947 right_gripper=0.9975 state[joint_eff]: [-0.0205, -1.4154, 7.0632, 1.8584, -0.1929, -0.1734, -0.0171, -0.8137, -8.1026, 5.7368, 1.453, 0.2857, -0.0122, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.175,"right_gripper":0},"note":"The close view shows the pink wall slightly to the right of the grasp point. I’m shifting inward by about two centimeters and closing on that wall."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe fingers have closed to a thin gap consistent with the bowl wall. I’m making a short test lift to verify that the pink bowl is attached.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8116, 0.6487, -0.4534, -0.1806, -0.0788, 0.9955, 0.6109, 1.7668, 0.8501, -0.0174, 0.4427, 0.3214, 0.0243] state[eef_state]: left_x=0.291 left_y=0.0038 left_z=0.1822 left_yaw=0.0711 left_pitch=-0.041 left_roll=0.0509 left_gripper=0.9955 right_x=0.3728 right_y=0.1731 right_z=0.0285 right_yaw=0.0408 right_pitch=-0.2513 right_roll=-0.1274 right_gripper=0.0243 state[joint_eff]: [-0.1026, -1.0872, 7.0085, 1.6825, -0.1099, -0.0415, -0.0122, -0.4171, -9.2103, 5.053, 1.5165, 0.0904, 0.1392, 1.1648] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The fingers have closed to a thin gap consistent with the bowl wall. I’m making a short test lift to verify that the pink bowl is attached."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe pink bowl moved with the test lift. I’m carrying it over the two-bowl stack, using a forward tool pitch to maintain reach near the center of the table.
move_to
right_x0.3900right_y0.3750right_z0.2200right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8116, 0.6487, -0.4599, -0.1806, -0.0784, 0.9955, 0.6113, 1.6215, 1.0256, -0.3492, 0.4294, 0.3138, 0.0324] state[eef_state]: left_x=0.2901 left_y=0.0039 left_z=0.1809 left_yaw=0.0709 left_pitch=-0.0474 left_roll=0.0524 left_gripper=0.9955 right_x=0.3718 right_y=0.1751 right_z=0.101 right_yaw=0.0541 right_pitch=-0.267 right_roll=-0.1294 right_gripper=0.0324 state[joint_eff]: [-0.0342, -1.1556, 6.9675, 1.7607, -0.0806, -0.0317, -0.0122, -0.0889, -9.0188, 8.6085, 1.243, 0.2662, 0.0366, 1.033] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.375,"right_z":0.22,"right_pitch":0.3},"note":"The pink bowl moved with the test lift. I’m carrying it over the two-bowl stack, using a forward tool pitch to maintain reach near the center of the table."})
tool
executing move_to over 19 steps (1.9s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe pink bowl is above the existing stack, with only a small lateral offset. I’m lowering it while nudging left to align the bowl centers.
move_to
right_z0.1150right_y0.3850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8165, 0.6487, -0.4606, -0.1806, -0.0788, 0.9955, 1.0336, 1.9865, 1.4967, -0.1257, 0.9398, 0.2993, 0.0324] state[eef_state]: left_x=0.2903 left_y=0.0039 left_z=0.1794 left_yaw=0.0712 left_pitch=-0.053 left_roll=0.0531 left_gripper=0.9955 right_x=0.3822 right_y=0.37 right_z=0.1907 right_yaw=0.1113 right_pitch=0.2104 right_roll=-0.1898 right_gripper=0.0324 state[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.7021, -0.1245, -0.0611, -0.0122, 0.1026, -10.7282, 9.8667, 1.873, 0.6227, 0.0952, 1.0281] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115,"right_y":0.385},"note":"The pink bowl is above the existing stack, with only a small lateral offset. I’m lowering it while nudging left to align the bowl centers."})
tool
executing move_to over 5 steps (0.5s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe pink bowl is centered above the stack. I’m lowering it to make contact and slightly leveling the rim before release.
move_to
right_z0.0680right_roll0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8173, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 1.0466, 2.1365, 1.4094, 0.0254, 0.9363, 0.2985, 0.0324] state[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.1792 left_yaw=0.071 left_pitch=-0.0538 left_roll=0.0535 left_gripper=0.9955 right_x=0.3793 right_y=0.379 right_z=0.1042 right_yaw=0.1399 right_pitch=0.156 right_roll=-0.2587 right_gripper=0.0324 state[joint_eff]: [-0.212, -1.1829, 6.9675, 1.6972, -0.0952, -0.0317, -0.0073, 0.4718, -12.9709, 6.735, 1.8144, 0.5104, 0.1587, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.068,"right_roll":0.15},"note":"The pink bowl is centered above the stack. I’m lowering it to make contact and slightly leveling the rim before release."})
tool
executing move_to over 6 steps (0.6s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe pink bowl has reached the stack and is now nearly level. I’m opening the gripper so it can settle into the teal bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8181, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 0.9989, 2.1189, 1.1889, 0.3367, 0.7712, 0.4236, 0.0355] state[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.179 left_yaw=0.071 left_pitch=-0.0546 left_roll=0.0537 left_gripper=0.9955 right_x=0.3795 right_y=0.3687 right_z=0.0669 right_yaw=0.1333 right_pitch=0.1559 right_roll=0.0059 right_gripper=0.0355 state[joint_eff]: [-0.0479, -1.388, 6.9949, 1.6435, -0.1148, -0.0806, -0.0073, -0.9778, -11.2615, 4.8889, 1.663, -0.398, 0.4908, 1.033] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl has reached the stack and is now nearly level. I’m opening the gripper so it can settle into the teal bowl."})
tool
executing move_to over 10 steps (1.0s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe pink bowl has been released onto the stack. I’m raising and withdrawing the right gripper to check that all three bowls remain nested.
move_to
right_z0.2000right_x0.3200right_y0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.8192, 0.6487, -0.4606, -0.1802, -0.0784, 0.9955, 0.9974, 2.1151, 1.1778, 0.3363, 0.7506, 0.4191, 0.9956] state[eef_state]: left_x=0.2905 left_y=0.0038 left_z=0.1787 left_yaw=0.0707 left_pitch=-0.0557 left_roll=0.0537 left_gripper=0.9955 right_x=0.3774 right_y=0.3689 right_z=0.0634 right_yaw=0.1511 right_pitch=0.1422 right_roll=0.0035 right_gripper=0.9956 state[joint_eff]: [-0.1573, -1.1282, 6.9675, 1.6484, -0.1001, -0.0659, -0.0073, -0.0205, -10.947, 6.6393, 1.58, 0.3883, -0.0317, -0.1001] camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2,"right_x":0.32,"right_y":0.16},"note":"The pink bowl has been released onto the stack. I’m raising and withdrawing the right gripper to check that all three bowls remain nested."})
tool
executing move_to over 18 steps (1.8s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteAll three bowls remain together in one upright stack, with the pink bowl on top. I’m returning both arms to their parked positions clear of the bowls.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1085, 0.823, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 0.6964, 1.1282, 0.6903, -0.0422, 0.5095, 0.2356, 0.9961] state[eef_state]: left_x=0.2908 left_y=0.0039 left_z=0.1777 left_yaw=0.0711 left_pitch=-0.0594 left_roll=0.0546 left_gripper=0.9955 right_x=0.3241 right_y=0.1633 right_z=0.1976 right_yaw=0.1319 right_pitch=0.1535 right_roll=0.0084 right_gripper=0.9961 state[joint_eff]: [-0.1846, -1.4974, 6.9949, 1.6679, -0.105, -0.0562, -0.0073, -0.2256, -3.6991, 7.1726, 1.8681, 0.0317, 0.0171, 0.0513] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"All three bowls remain together in one upright stack, with the pink bowl on top. I’m returning both arms to their parked positions clear of the bowls."})
tool
executing move_to over 14 steps (1.4s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteStacked the three bowls with blue on the bottom, teal in the middle, and pink on top. Both arms are parked clear of the stack.
done
hindsightThese thin bowl rims produced successful grasps with gripper readings around 0.02–0.035, below the usual empty-grasp threshold; confirm by a test lift and observed bowl motion. At the center-table reach (x about 0.39, lateral offset about 0.36), a forward pitch target of 0.3 allowed descent when a zero-pitch target stalled above the stack. Grasp a side wall with one finger inside and one outside rather than trying to span the bowl.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1246, 0.857, 0.7082, -0.5293, -0.1852, -0.0872, 0.9955, -0.1268, 0.823, 0.6506, -0.4393, -0.1551, -0.1295, 0.9962] state[eef_state]: left_x=0.2905 left_y=0.0 left_z=0.1818 left_yaw=0.0642 left_pitch=-0.101 left_roll=0.0582 left_gripper=0.9955 right_x=0.2941 right_y=-0.0064 right_z=0.1823 right_yaw=0.064 right_pitch=-0.0348 right_roll=0.001 right_gripper=0.9962 state[joint_eff]: [-0.4855, -1.306, 10.2906, 1.7118, -0.2564, -0.0366, -0.0073, -0.0479, -1.2239, 10.7009, 1.7656, -0.2564, -0.0171, -0.0024] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked the three bowls with blue on the bottom, teal in the middle, and pink on top. Both arms are parked clear of the stack.","hindsight":"These thin bowl rims produced successful grasps with gripper readings around 0.02–0.035, below the usual empty-grasp threshold; confirm by a test lift and observed bowl motion. At the center-table reach (x about 0.39, lateral offset about 0.36), a forward pitch target of 0.3 allowed descent when a zero-pitch target stalled above the stack. Grasp a side wall with one finger inside and one outside rather than trying to span the bowl."})
tool
done: Stacked the three bowls with blue on the bottom, teal in the middle, and pink on top. Both arms are parked clear of the stack.
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 · 7.958 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, 0.7956, 0.606, -0.3759, -0.0227, -0.0288, 0.996, -0.0219, 0.7933, 0.6033, -0.3786, -0.0162, -0.033, 0.9977]\nstate[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1813 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2948 right_y=-0.0 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -1.5795, 9.894, 1.7705, -0.0513, 0.1294, -0.4322, -0.2803, -1.4154, 10.1402, 1.8974, -0.0464, 0.1343, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0836199afe81d59a0585edf138942ff955cbb6904405e5bf5c71b47a36aecf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0edc1f4d96bf977338003aff516157358a36dd15ae31330d0e19b9f215b97ff3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08b6009bdbb189dce33f328d1641bfed5728be4893072650fb2aa96a41705307",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e0836199afe8
wire blob 0edc1f4d96bf
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call 1 attempt 0 · /responses · status 200 · 8.46 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsramljiPm6pGiQvP35DkW5S0Xip13zOaoSGuFUjqxOy0YIsPAb96LKuZ2MEd2Rr1GOdLofecgJK_O2QKx1a2f97CEWauTitLOAPRyZ5eCjLZwJbL5WJyS644m1jn89dKvZITZ4yDWZtyLjK-FPS0l0MaRjvM7WZNyk8DReNB7Wr_hnNuzgSRVNAdsDlkkjZiLWCoA97CrZOunzjzuxJAr6AfyAcSeHQ3gSrhb1md7OtVthR89muC5wM-l6oRkF4xGT8qdhEFxhgo5oUV3_EBwrq-TVt_6SuEftcqBe4tTH4UqoBpdmahTHrF2U5L30-v9zt-eUDeoY0a-C5V6Vn1yCocS9ZfNYttafZCYcWNw0XZjZCG8JWysS5A-1fICjC_rMYAZzTTV4MrfLR5jDAKLisvirQuKQKwIiWxZ9ZQJnzSmVnR-eTlmk_l8O1tMsKnFjxGtWdvbTTi1tx5WPn1S2Wb78kYKOOGYHMLYlaiEGR37SxwvdcYPFbSL7Eg2e-cXeaAYKAC1GsiaO9g6l4AxI0p5xJ56kFh8GuvvSd1kqfggCuYQ48AUSYO9muZD7W8P2HMB4O-XSWOzsQxQuiQZk3pCTZmzMvaStJQudKsHl9a7tdy2Bgqwp-8LNQ5Q-tvV-H4L9iAfvpBriw8Q79DuBYtnf9bQEljj995_CUC8mUZDWwyF0pdEGzhQ-QSu4qpmnXyghdJ7ynMFgWqRb4B_0o0QdvA1NaSbVUgPd_dh4ao2zuyKxU3FBKh7MS0aBGSBvQcgvqYRHR1ScL0f0KJq3fcrwl4huzDajtjbNeIJXLd27zp9ZzsyNJbL8xsrSbZpNF4IMJ8c__EGtla2nf22yJt6GWYdpUXj52u-sjIIP-oZ75hDctBj-UEGN4bZaZk6LIZv3zZjNzIb-4RBcPad1fgPh8ze23vS-f4V12e-W_1nte4_2WnaEL9HZ8sLsJZdVc3-KBXUGTkONC3FvzXwm_tdtMTCDr6DeYDH-zedJT9zuk9qYM9E3kpipOfsdUG_VIEsWfe_75zG-GrytfXKwbEO-yT4D7fXHk24jv565cTzp2aEGCORQ407s_U-nCMBjwfnZtPvjLNm8cWtFlux2CPSCDkUoPl7lBRa-KSnye2zdO4-_7ksRechwd5SbQewBjHMGCCu1Cc2hVkchNGF2VZ6lmx8VMt6jvMVYwzPK77R2tfUGs6zmPr8vS-8-PCmgfcVI9ufmIfnEvsEnUxnFoe0QqIxtzc8Y_A7EFR99nwgum2f3ZLszVJAUECj3TyMye3bIkS1SqYBfxc2HLtksMUS-rFDUSaY4XbAqmIKi3miJIBc2zwscGY98B6Mf5AgHZiOQEdYIEVUfjARGQcfC-Ebk7iiFqSC_RI-hqGsUy9f0HciQ-NQGNpppmDnbeMvm1YNG0dpYFb0f4ZtXLKWupVwZpqyF4dEw0e6GbMZ2qxp5PlwJpLfkWaIXOarYGMjT573SFya9A6g5JeMGUlUL5qycKyAOyxq6zXSfek9VEQ7WOUY6hIJB5u4rGq8ECboWlgqeK6aady3fB8tYv-s6WFr2KURmfcQTxkgWiCVS4t_atW7FXwfrJSQYijv4kQlP2e5Ox19ByqNw5GfKjSl-03LcwIAV2oO94d14YiIGDFANHMy2nwpIkmB5LBBNRPNNVtttXAjZxj9xSdokMTAO_Aibmk8uMsuuLSIYor5lSjbsU=",
  "id": "rs_09f9ff656e2fa405016ab2b6a089ac87d0b2b2a3bef4f6f281",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see three upright bowls: teal on the left, blue in the middle, and pink on the right. I’m positioning the left gripper above the teal bowl to pick it up by its rim.\"}",
  "call_id": "call_yV1kZIsjLPQBf9RUicuq9O35",
  "id": "fc_09f9ff656e2fa405016ab2b6a48d7c87d083b824a446636fd6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yV1kZIsjLPQBf9RUicuq9O35",
  "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]: [-0.5926, 1.3243, 0.7311, -0.128, -0.4717, -0.3573, 0.996, -0.0216, 0.8047, 0.6422, -0.4599, -0.0166, -0.038, 0.9975]\nstate[eef_state]: left_x=0.3481 left_y=-0.1333 left_z=0.1308 left_yaw=-0.0232 left_pitch=-0.0643 left_roll=0.0297 left_gripper=0.996 right_x=0.2891 right_y=0.0003 right_z=0.1782 right_yaw=0.0034 right_pitch=-0.0538 right_roll=-0.0026 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -5.3265, 9.2376, 1.7509, -0.2711, 0.0952, -0.4274, -0.0479, -1.388, 10.7282, 1.8828, -0.0415, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fb9125a888073d26373b89475442d717abbd4f361e230c5756b3a2edcfe8a37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e3a73a2386af6c504ac6b89dc78c9b8c18a5d39caaf06c2acba24546677f0b5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:400b4002a9013b86047f162a5a416a944e91e1d99585073773ea5d35e12c68ae",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 5.441 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, 0.7956, 0.606, -0.3759, -0.0227, -0.0288, 0.996, -0.0219, 0.7933, 0.6033, -0.3786, -0.0162, -0.033, 0.9977]\nstate[eef_state]: left_x=0.2957 left_y=0.0018 left_z=0.1813 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.996 right_x=0.2948 right_y=-0.0 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.294, -1.5795, 9.894, 1.7705, -0.0513, 0.1294, -0.4322, -0.2803, -1.4154, 10.1402, 1.8974, -0.0464, 0.1343, -0.2613]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrawIFm_TXlDT-b-JidKg6-ZYck9mqbQC5j-tFR7eNF4asI29ROwxRupJiWaN7xUUMkzB60QcxmW-cvStuEjPbptjF_KqDU888IC1KVfagmd9eNQv_tIBSv9gYxDXtS9Ut_fsN8O3VoAvPcycgBN_NaHAiDhTRAk4vurckgI_p72TLnBdzDiqRRXGp2R-nzqmLq9g6Mxj0jpaaCRTppWu9UAv5VszyTBEesP12MSayEIFtmhYDNEOfvw5xuIot__mvyMAM7GjMqnBtw3xd0lGvqfZYk7n87y-FDAAqAMrxXfIET68TqJ6jmbdSxEgK0Sh0tWFJbg_U8PLIipFhnzOEXb4N7Vw4qbgIvwNRAK6lUnR3U5GoAe7A2DuM3HoqszrJZOWPsv_PYfa5bkpQgRdf6eTlgYwXGvN69tEtGoy13RP8exwK5EPcHCauva3ARuqc89zh12qf7cog7gwpStdOaGBvKuQy5_SxQXP8jpCNoC-s24hSWD4P3a1PtWdGd7pxMIo8Bq9V2Bl6CYnvMj0XD-9N3q34VI7u1dM3SjI4ImvRLpq5n0kFympi7I-WRsJEd2p6wyH_-_ID9Yr3MruJuU70KlOMfPYgwQg2YUBN7cDV91BzRzzPHu4CsPpsoSIbtiO7kJlwB-qoH9g06y4miLz6qWRQ7bfOyAJRzLyGaAvUeDJQQZlQri438ltRnRVaTJhEfxuPHP8AmesARxKaUHIViJ_iyIOvkM3Zf6d6GZF1ZWl4s5BERK8hy4oK-vMW-Pj0q_BB3ID7aHWlWCjqGcjuI41uQtNgoj_CR6y5cA11TOAYGCZz32ki2aTPe-LF0AtF9i4BywbZe9ugUeyKYeFFzyPMe5XZVl1pcFEP5AWJf8OkVs4tbJA_SLU0Vd2LudYuRhRCUa9PLYrMtN-jtRWEV5ApcaftkcPgQNTXKMTVRtZSstIFA0rxKRso81axkOX4APjEyx0O77SlbPG497M2OzOjWnOTd1DSLjDxVHtyata-3MUF-B1BOhmut5ePZkgUDrx0ocOKJCHOiDHRg0mH9Xcu-oYp4xp3GQ54FpadfeO4Cc4336kOfbqv-52eMM61ywcxVuNt5d9d5Ys4HvpNfolUeGDlMBUitjx2gAv2sNvwSqFiemmnA19BSaoxh4k0ENvfgGslGhkGweFhnI2YHEyF5SMV9fQkhkalZo3A8Ee6OdKnTwymt05hRsQeUDFGHwrgX3x5gcTkxvvzULHN1mXJwNgzkyE1kBknE5A7ENBI_n-isZTgPgwqP3dog1O6w3SPtsv6sIOUBaqIx6XWDgGYxjm09Gzf4-VPfezGk36Eq8WTzfhjG5_uT3RlOR1nAZAYnrtYZthU7VnQ4-PP19tXu5eRrbzv2yq2iMjovX5jxQ0L7i3ydNe_taKxwjHhR9E--qYZ4jiuMHs9GwpkOHVYf3jHb0Od-m2gBO28qmc6q8mlRVBg1XSyOEuFltZ__B-q_jYjQdVp6BpzMpsTdV4CEuAY8GnqgvyehPbAykJURbYYaRto4hJn7ySUE1SRRSQphL1XSeq7SI6arKtuOFM5gvixN_w9bXhmLS_UUJUnWWf1nMaqWdXpLdo3KywydCF-ASL0Ch6DqcneyVaJMNj2-oR-ELj5bmFVUSkWviBZ39jMtiCAn8uJbXSV9O5j7GR_Q8fyuM7Y0jn1DpZhWqUVjq9aFZGb6bdWyJP-Gg3I2zUYX5jxsxrS39ROnP9PoeYI6ITjyIuQLeZKmtFW_ocYQnUZTB6tMGSg2XdhnYWMu28n_qbLFWgjXKm-5rwkwgp4AolIHcotftrh8R4_W2S-DO3WjYVvsZ-u28sXiMvsfk3lhL5GBzh8Glnwt2JyXfI9tb7KpH4fvR9HSOnjCDZ_oe9kr88dGHGJI6bt9rFYPW9XPBWG1uyKe6Rsfrji9vF3aWD3Abmdlt-3OY6lDgTIJV2ttn3wYnZ4rEw3Y=",
  "id": "rs_09f9ff656e2fa405016ab2b6a9d16487d084da3a2fd92cba4e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.133,\"left_z\":0.065},\"note\":\"The teal bowl is visible just left of the jaw centerline. I’m lowering toward its right-hand rim, with one finger intended to go inside and the other outside.\"}",
  "call_id": "call_kvvAq5RDZaPJVbX8vwV5TSGF",
  "id": "fc_09f9ff656e2fa405016ab2b6aeb86887d083972086d4d49886",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kvvAq5RDZaPJVbX8vwV5TSGF",
  "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]: [-0.5072, 1.6211, 0.6987, 0.1417, -0.4194, -0.3168, 0.9957, -0.0219, 0.8089, 0.6415, -0.4683, -0.0162, -0.0414, 0.9975]\nstate[eef_state]: left_x=0.3807 left_y=-0.1251 left_z=0.0539 left_yaw=0.0023 left_pitch=-0.1349 left_roll=0.0617 left_gripper=0.9957 right_x=0.288 right_y=0.0001 right_z=0.175 right_yaw=0.0046 right_pitch=-0.0672 right_roll=-0.0053 right_gripper=0.9975\nstate[joint_eff]: [0.4444, -7.5282, 5.9556, 1.7607, -0.0659, 0.1587, -0.0415, 0.0205, -1.6068, 7.0769, 1.7607, -0.022, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd5d00ee3af1a872416956d86217a44d82ef2515e079edb0f7b75f235439b48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50c660dbccffe43abb8fbb0bc57f2ee6894b298e99fa2cb6d026fae9a3253eef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48d12cb7334d738aa1615577107cd61c5314e94216f054d943c805664b5bf1d6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 5.264 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]: [-0.5926, 1.3243, 0.7311, -0.128, -0.4717, -0.3573, 0.996, -0.0216, 0.8047, 0.6422, -0.4599, -0.0166, -0.038, 0.9975]\nstate[eef_state]: left_x=0.3481 left_y=-0.1333 left_z=0.1308 left_yaw=-0.0232 left_pitch=-0.0643 left_roll=0.0297 left_gripper=0.996 right_x=0.2891 right_y=0.0003 right_z=0.1782 right_yaw=0.0034 right_pitch=-0.0538 right_roll=-0.0026 right_gripper=0.9975\nstate[joint_eff]: [-0.3897, -5.3265, 9.2376, 1.7509, -0.2711, 0.0952, -0.4274, -0.0479, -1.388, 10.7282, 1.8828, -0.0415, 0.0024, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsra2MLFD4TdHq5ADJ3erenJhx0a0e-uYLjqNBj9N6xyICtkzstrUQ1FKGojdNwHRouaoRsj28_npGSjerrhKfbrb_g6Pb7czIvclfmKpRFxJSssF3I3wzi_LiBSwX-he4w4dkAInjuAXK3KxQ1r25vHmrnHWgWEsWyIJG7Xv3XCohgjTp_zWIuTfW10FHsvezqdvoifU0cYSoBtYhZSaW0K7P6FFs6rXBUTA0qBVSzgSQVIAPpMt0YxkoaLhVkBlkijg1DJTAxXa5ez23vLC2VUWEeMjh3yC9ADhOfLmxBvYlyfDeDi3cq0qXTsOmf4ufFYl75ds22pj1n0TWUR_9TJJ6DO5bvyt4poYMFUBhk-ZkbaKerorhb9ED6wM85l-4yUUj8hPJ0s4GdClj86BgHkucFgWUvQP4n72WJjk4G2TsayhNtpcqzWTRCYfbx_CSBUXNctiJNhkia42QXWcIjzT6iD9G0MuEUwgqrC5UuRHiY_ACq4HKuAZdmaV8H0Zf6D1ZYM8DQPUgZRKiBtAnIn6GLAcyAtjSD6gCOfK1iu7VKCN0bgT8ybQVBhbvEuk7W3dfbqGA2Gq9RoCSM_4pSsl1vkppJNqmITgb91zl8oRpuvAUo_gq5t16dsVPnWfcg0Gtb8Tlobx2vBlyPCstSoE098gty2PJocSTsfDNAXdSv3B0xbLbstQIEW4h9syez20Mr4_W0TsXBg8FXy-wFVH4m2baabWz0Sr4yvGk6PfByvnZCIlPOzQA9i90j1rWWKFHfvOg7Fbk8YI2A6vBtn8AbteeaOrXvelBD8wlZ-dv2J1NsDLmn2zMZrLaOhJBO_CKqJWrFUfX07YdFnvHrQz1c6gfBwj_34stgWrzkEtsCbrt9dEzhOsuw2oA70dwEenASGoWa-gJVCgNy716wfnC2NIC-Ok8EsXM25wSv1JFQCz0Te-xy4h73vuCIeFN5J99v-YGP8GOFE5RFuc4qUtCYmQ7meOqirZfdteYOuJfZw5zqkpQLtoLvw9uQ2jB_Lkwa1BoC0P0_gJbhIuD8I2yDMV4lcB9AxPLTaaRXfCXVizl805u9LCRQPK2BNDpHOJ2hTOUu4GhloGJMHIz_UQ-X9UaXk0qfkF3h7zEGI3BiXS5HBRA7TtTnEKDWrz8gsFtTeVXYkYiagEmDMqVJVqLvglxRlkdnT8GDlqL9_E-wCo3QWiHwROVKO0K-1rY3uWJOmXd53AHi6lskqSwv3yBRL9egnjb04m32SmU85GJ3cp0ykHzV-bcnicbwVslVRV",
  "id": "rs_09f9ff656e2fa405016ab2b6b4180c87d0b281b90796a791f3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The teal bowl’s right rim now lies between the open fingers. I’m closing the gripper to secure that rim.\"}",
  "call_id": "call_hPree253PfJoY3hi3j5KJ48O",
  "id": "fc_09f9ff656e2fa405016ab2b6b4eec087d091ccb4bb963fe1be",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hPree253PfJoY3hi3j5KJ48O",
  "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]: [-0.5041, 1.6436, 0.6991, 0.1432, -0.4198, -0.3164, 0.0092, -0.0219, 0.8108, 0.6415, -0.4717, -0.0166, -0.0452, 0.9975]\nstate[eef_state]: left_x=0.3802 left_y=-0.1234 left_z=0.0459 left_yaw=0.0069 left_pitch=-0.1528 left_roll=0.0723 left_gripper=0.0092 right_x=0.2877 right_y=0.0002 right_z=0.1738 right_yaw=0.007 right_pitch=-0.0725 right_roll=-0.008 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -8.7179, 5.559, 1.453, -0.1783, -0.0171, 0.5348, -0.1846, -1.3333, 7.2137, 1.6874, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a74d2dd01f8de31eb5cb5e213cc73f92a58a4dc900779ee0b52ff83e043ae538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31df8b132e488c455f46afd4adc4b4dfb7413f19a5252b911f83eb1f133b7263",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5a78497e7ef922d2430ea5ab349e626787a4244a8f9958f2012f4e9ff11e82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 7.921 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]: [-0.5072, 1.6211, 0.6987, 0.1417, -0.4194, -0.3168, 0.9957, -0.0219, 0.8089, 0.6415, -0.4683, -0.0162, -0.0414, 0.9975]\nstate[eef_state]: left_x=0.3807 left_y=-0.1251 left_z=0.0539 left_yaw=0.0023 left_pitch=-0.1349 left_roll=0.0617 left_gripper=0.9957 right_x=0.288 right_y=0.0001 right_z=0.175 right_yaw=0.0046 right_pitch=-0.0672 right_roll=-0.0053 right_gripper=0.9975\nstate[joint_eff]: [0.4444, -7.5282, 5.9556, 1.7607, -0.0659, 0.1587, -0.0415, 0.0205, -1.6068, 7.0769, 1.7607, -0.022, 0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsra8VTZba-Qlizv69FXobKQkesiQHrauSyjtl80geprBAEDhUIjqW7UIzCEoxl4E2CqrG4HTuwrN5idit4mtLYqVqQffsrSAFZRfGpJOYiLCBn-3s99drAOgr-D-UyfSgL4o-hFEQr8YEJ1QeaHi0AvjxrhAaimRYc91m-2spzu7aJwyuRxxT8FIxrfxOz_gqDRlcPLfjJ_FLzn6ZNSINXBAiGaakF6_GhvzBws0dqhF6GlyNtihxnHv9-hjeRcJwy0osVn4-g5tfe6I29Vh8juMdbKOmkoBcevBNw92aoyXr7li-yJ9oOc6r2jTWrrDzVvDMpaosGKlFPHx1rkGROtOOFhsobT2d_fOpWNgu1CiQ7_8cSsLjnByoWYszlXa4YMORZoobeuzEPLioDfAETDwHUENjICTiYp4TIPT9hBwjbzcvymjUqZDnKTnJwQC_BWhNAOjtMnofqeQivKizQOMUfS6tInpiiu6-ycLgjiDag8FI23cJER6aLQvx_h94dtK3u96M5pP8mIm-ksIH6ATbenGwCJ658Du0VwpYjj9gEELbHgJ6G7IPq6-Ixq2z-q15z2PBd90Jhmt5IKq1GB7pezVCPjCtgJRMZx0egBVbQLYTg8O6jjBARpzWm3kIldeWzFfVQKEQPCZYV_cIfFI55I1hkIHArw00IfxFlWGwpCbCN57VGpdXQS51hzo30no90qBNXsB0zL-H8uR7OiJzcFNBsy-sO6Et8tSLyyZAXxW997LBaLGdX_oaKhLsL3G-Kk_7vqHnQulSLDgqAvUMfL6E4eUUNdvLX6K8VJg71kja9faadobH9LpnlzCO5G7ksqWuvvLrhnA4DujLRXO6UdeXxitqMMusyN2Tiu-wgXFg1HDXRj9gD9nNDITiCCjada-d-ywqX7WMaYW8-WgwWy9wH1bnfU_A1qqvbZ30FrDb5IgjjnTkWo-AXF58-xbcRpLBdNBOndpXKT04OCd4no5Qt2t4sN9tkl_5DzjKppWf75e35ZujXhBgipkb4qnlHwoLL15_Aryz5JUUlHCxV9bg9yb39o8kNcsGfxvWa7sLSIvbSLxYQe-iNWCwqdHs1PCT8zVyb_oZWi8Tm1xPPI_j0ZN5nRrMoassG9-2Br1PIfw7tRZ4rYvUrGE8v4RvRQGXUFmIeeRIB4ET_XMh9UldtXlNJqZ3KgJ1xF6j8qZFv3xb8es31jp3DL4WG0HFbVyNPaxuvTNvu2bHzNupDicAVSC539g_lpzzTii8VqAj53FhdLo4nlnlxCTNTeDBaGvUhAUroFzobo-skMoeg==",
  "id": "rs_09f9ff656e2fa405016ab2b6b97dec87d0b8638f53ea157a58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_z\":0.065},\"note\":\"The gripper closed fully, so it did not secure the bowl. I’m reopening and moving two centimeters farther forward to bring the rim deeper between the fingers.\"}",
  "call_id": "call_hxNexANyarUSchq9oijkuzya",
  "id": "fc_09f9ff656e2fa405016ab2b6ba4fa887d0a9c072103f475e34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hxNexANyarUSchq9oijkuzya",
  "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]: [-0.4561, 1.6955, 0.8219, 0.0624, -0.3901, -0.292, 0.9945, -0.0219, 0.8108, 0.6415, -0.4747, -0.0166, -0.0456, 0.9975]\nstate[eef_state]: left_x=0.4055 left_y=-0.1201 left_z=0.0555 left_yaw=0.0188 left_pitch=-0.1728 left_roll=0.0764 left_gripper=0.9945 right_x=0.2872 right_y=0.0002 right_z=0.1732 right_yaw=0.0072 right_pitch=-0.0756 right_roll=-0.0082 right_gripper=0.9975\nstate[joint_eff]: [0.335, -6.7897, 8.3897, 1.4628, -0.1294, 0.1148, -0.105, -0.0342, -1.0051, 6.9675, 1.6679, -0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36eb973951cd0b165fead8b8b8db2278df6e3fe194165a5f8f2354503de53041",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae5c7f6b75fd72ce6e53e89470eb040c9e170fb483796262f73675abff99e9c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b697f59c3ba520080e89799a9a6acd3b5cb8a8e472cfcbf6036aa67f62de953b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.127 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5041, 1.6436, 0.6991, 0.1432, -0.4198, -0.3164, 0.0092, -0.0219, 0.8108, 0.6415, -0.4717, -0.0166, -0.0452, 0.9975]\nstate[eef_state]: left_x=0.3802 left_y=-0.1234 left_z=0.0459 left_yaw=0.0069 left_pitch=-0.1528 left_roll=0.0723 left_gripper=0.0092 right_x=0.2877 right_y=0.0002 right_z=0.1738 right_yaw=0.007 right_pitch=-0.0725 right_roll=-0.008 right_gripper=0.9975\nstate[joint_eff]: [-0.3214, -8.7179, 5.559, 1.453, -0.1783, -0.0171, 0.5348, -0.1846, -1.3333, 7.2137, 1.6874, -0.0415, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbFT8b85hC22Wk6un1h0U3t413gqW3GZSESlEiTqgcvb626bpQAfZuBO5OlV0e7akSJ8rVGoLkvZypjssAUgWUaFAT7Kb37t0Ulysbuf8MInlejNMP1GXt4poLIzrhnDf5QtJYJZTny4LCy7s2vXlThj0uoJkdQ1iKqjGKg2Ndg-skW2i0xdrYWzeWKI_q87c-G0h1ZAa28ZL5Ry4BS-BIveqUD9bjAtEw31ylRd_1GoowIt55OCW185GAIsC8MidtFQo-Zk0C3rjLKPLyvaeuT0Xqf_X7txwl96pzCg8APB6RvLLWDs83EEn1yiJfH_4EqlHj51G22zaHifgVOTFctwASCSFESBD92208aHPX5MYtj3lJge59Gbrr3yg51dSUR0akr99LMkB9pbeyi5s_bdBgbp8dynSFRMwOqSiCO11kyn2EsxyAm7H9KdCkohPntNYXEldv207jha1DgBuwTQLjHGy_QKBsqmsltGfTQV-YKTuHvjLs3nDcsJj2wML0p2GTAib5NH5JjdH7DAcPaFRQpWt6guEG19SAd_VUU-TlftNWVDfAptfJfQ_YN4o1Vmcg3tVenSY_HMI0q-3xu1aSSInu37D7pENlwCTfeEEg2VU6OGHX-Er-moxblpIy0_qHVnmp1kdBGmhnXAprfJhEzvjnyjO0sSN0HLMYmRk6X_KFwzaIra8zkmf3m74TtuPOYu8rENqcQAC9jD4YQQZdewRq4Z2diDQ514EzDThAGseEUaNHVfCmOZ-cvwvQedOdp4YopO7T6rKo408xbjeiTHjLc3y9oGu-OmlyPxEdSYxwB1rL9SPcXR97xBw7fSWmo5O9eh16Cc2RZXMYOCDGRRNzcheOe1kgLKcbm7j64sI5PRq3B_CcsZy-rLsgGkRU3R0zC-dfQhgD30OnluxhmU12RAsCoLFTFThiWiktr12Fd48Gf1DtLbje8_nPjwox2AbgGcLQV4StXSCr_BVZVdIi4Up_YjtT-oQ38UwTuqDgX3zHlenkHAo0SigA7ByM2QoWHK_gEfR4mVa3ME4WbZFzbofcP56lyCJUV2uiOD2MGCiBevAf2j5LDDDWZFqlJE3CJUegBLP2jcoinTcCDuDJpabY3e5MYBNpTf3OjUm-E11WN8-pWGTNq0h1NbziQ7VV6BLixwcazYYAO-M9N2GHE96FeWHHruY1dNIzIrG3ROGPT1zUqvg8D0yBJzRnsOtM8tbJYBRLPyXjQPrK5Y5BKY-T1pV0tshpUegpHwL3t3pj4oYF3P9ZJtKE0onf-JPnadO5IGSsBkKMUSqlp0gOqeo_VU8iXpczZWS_wFbmF2osTxJ5fQM_r4NN3A7SqKX2z1sGd4D-bvOZcVbcMyiVBYTF3Bqpezy_vUKSc58HbV-EH1-xq8uuS8Zbc5rc5RdRgca_FwI5sjZfi_PFzL2wZIKqN0jXsJTljGFmpX0YNj2DhkvKszZ8rtozxPpAGoH8nr2vatg10GK1oF_YxHkVAe6KIis9O4csCDD71FG5MIsipVUCOepy7ayK2pjgpq3TqYhYsQhrw1BkqNQ-YWk6jGY8EK3ie8XhVGrtK2PZcltt0GA-IIEO4zxk8L9EXjuD1mAeUAgR5EpDtjHxwqMCWz-5YuToE6s8CLN_cW2zushfK6izbta7WYpa4uNr_YsoDvu1wPSKSSgG_dA==",
  "id": "rs_09f9ff656e2fa405016ab2b6bf4b5c87d0aea0baea390eb9e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.12,\"left_z\":0.038,\"left_gripper\":0},\"note\":\"The rim is now beside the inner finger but the fingertips are slightly high. I’m moving a little inward and lower while closing around the bowl wall.\"}",
  "call_id": "call_ncAeL1NGDWCuHiL02aA0mhSL",
  "id": "fc_09f9ff656e2fa405016ab2b6c2ee7c87d09701be1aed404150",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ncAeL1NGDWCuHiL02aA0mhSL",
  "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]: [-0.4545, 1.7302, 0.7971, 0.1223, -0.3931, -0.2958, 0.0193, -0.0216, 0.812, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.4057 left_y=-0.1189 left_z=0.0426 left_yaw=0.0248 left_pitch=-0.1713 left_roll=0.0754 left_gripper=0.0193 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0092 right_pitch=-0.0771 right_roll=-0.0106 right_gripper=0.9975\nstate[joint_eff]: [-0.294, -6.5983, 5.3402, 1.536, -0.2173, 0.0317, 0.7937, 0.0889, -1.2513, 7.159, 1.6728, -0.0415, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c9ba7e732c25f74338b57a865a06bc8621ce31318fb45f27998c4be9d03e230",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b5a93f1cbf967c8fbde4ba225cb4261d4f7a08fdab24a8e137f292ff561a180",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04ae5290ba0a19a881ffe9d9d26c7989089e770aef13ec56553964e8ca27e353",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 9.561 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4561, 1.6955, 0.8219, 0.0624, -0.3901, -0.292, 0.9945, -0.0219, 0.8108, 0.6415, -0.4747, -0.0166, -0.0456, 0.9975]\nstate[eef_state]: left_x=0.4055 left_y=-0.1201 left_z=0.0555 left_yaw=0.0188 left_pitch=-0.1728 left_roll=0.0764 left_gripper=0.9945 right_x=0.2872 right_y=0.0002 right_z=0.1732 right_yaw=0.0072 right_pitch=-0.0756 right_roll=-0.0082 right_gripper=0.9975\nstate[joint_eff]: [0.335, -6.7897, 8.3897, 1.4628, -0.1294, 0.1148, -0.105, -0.0342, -1.0051, 6.9675, 1.6679, -0.0415, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbKnkbUu9m2NrWxrke_5PmaS0j4EhI9IxzTWjr7NqHqsbLGP_ocLSe2Z4HcBmR4CRciwsoGnKGun-ZcVY4ooP-gJ1TrDJ7JQbHENj0I6GX2-ySlyk_Hpv1Ix33PuOPsqlCuXikqsm3EzwdK6NW6xk-IDzUt4e9lxsSFN_ZNj1pVzsdeopj0qtRSlWgv7M3sr4q9GefTuUkEygwVUal1cHVBbtdBuh_btyOpKWH_lZlQi7xPbYEtiyzveRbLxfqfzvITHMrDHKs2jkuyl3N6KIbr07Z5YbbB_Sh2Kz8F0PU8vlBSXWC7Kei09Wrim_T-mCBBSw3ehckLeZv9HcCh5hJJFYZZH65WGL_tlBlv1pZMawWidO5-1mDqvJEPVrreBTl2Xr13c6dY0wTLwoxyWv8WbBvEvJmst3Y7VsKnpxvzefaxR2qtfGyQbiZGac_Fdc30q3gmzzGuD9BCnrZtq0qRxnHWs6rcYv8LuL5mVzLERJwDauXmXFFXXj99u-PsRT71q4OdU-sIkd9jqN1qUIFPqK2RLl1jk7fADCJp3NLYEbejr4EMp-WHvG-ACoaerJEp23Yrqhkn2VESexcPT_fuFm5mBQGM7WiiamzlEYnWwgAlRx6-qK2kmwWI8JkdGTADwHsIEfUuHWVtExk_OgcMmrN-IsHfzDxfa8EpJswMpD_DFnetHbX689B-3l_dSDibbLM_zeUEstnrTjM3EIC8eeijspAgl0F4eVc4IlP7kmaVA_HYXAs5jT4OS-TOOmS4Na2s-v8XM9CqqwNv7VQsFgrFGhkl6raYrdSU6V90Ak0uvyBcfpT5SnfITSTqe5b5mIT6qT4QVgzy_3gbvcHS3uSRTaATgKSKhRJtuykGsVsGr9PqPuRGr015H0npW26ErIGiDi32hWSDOUYPL_ZA2FYwRPi5Cy7dkA1qvR6zcQrH_PW1HoraA5Z49gyuvZptSBMBzQKYVJGcg5VUpd72dB3v15G5jFf5-PBsiSOCaZVdg-KA94djeS_Z9MG-Z18mCqsU9FCdllltS7xngCm_9jfcMP0uwm8FO__jK3lJytsaCQhwOZckGR1XnCSArD4-qCAb7nfImO6OvrbD5aVeWvOzBa8EdjR6tRB19EW3nLO0_2vsZkC2GLV_IUVEignhacC1RBjUPoYQwBt4qWjThL1iml80P6DeRjaMvbA6ze6F_QeGYdSkN6ZF8GKAKtlQd4xvJ9VUeLszG_CPnj9BJT7NkBnrtHUvUThBrbkv-vUlwEKO7kbCDilSTxWJD7x0sNxXvCAsiKcyDDXpe0KS2g==",
  "id": "rs_09f9ff656e2fa405016ab2b6c7dadc87d0bab675ba2580959c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_x\":0.35},\"note\":\"The second closure is still too narrow to confirm a grasp. I’m lifting and drawing back so I can check whether the bowl moved and reassess its position.\"}",
  "call_id": "call_QPlZ6l145mqKpj3yxVse0lsn",
  "id": "fc_09f9ff656e2fa405016ab2b6c8cd2887d0b49eda8f8f24e997",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QPlZ6l145mqKpj3yxVse0lsn",
  "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]: [-0.5434, 1.3781, 0.8677, -0.3218, -0.4301, -0.3611, 0.0248, -0.0216, 0.8162, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3548 left_y=-0.1241 left_z=0.1334 left_yaw=0.0024 left_pitch=-0.1738 left_roll=0.0609 left_gripper=0.0248 right_x=0.2875 right_y=0.0003 right_z=0.1716 right_yaw=0.0092 right_pitch=-0.0813 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -6.3385, 9.7162, 1.4481, -0.4811, 0.022, 1.0281, -0.0615, -1.6479, 6.9812, 1.6581, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9c1e4c7215581e06ed9404848c78722e10f219b92ae250428182a45e76c6150e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4b672c32b417c74e51789895b7df3bcb1e224f9b12edbab2fe7f1219207acb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c48d2042ea9dd13159de7024764b5441842f306a1f96682476ce485ee2ee206",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 10.25 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.7302, 0.7971, 0.1223, -0.3931, -0.2958, 0.0193, -0.0216, 0.812, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.4057 left_y=-0.1189 left_z=0.0426 left_yaw=0.0248 left_pitch=-0.1713 left_roll=0.0754 left_gripper=0.0193 right_x=0.2872 right_y=0.0003 right_z=0.1727 right_yaw=0.0092 right_pitch=-0.0771 right_roll=-0.0106 right_gripper=0.9975\nstate[joint_eff]: [-0.294, -6.5983, 5.3402, 1.536, -0.2173, 0.0317, 0.7937, 0.0889, -1.2513, 7.159, 1.6728, -0.0415, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbU6PuCjTKW3KZyVbBXK4MfDvGPsEf42yJQtYEqQ-Mkw5FSH0vlN8FBvt65qkZDCjulTgEcjv9X0Dw-a13t3jEvHbHeR7kNc1rap-r0uuyXZ4PPwfNXHjbxZ8GZFxxtNqrbQgS2hpFN9CR5XGdqBUCbp9VT8A9xUeDeExyXbHnufjXORonrcD7Y5On4rytIrAINng-t7dgLJuTvSL4pilR7lVGDHpElYATos--DUw6g5lfIUAkW1YSV8cZ-JbdHjF-C17-56rqbjNjp_Si1ONM4dp1l0sB9_avl7lQDwynrBVRCwfNG_hFbxBl43w21QTFVx92xonD-MdPUvnOO_goc3_PflMRukmxk4-Sb5nzM5ImAXRi04Y8sJjVRp7nKZuF3ofLm2_1Xk9JooFI28KaE2nZMoy7HjzgEf3T7EX8AuxTJg9Y3YK1V6yS6eXHWphR7Rc_LwvGueR7FYKf-0yMOBvauBREAk_FTsraBmQIjDR7TtpslJPUvxGyRYIIjwOQRPo5PQUC2djeFglLbGwEHjaI3k5YF9q0F19vWgJhaTaDXp9uCojiwxtI-UGIQ5O7Vuc7R69R1cESX1lguG9EI-ku7x5xTLHb7aJt8uQLUBHyvmNR32cPK99ZQ-K_EqqGUHi3LgUqD7gOst2lqiAi2nWdmKodt8n9MeZAkFxKqBfmni5C5QwXxNxDbH-tnQiFrQiBsWDwW-15pjoc_D9YaGtzdT6IxWQp-AMDq_qmF6bHjmX_9VvSk8oTwjfWVKQ4TbXcu1vlRNyP68hZN_B5jU80UQ0r9nDFp39F3Tk7_q4609frFXimcAYaiMc8akryskqjC_f7eoZNmUXe-MRY1t9sDNbVm9UqY4IsnDwXuegFF0F1xdf5Z2-AuB7r89_rwmkFwtaUuzwtkNNb9QbqnDFNBv5YyACNvGUzdxDYBQeElCiVev5AC4TN07w_uxW56do85xRYeMbIQH6k5bEMp9_dPTRhOXrjZGMAb5M1XeFZ0U0w58Bp_VC3oPZMqKzgT_H7G4hXhDZxOLzzaNBFmhWNW-c66Vjmb5ldN0xIm4muotbV89SzAi7IUL-AKHrTP5rIzl2c0Gzce6iy6Dz9AHEtQpQLnUKhwQDZKpCrcOgg8PJsq20OsYFJHnNtl9Be8kpS0CtR2V4AZjZgjIk0d9vf0eZ1bnr2GvzEMEUn1O_8_Y7th9mCkO_9JOiaAg_iZNsZsg5UtHO-1znzmTScj5LuZvPdv_229PFOGYZF7I5cFkWXP8tNXSB7I5kwOCvTPJ8jIf4MiDvvRTcTUH4YWMTdauWf1TKFXZEX9J50u_dVVOt3u6HHzP5_pgU7jIwFAgudNxEWSvwtFksj834jfmyucztf861JX-n3BJdLw-knGMfON5JLmEUrTLDQJVurHkhKHIsaIZ9aulhiM_9tQzqMEFEUyJ7ONuiPFzKi0Rh44H3mgCa7rTPuCMBdcMwxjPobcYrP4P_sSaNFtGJIXNe_tv0RfLyFGA8RQcrjrDfmq4yI1OB0fqCaphSRx_Wdt7iF0ttyOuoiyAB8C-wYNYsza4TlHb5UmAHhmLzWyd36VqAwz9pWIYWlNiZdWgbor7IpagEewHSpoOmNCFn5yCAkhjymxNztfaVMCOLPZ4b4JbImgj3m-ZFApOGI_qQWNniEeBBMRKEvhv2oDXRrFQ2DUF790oy7Tmxvku0zTlJ89VXc6mjmqvfP3xUxGCCqlHt9RMmdmMThKg3NsuHHLC7t06q0SRMZ6wHaprTQ4FBAmVImfXsVfJUqqb6c3rkyNQY2vE70BdcBzAS6kslTaVikoQ2CwFnIg53r2J3Hl6qzP4X8uNWzU4Shp36vrazGGMhk9VrLunQg25Qf_SmtGqRlS8YNft8_mhHGMtfJB2E4LSmrLVegkUslhr1w7OIvctZpWxsPH-wwRk14EdHtGXPBxfq-psoEJ4LNomnptnihInpNJTyGYdUSw-KTgncJfurAFQu0AKJISiU63R9LbWA==",
  "id": "rs_09f9ff656e2fa405016ab2b6ccf4b487d0b7f01e5067fb7ad6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.31,\"left_z\":0.22},\"note\":\"The teal bowl appears to have followed the lift despite the very small rim thickness. I’m moving it above the blue bowl, keeping it elevated and allowing for its offset from the rim grasp.\"}",
  "call_id": "call_l1FHLOxAKAkMKPcNKd93Fn1Z",
  "id": "fc_09f9ff656e2fa405016ab2b6d2beb487d08493138a83d26c29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_l1FHLOxAKAkMKPcNKd93Fn1Z",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0088, 1.8359, 1.6951, -0.939, -0.6746, -0.8108, 0.0248, -0.0216, 0.82, 0.6411, -0.4751, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3299 left_y=-0.3101 left_z=0.2085 left_yaw=-0.0143 left_pitch=-0.1959 left_roll=0.0476 left_gripper=0.0248 right_x=0.2876 right_y=0.0003 right_z=0.1705 right_yaw=0.0094 right_pitch=-0.0855 right_roll=-0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.4991, -9.4974, 8.3897, 0.7741, -0.569, 0.1392, 1.0281, -0.0479, -1.6479, 6.9949, 1.6728, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7311662f0a073855d34fba510ad0051721eae61075c71da9af4f68fee729ed7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a68ea51f285a883964bed0a3e4455f6d501a530b2786c84b0550f75fbd3c774",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16b46b8128b88811b2547a350a735bd7b201a53cefcc4c428e20e1bba2208a53",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.887 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5434, 1.3781, 0.8677, -0.3218, -0.4301, -0.3611, 0.0248, -0.0216, 0.8162, 0.6411, -0.4747, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3548 left_y=-0.1241 left_z=0.1334 left_yaw=0.0024 left_pitch=-0.1738 left_roll=0.0609 left_gripper=0.0248 right_x=0.2875 right_y=0.0003 right_z=0.1716 right_yaw=0.0092 right_pitch=-0.0813 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [-0.3487, -6.3385, 9.7162, 1.4481, -0.4811, 0.022, 1.0281, -0.0615, -1.6479, 6.9812, 1.6581, -0.0171, -0.0757, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbgfMiZqRbePKpVyfstmyWxFJIsk2ITrx59Nhu7kU7qUGU5S6Ef-eCv7Sc0lkFzdeoZdThKK10qhQRfbFXPzomB8XtazjcX4OsRzb65wJBQTy4EdyptFJOVoASAcYhxsnGUMjeoe8ku-h0zM9dGff7UH2vG9mw3fDZeahBXEsb21OkcTxZatEMQ53rZarv3Uitgzf8BtBpJToZoBP1MUsPGB8IOv4XhPsmHcaNovV_hp9EiX99gcFYnE1t79c_qFrGojUSOoqBV-VvNS8ymljGrEGbYZj6Z_zsgEFMeRZPpB6jtSqyxYcvWUdziJezJMMmxeU-rxv2FoCv9NX-VCVYWmGoz3f1BtvHkV0uvk2VhI7Tito0-jxbKJr4jMGAcrGMEDfoEBLPHJ7456xM50vxx492BIXc0pQxrMNwV3BcmjVW8Sv6sU9O282Ap600ekKFVFTyN1RkeyRw3WCfEI654Jdn3uwIfrp6P6H-LKPYv8qZsG_mMoVA7FMc6r_dHElKiSc_tXp4JAMSJcZt69bPqW8FlnPuNEpZZdTWPaDgv6NqX3-QQzsONdBSImi8FdHqA7OHu2aHuPIO7MW3NNIjWAbE9auamnMU4HpIPIo0M1KSFTJ1dmmKqhrhy-uCCjkavTUdyCVrNtubdeO_f6eo5rvBVPAapH164_aKo4YrieSU95M_PJkqEEnmSl5jbyDhCfDdualq0zaLY1n7fyiopazQK3dsyjp3S8M_r8C00pqwl1eof-QktJG6-lLMlMXwvE8gdle18ZUgGpG4jr17cVynNnlAcqjStmkoc5FrigY-leafWJ2HUoJBLrWxRGnpK8kJMMTUYzAZ6c7lFn2CqIp9puTyoRjbC9M4PhvjsjiXEIqFW-XDj7nyat96KqPvnFG4iky1cL_0lHBEiegOlVDwRHUQA6pC-u3FEVQqyGcSMs0Z_Opk-GJMl3szabtXK0EeNSfEnWIwoHNDJYGCaElCar4Xl2S4NzIZI6IYQ79gujjjs54_vlz0SQTR90Wzk7FQ_zFqcedLwaJ4SrSS_g0N3sKC5SZbpmqoWk97lysF1te5M_Zl6KMXCLErKhYdidv3NNWhxBYB1EJCHv7_EZrnVAr88DoRM8LNf6A7eE2c7YhNQMtjXqT5awJC53TMZ578N5Ge0xmNg_QBOSxPw-YnZINVbJI5tbda8L74M1Dk7HjSdgdPw6whLq-Q4O2fQKkFGMgbmuF4vBk05QNOxvsGF9xjXS4_5aF7dhxAqe1hMzEb0cNGPr282qdclyssTHBhB0cTo8vVmdP-_3V3vUGwbxzGjQr8UYJAtQfTnv5m68EDCQP7YLqbp28ePFuOjyTCGIlQJXQFvMmHHWyTWNU-ssWeXAejV9I5B0SL3oZ4S8OxOEEVJChSsp1pLylRxndVDDQQG7TbSvnLnh7hU_194_xuh26a4u3S3Lo0tDhB4G5nFhBTQPclLTCLBnXWkQNXkFwpEdy9-EnicZSt6EdyFaP03fKFiCJs-_AjR-UQes5rbSgZ-OB8DBol24ix_jdgTnFwnhA6TMNhrXGa_kti6A7RCzIwZ27hbr-SNtzAcAlKo4ZiFeqv6EXO9pTwi2rqN9jYPyBWv1-AZa1zweJG99vRO2Ws7UPPNzQxnk_9wHlNwwVVJ4pm-GgFv-ZwQiPEKrMhk32RHZSeJi_FBWKwKerKpL8pZlJPe5F9WDnuGNfvN--yqsae_aUQ9jujT5156nRu1t3alrmseNClH1RXvdpPL86Z8x0IVHNWS0j4d3kytpAXrzXTdJbkn3ymO6naMDPMfhyxNJT6lL0eFQq1t8Qhj7MCFPxsscz-R4zmyxdiPYNLMpgoIvAElDyQB9_h8HQUZjERsTBwBd99iICH7-JxM_ui4kCecip1r_N5Pe5QHvGwjWttdu2Nbwt8y8Afjx9mVPI0p597tF0UHrUZALMiSCcY3_9vQwAUjqICMqZyP_8JtS3SdXI1T92aP0uke8gVUbej14bL8evHeOW1KPz22BoIYK0S13qHQBKspdcIsq43x_XYcfCKXJpQZbcsxvwjFYA-POBirKJJAgbx-CYzigkNZz3hIBiLqLAA6vo29Y5oI0ooW8rG02drj1pHxDOcx6QSob5ApZsdATOP9J5wzEWDL-e4kwAcfO2xOTthpUAJS5hiyejGQMmTSTTptBQpW4VieIfk70baDIK_qKQkrDGsBuP-XsPucT1YzHeTZdLCojJw8hnx27_ef1kL6up3JkhFxEVGHF7HCrrgzYq-1U82SoIJ5Abau_xGpxVZfwey-M9t1tcJTy6lDimCHJwyMP7VXOAZP_MHfdw==",
  "id": "rs_09f9ff656e2fa405016ab2b6d852f487d0b046be0cf1a282ee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.355,\"left_z\":0.17},\"note\":\"The teal bowl is securely following the gripper, and the blue bowl is visible beyond it. I’m shifting slightly forward and right to center the carried bowl over the blue one.\"}",
  "call_id": "call_ndAP6kyWcoYlgcV2g9i9aK1p",
  "id": "fc_09f9ff656e2fa405016ab2b6de832887d0934e9982cecc5d7e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ndAP6kyWcoYlgcV2g9i9aK1p",
  "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]: [-0.9588, 2.0975, 1.853, -0.8944, -0.6441, -0.7914, 0.0255, -0.0219, 0.823, 0.6407, -0.4751, -0.0162, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3732 left_y=-0.3408 left_z=0.1473 left_yaw=0.0192 left_pitch=-0.2522 left_roll=0.0968 left_gripper=0.0255 right_x=0.2878 right_y=0.0001 right_z=0.1695 right_yaw=0.0087 right_pitch=-0.0889 right_roll=-0.0108 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -12.9983, 9.9077, 1.116, -0.4322, 0.2906, 0.6032, -0.1709, -1.6068, 6.9949, 1.6532, -0.0269, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4edd866642343df28d01e825b2efa8bc397f7439edde85825f059f9b5d22981",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb5c2c1fbad308ffe623b000db6f490389a92a06f9310d46263d2d2412efaba0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e6dd4981145062e8c496534f890cbc424893752eab43818c61319eba5748172",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.623 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0088, 1.8359, 1.6951, -0.939, -0.6746, -0.8108, 0.0248, -0.0216, 0.82, 0.6411, -0.4751, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3299 left_y=-0.3101 left_z=0.2085 left_yaw=-0.0143 left_pitch=-0.1959 left_roll=0.0476 left_gripper=0.0248 right_x=0.2876 right_y=0.0003 right_z=0.1705 right_yaw=0.0094 right_pitch=-0.0855 right_roll=-0.0107 right_gripper=0.9975\nstate[joint_eff]: [-0.4991, -9.4974, 8.3897, 0.7741, -0.569, 0.1392, 1.0281, -0.0479, -1.6479, 6.9949, 1.6728, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrblH9Dvy6t3QmjDHB9_cB9R_zQwNiSU6Q4dNguioOhZ2fJljgfil4pdeemPCBE_NCEI2xGou8JyVkanYMw_JhsmNjyCW3CC77uSJsEKs_LoDxs4PAmGEbEMpNrg2AkrpENzKk8Pa-fOjl7yEzLbvFBHYhHAJAOpcHzYa4cwNnd_FwmWMvD3KRaWTwkT_5yY14ZKvq3jCLE2WGVofk2CEWR4AxZ83DDrhW9s-vT5cRRQ6xIyVUQtK2wKbI2D_EBEefhTEsTuX7cmyx3ZvSB0a0LDbeDzF0hgDfL8E0SPpHyCtm-Tka-7rj8HqrfqLRSIrhzMT_vLsb8TTdmAxGz1iTcqxCceBElE2jBGiUKGLF6Tf7Li7z4FszsPpPjSfilel3FFQA-FkZeN4Pt9-oE9gKU_uZOD23-C3RvXAUErJDAFNU2qFPjII13JtbeCsyy4D2VVrwyLObY25S0teqmnWn0trz-8PK7DG8Y5jr1Fx1qS4PX5BC1MLkZLknclG3W9ZNR073RhDL-f0sngTNpY7lWbh_QZslm_z3Xw6dY7AMM-YeXviBbRFhTw42DRxH3K2sVLO8YYVhDuTU9gyf5nV3DOyYrQ20hOX5bBIfN9WV69x9Ge8kckpA7fH0OmvN_0Wn3bq7qfRhjUv5HWhg2d7uVchToxP8V7z5xb2w-P3TdplGKxv808sJzkFyiZvm-Usa_35OXs1mbTekiiH3nfrF-Xz2g5aPvqpwruO4lmRZBllt1M_3VW0DycqCIQOGk5emd_EnionTZh59tPA91bEYRQOYSOLwttxi5vuf91Qhk4FTte9ri9lKR2jWbkiO1aOMwDPuCZWuh7F3bZVMSrRwv5uNaUZq9n03COoktiTz2H2kspHoaYmjkRmYGkrg4pZ-qLjwUgf84S2v5nVGxrqh2FzhAHGX-AdpNN5qjUxUHgcu963YQ6BTufIjQ73P2q6ingN0gQmGESInivrG8Zr4cUr7Ewwl08YoSY-mzkuzwrsfHA3p8_XWpDnyVumosm0Gb_YCaP0wG0RP19SFt7iAajcU4dR-uZyrX5b6B2fYL-z97yhz3zvVWfjPlm4YLZpv73eErVga0lynxx-bT_3c3Du3KjS3T4MwrhhtE3AdqFs8yNPpHtBhYv2FKNZpRYIz68uHYR7_TL1NxXL3BcoZyGn6TndExDxJgqnsRmdqiGlQxRrf9Feun1-BM65sDs79Bz480o8ZLBzvjHBdJLX-lM3ldNmpYEzAMPQ3yfcKNtwI66sSz10VD8IJlJfLGmUnV4_D5vCwvIquL0ZKY_XjgbnodIWvy2g4NLTtkMmpltMHmlVplTf3K_X1znFoCtC5mNwV3BnxxIAzYFI0UzpzNMaQ==",
  "id": "rs_09f9ff656e2fa405016ab2b6e27d2887d0b57d664a73713045",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.382,\"left_z\":0.09},\"note\":\"The blue bowl is nearly beneath the teal bowl but still slightly to its right. I’m correcting that offset and lowering slowly toward nesting height.\"}",
  "call_id": "call_qcn5QEwMNfjzjntBAhRzCDlu",
  "id": "fc_09f9ff656e2fa405016ab2b6e402e487d0a4d52157cf5c5c34",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qcn5QEwMNfjzjntBAhRzCDlu",
  "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]: [-0.9554, 2.1201, 1.8797, -0.8757, -0.6437, -0.7822, 0.0285, -0.0219, 0.823, 0.6407, -0.4747, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3798 left_y=-0.3473 left_z=0.1474 left_yaw=0.0127 left_pitch=-0.2401 left_roll=0.0836 left_gripper=0.0285 right_x=0.2878 right_y=0.0002 right_z=0.1696 right_yaw=0.0091 right_pitch=-0.0885 right_roll=-0.0106 right_gripper=0.9975\nstate[joint_eff]: [-0.4581, -13.2581, 9.1556, 1.2381, -0.4127, 0.2466, 0.8425, -0.1436, -1.2923, 6.9675, 1.6435, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88630a2f3c63abedf2ed36932d04be854b11f816b8a8c8f5ff62fe49f83206a8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6519e2fdb798a53e137c32ad87823916e242d545261ff36776abe681db27dc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1213cf59845e9760b072a18b84a4b3923c8b8ad189b28fcf4a35406988915fac",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9588, 2.0975, 1.853, -0.8944, -0.6441, -0.7914, 0.0255, -0.0219, 0.823, 0.6407, -0.4751, -0.0162, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3732 left_y=-0.3408 left_z=0.1473 left_yaw=0.0192 left_pitch=-0.2522 left_roll=0.0968 left_gripper=0.0255 right_x=0.2878 right_y=0.0001 right_z=0.1695 right_yaw=0.0087 right_pitch=-0.0889 right_roll=-0.0108 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -12.9983, 9.9077, 1.116, -0.4322, 0.2906, 0.6032, -0.1709, -1.6068, 6.9949, 1.6532, -0.0269, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbqs1cz98ZBpf-hd0Y91GlX1s9bL11lIb4K7WdRoz2LNerw-To7j2DN2Turuwj4LoCAQFYui1ITDHzM3QEwEbwTwbW5KNaAIr_V2zjz-msx1UsMsnVtTbh7sidUpNoz5JgnMJMpcqKhd-n7pf9U-zQOnBLC3G8jrEJLkbl5BCjEb7Mgh9TnHoDlrEP0TGu0NDVSoKBaFbWiMd-o81Eoovg80p0Ow_BQUoUkvVzDkcdoP5tr05AFLcmIHarSUjhmR1NDLu_t34oG2SEH81lti6FGBYDq4laAfuyzHtPp_NfYTCFa7xBJG8rZerZs4MglNhWgH0SO7V9u03QZzXjz8ZX2_np_vHrXBemwlcgThbnczjCp9_UXjnhsVRh3XghI4ppZUsRoqw6wCVgE22UdEDUDJ-u9XS78kkyL-CIowTQTvoqMFXMEaFwxlb_sjYkujFvxANXhJ1jVJ2lWge_M6RBlDadsFA0acsnum-ZVdH36b1fn0XD_JFtt5q9I1V430aeVnfRk6wgjy5fPvaxUDWvHBHx0oEIUyThB0nLyDSsqcs1hczupmQDMQ8j5cyDm13f7ejBrJCoe4EH_FWEDEBbwjCM5PNf94KUhXgu1P3NUta3q7Sin9qvLOeQDLRP0EDra27-FyuAGs0nmaCTdfP7pE_0sv4nNCOJrvOsh7KiTr6oNrOcomE8nmLLCcNidyqG3UJcg8fiSU8IYgv4hXS6tKFELBW7PlWuq-hfTg1zdNFUMRpKISTzzlDhZa3gSmwYtQaFvm4yUl1cmtG8xjEkmnZ2qYNYQTKrUPGBDUa_V65uXwvCyjVTJ9S3np1SbrjcG5ZpeENvGRGAfCul6Us9j0TJ7oTWrY-GxJzkOk6awugBUt5dTcDRMV8qzQw83i6SwIvCC34wN5NS1-v4spqbebadiAfOVoZLlcGP1GmjuwgMLyXKumjiTcISVrSoL4fmDLKW1NIVtmlOYv-Dpf2U9l_3UnuMMUep1Vo0WyWqZXvN6flWytwbcuR94UOoEY_qOeADGlm3iuZZJC6Z1ZJvR52ADbDvOFSSm757Mbudk5JsZ_priihvZlvK3IaHfPeiTv9NL-X1vY10hxR4_0HYCYkqOek-uWi_RyspCmr6chqX-lIm3M48FZ070ZSp1iZsn5uQxIcNJRl8nwNasxNZ0Ull0m6cvjcx29VJvoGSUitFiFEOAAS2PiDGWXFppv121zNm1XNEZ1OyBWrr0z3bSGWcPChDB2jBa2Xn1st2mned_DQewr0bFUmIYrVJAjIaufYm-5EiDl1qy9GNY0ZASunM-0JRP3EkrVc8Nthbl2_7DKti77HSV-NNcHVVgp1JrxcFZNnkCW8skdgH-Hql3IiILVNYAOQzJcLRq6Gg_Vxg=",
  "id": "rs_09f9ff656e2fa405016ab2b6e7866887d0b00be4374bbbc70c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.365,\"left_z\":0.095,\"left_pitch\":0.3},\"note\":\"The arm stopped above the requested height near its extended reach. I’m adjusting the tool pitch and easing the sideways target to allow a controlled descent.\"}",
  "call_id": "call_7RsgALXeVYxGLVOKrGCD0edF",
  "id": "fc_09f9ff656e2fa405016ab2b6e8e1a887d0a559450ef8810aa9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7RsgALXeVYxGLVOKrGCD0edF",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0439, 2.17, 1.3201, 0.2142, -1.0103, -0.4717, 0.0301, -0.0219, 0.8234, 0.6407, -0.4747, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3878 left_y=-0.3619 left_z=0.0883 left_yaw=-0.004 left_pitch=0.2405 left_roll=0.1008 left_gripper=0.0301 right_x=0.2878 right_y=0.0002 right_z=0.1695 right_yaw=0.0091 right_pitch=-0.0889 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [-0.7863, -10.4274, 5.5863, 1.7118, -0.5055, 0.0757, 0.7595, -0.1436, -1.1966, 7.159, 1.6288, -0.0171, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b030dae3d87642e611a649b2f34e96a5dc17c924c1148952249b8396817b06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e1f32a82c4d04624d8f4d6249464e935846c0b93918978b88e0375197d1c8e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e77020d2c2b736ec8954a32f3c9190d51d6deb94ba531ba50946a254d9457c70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 3.962 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9554, 2.1201, 1.8797, -0.8757, -0.6437, -0.7822, 0.0285, -0.0219, 0.823, 0.6407, -0.4747, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3798 left_y=-0.3473 left_z=0.1474 left_yaw=0.0127 left_pitch=-0.2401 left_roll=0.0836 left_gripper=0.0285 right_x=0.2878 right_y=0.0002 right_z=0.1696 right_yaw=0.0091 right_pitch=-0.0885 right_roll=-0.0106 right_gripper=0.9975\nstate[joint_eff]: [-0.4581, -13.2581, 9.1556, 1.2381, -0.4127, 0.2466, 0.8425, -0.1436, -1.2923, 6.9675, 1.6435, -0.0415, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrbyyiXIsoO_FMGqijfrdGNQnExMvtBrb10rjhT76ory_mzn23hGmnUEBMtlF4c68mIp6H5RlLAGVQUyqoFKkLhR0RLF6Ektxya065pYQa9JadF54rxGsyW-Uebm-SZI0WH-gIjZ-mj_PLGKV14TveD8Z-7shT5xmMMmvjMhZS5L7DS5Mfx6M44h-M2XLDn0ZKM345ihC0TRy0Mp7Vx4Fiy3mFCtGioO1qWs9oqP2UL-yfZ0o0csAPaMw4uXmsys4bS2B2Whaue3AjphNWJHapEmevjmQ2RLJeiklU6zHQZCXCE6slSrfxUgJoqOxIWRHM5L_AUwlHdmr2G8f5kIUElZCcYqnx7cCLKbH9fGLrV7RIb3OKsyB4Lcd1uQCkEPSXj99LRi_PLx_sOivL6AmE-rdzd9sLI3OdPY2_0MnbHE0iG-i0gaseyef3QaJUujR_6rhNDthX1Af-q46Ma5a0DksqkARqq2q8rX32oBDG13bE8NPICRI_PCBuIu0zYuwWA5CWz6Q0IIz21NtHJt-3xzIcfGdNiKeb1SsNmDjTTMPCKI652bo4yA-XFIMMXD0phsD2Qqu8n-GNa5MzR20Pgdrw-N74QMMPL61jzV_mri744OOxb9w8PZKZR14uX8c9Yl_wVFC0U4S9DNNy4McWQLijgto8bnqk9JFKnPehcmU_qPr5rFCXr-xGvPZsXZ0-b8JvVqMbiQu3H6OLQp2TLk2iRmAcDZhjD1k9bK9J6YVWJCkXSjTU7Xs28ImXooR7rk_TrN1asIydQajavSJUtQ0yie-DYJOnXL380Ghcf7WUy-6ssy41AIOLgtejl7V6ilP9qRPQ8ZnWb9WiwJMstZFk_vc1WNppBKqy49TCLBIL41aERdDTMXfaCh-YlRUDX3hq-5fOXPVyFb4W4e9FbWIPjjc0AGFdddMFT3oOmMRgsDcV4012lu41p_Tev9CSRZNZqchA3ECHoAa0SxFTLs7zz4dv2CHxloAhU1d1l9xxCPKEDT2psXZDGylQkhU639coriL9ewpg-I5fLmvScu0n0xx1Vm9osUZ-hiEPhtqGJGMJ_CxBx6ermBDSUDyz_OaPbi0m3HHuTB4fGhnkO7pcqMu9OtbXyklfoH53Sv7o_7_UgwfaQF6Y2MZ06bVK3jn5rZ6Oqd1p2Zh3Rjm5USl8gAVd_QEEHXOjKXPM0F3MJxpURfil4gzeB9-rqkbFZElad3xY-yv-4opC2zy7OVM4q8wOC3_YDg2h7_BYi-ZmrrtblVV04syRHmbdOqw1kdM_w-m2hP_S4jYzXQ1MlbM63m--cVCrkUFEilVbbGJNs=",
  "id": "rs_09f9ff656e2fa405016ab2b6ef03ac87d0ab9e5f7c8c9a91b0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.35,\"left_z\":0.052},\"note\":\"The pitch adjustment allowed the bowl to descend, and the teal bowl is now directly over the blue bowl. I’m lowering the last few centimeters with a small leftward centering correction.\"}",
  "call_id": "call_mwqIVwKHl9z9VwnkqnY3kZM9",
  "id": "fc_09f9ff656e2fa405016ab2b6f062b887d0822efb1ecf21ee43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mwqIVwKHl9z9VwnkqnY3kZM9",
  "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]: [-1.0355, 2.2009, 1.2491, 0.337, -1.0073, -0.453, 0.0313, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3871 left_y=-0.353 left_z=0.0659 left_yaw=-0.0036 left_pitch=0.2485 left_roll=0.0995 left_gripper=0.0313 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0095 right_pitch=-0.0908 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [0.5675, -10.1675, 5.4222, 1.663, -0.2955, -0.0611, 0.7497, -0.1436, -1.4974, 6.9812, 1.6435, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96ed3c46f4181f71a37cf5778256478f8c33d88e69f38ffcb56a13ae2e37d34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f922cd68a5866a265cd9d7e5f37045b15c6c8fd0572956b4c4619332a3441282",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56950c793fad30459b1089e0c16b555641e1db43ea7cf09e266160ec1a8bc48d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 3.384 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]: [-1.0439, 2.17, 1.3201, 0.2142, -1.0103, -0.4717, 0.0301, -0.0219, 0.8234, 0.6407, -0.4747, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3878 left_y=-0.3619 left_z=0.0883 left_yaw=-0.004 left_pitch=0.2405 left_roll=0.1008 left_gripper=0.0301 right_x=0.2878 right_y=0.0002 right_z=0.1695 right_yaw=0.0091 right_pitch=-0.0889 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [-0.7863, -10.4274, 5.5863, 1.7118, -0.5055, 0.0757, 0.7595, -0.1436, -1.1966, 7.159, 1.6288, -0.0171, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The descent has slowed at the bowls’ contact height. I’m releasing the teal bowl into the blue bowl.\"}",
  "call_id": "call_ZY75YyjqyX5D0OzNVV7azgSw",
  "id": "fc_09f9ff656e2fa405016ab2b6f521ac87d092c36d344327e907",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZY75YyjqyX5D0OzNVV7azgSw",
  "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]: [-1.034, 2.2189, 1.2385, 0.3626, -1.0023, -0.4606, 0.9948, -0.0219, 0.8249, 0.6407, -0.4747, -0.0162, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3869 left_y=-0.352 left_z=0.0568 left_yaw=-0.0022 left_pitch=0.2449 left_roll=0.0932 left_gripper=0.9948 right_x=0.2879 right_y=0.0001 right_z=0.1691 right_yaw=0.0085 right_pitch=-0.0905 right_roll=-0.0104 right_gripper=0.9975\nstate[joint_eff]: [0.0205, -11.0564, 4.9983, 1.5311, -0.3199, -0.0073, -0.2369, -0.0342, -1.388, 7.1316, 1.6679, -0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cc9de69cce21850510ec277e70e4b264ef02de33ca9452d28bc96bf2627c5a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e83ec50f34e10d858e329cfc5acf6d16868af9acfa4d0da16c32ce5a985a6c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bde5340937e50c11c551b539573b05cf86916a22077f01e7d8e677a302b4a415",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 9.436 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]: [-1.0355, 2.2009, 1.2491, 0.337, -1.0073, -0.453, 0.0313, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3871 left_y=-0.353 left_z=0.0659 left_yaw=-0.0036 left_pitch=0.2485 left_roll=0.0995 left_gripper=0.0313 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0095 right_pitch=-0.0908 right_roll=-0.0105 right_gripper=0.9975\nstate[joint_eff]: [0.5675, -10.1675, 5.4222, 1.663, -0.2955, -0.0611, 0.7497, -0.1436, -1.4974, 6.9812, 1.6435, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.21,\"left_x\":0.3,\"left_y\":-0.16},\"note\":\"The teal bowl has been released. I’m lifting the left gripper clear so I can verify the nesting before handling the pink bowl.\"}",
  "call_id": "call_uWM1qaRPe3K66Ewz5WNyZxqN",
  "id": "fc_09f9ff656e2fa405016ab2b6f9a53c87d0848a1711701915c5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uWM1qaRPe3K66Ewz5WNyZxqN",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9306, 1.1591, 0.6983, -0.0368, -0.923, -0.3809, 0.9955, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3045 left_y=-0.1671 left_z=0.2146 left_yaw=0.0224 left_pitch=0.272 left_roll=0.0441 left_gripper=0.9955 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0092 right_pitch=-0.0908 right_roll=-0.0102 right_gripper=0.9975\nstate[joint_eff]: [0.5402, -3.6444, 6.0513, 1.4725, -0.1392, 0.2271, 0.0513, 0.0752, -1.0462, 6.9949, 1.6435, -0.0659, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f18d9c51baf699b92c58ebfd7fc2f53d1e3e13e36c238719c55905eed48e30e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00d1735e4027ed388ad10ca6e42fff8387d1192435492fd9dd1a1df06a4778e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69254b4373edb4f99f24004542a8ff1c26d518a2d765c9e39e85ccb5305ecfb3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 6.517 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.034, 2.2189, 1.2385, 0.3626, -1.0023, -0.4606, 0.9948, -0.0219, 0.8249, 0.6407, -0.4747, -0.0162, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3869 left_y=-0.352 left_z=0.0568 left_yaw=-0.0022 left_pitch=0.2449 left_roll=0.0932 left_gripper=0.9948 right_x=0.2879 right_y=0.0001 right_z=0.1691 right_yaw=0.0085 right_pitch=-0.0905 right_roll=-0.0104 right_gripper=0.9975\nstate[joint_eff]: [0.0205, -11.0564, 4.9983, 1.5311, -0.3199, -0.0073, -0.2369, -0.0342, -1.388, 7.1316, 1.6679, -0.0562, -0.0659, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcFvsQZhesySWv7__96bnsGmsCDMMkrWb_fNutrT-GMCxN2wIn3DqrTdH_8g8Ww397zW4QAYW1CxJKHOch_RqWDZbAYbgmaSKKy4yB7m1_6rlSP2LI4Gj11JU9wzsAMONBHdkFnsZTR-9UdvpnfX8ICf0BIxML9jWoOM14fXWCcdaw-Q7SU7EOeOEivZGFuBzkfdSh5FE0sVv-3FzZnJPgvwvE2n_FlqM0T_6cdELOHqpq7ZmswHrDOqAX2rWT4akdcnyrG4U7aO1x1mlkUPYoB5IbEreLf9NWkBBPsk5SZBcxyTIjbzReqUNydfKpVF091BdbT3KucrZlQkogSeyK0C6AmN4_BAxaoLdvvkbEO3q75zZ2l-ovAgg79wO35eg8jKot1oB5dC-d7IhhynZofIVK3evHGvCOuhIeMNbXFFjnBtnQYEv5D7iyJisjj1xBAmBWFid0I-p1nPzsRQKOhdlOFf7hxc6gGOgAE6gtsHI5vhTkn5GgMLc2qOH1ZUPohbAHhWK_KVrypuYGwGJGV_FKyDICw02YxFdPKTohGVXOQcaKHOD0lchAGWwKeDCf4dqmIhUj2wRqG8Ac-ghHi76zLUhsw89j3r6KxTXmx2Ta89fcldDXq4jXcm4dn4t3ob2GzOIGkQ04sZsYAivIxYW-x_MWvHp8Ks9Cefnqd3-B2B1vVtxIL8UimHIeqHIkY_3znzFynfEwZAtKPOSGD-MfNr1I33ryzkIU7NT7W4fji5dP4vbc57OwHjpurUjgiDoWFvVbUxs04LecX3eEjdF-9joMbHWhwKlFD7vh2XY99JnG_JfEeVr10JFF3XMRt3TYJQCnegXVmShg5aygxQHnBjPxk3k2dgLdG8BykeJaPMGx_vr7naYIPIEZIH3SO0HTrVaw8LykLthT-lTBSWPbbx1YqPwXKNeIsD-8JtTgj-tmDOayKpf7Zq2v60bajVG3G4Nlbr72g8J3tOD1aBzu52GmQt6cHZbHXDP5zgW2kNP1VSrgz4-c2oKsplx_tLr1gYjzbo4I37pfN54bx1ekKAVuy03-H7aSHazjT8E5MSJ5uS9VFhHd2d83xYZfE-pH1tDHEgSUfKAeOCkQVR8uc3GZagFOEBDyaUyx3rrZ5msbusBBlfek8SSOBC2plg95f9gDJqqQmCug4x-mYIBvtk5ivOQqFuPNa4SISiRlBxiG3uinZJ4UsJoC_HDDsnVXNVtUjj5OTw0W3W1VXjS8QtFeGSdny4FhnIP_ehNB4-7rvfRY4Bsms4ZvI9IYw9i0G1XQ7HQuTyNNzihuFGNwJKdlXdXUox6IzkZfIJ_DA0imbJks2OdDp8IvCGyq5CDBlLxm9OHG1KQ9H5kyBCB49xmlpnv4IsdSNfvFHSwNO55DmofNI703VDwFFUKS8Wq6HY_yBu5vm8KHht-ZSng0kZFQI9UW03vniuGeQblgxTPQOM-T08YM0JXyzrLszTC5uC3yPCMce1dJZCgFTrboZYduKy0QHT4sTky-hyDWvdxqLTZ3DQPCO_oxl68ft1tquyn1MtAhHmneaVPcqC-Ji6c6iDm0i8xJW0XWxaUsoGO3W3cl7GI1hoGQ6WkpJUYDToyihybTMXT9w0Q8wpA==",
  "id": "rs_09f9ff656e2fa405016ab2b6ffa67c87d085eceed97e48efa7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.37,\"right_y\":0.2,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The teal bowl is now nested in the blue bowl. I’m parking the left arm and bringing the right gripper toward the pink bowl’s left rim.\"}",
  "call_id": "call_SNpMLyUIoADaNfT6p2zyb6IV",
  "id": "fc_09f9ff656e2fa405016ab2b703623c87d09bf3d8eabb766d11",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SNpMLyUIoADaNfT6p2zyb6IV",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1081, 0.8097, 0.6487, -0.432, -0.1902, -0.0895, 0.9955, 0.6968, 1.533, 0.9871, -0.3077, 0.498, 0.4072, 0.9977]\nstate[eef_state]: left_x=0.2938 left_y=0.0053 left_z=0.1872 left_yaw=0.0851 left_pitch=-0.0168 left_roll=0.0431 left_gripper=0.9955 right_x=0.3576 right_y=0.1939 right_z=0.1303 right_yaw=0.0472 right_pitch=-0.1563 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [0.253, -1.8393, 9.6752, 1.8437, -0.0562, 0.2466, -0.0073, 0.2256, -7.2, 9.1692, 1.6288, 0.4811, 0.2173, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c43dd3385965348d4013f766e937a4226046ca539582fd396f7f5e5f8c4f7acc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:079fc9dc8a424d38c9a75698809bf044041bf475858c586e76992e77d7f718ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0559f26011629f5a8df960fed05f5a99cc3025f63c5a4e789e57b5e046dd4a66",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 7.217 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9306, 1.1591, 0.6983, -0.0368, -0.923, -0.3809, 0.9955, -0.0216, 0.8249, 0.6407, -0.4751, -0.0166, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3045 left_y=-0.1671 left_z=0.2146 left_yaw=0.0224 left_pitch=0.272 left_roll=0.0441 left_gripper=0.9955 right_x=0.2879 right_y=0.0003 right_z=0.169 right_yaw=0.0092 right_pitch=-0.0908 right_roll=-0.0102 right_gripper=0.9975\nstate[joint_eff]: [0.5402, -3.6444, 6.0513, 1.4725, -0.1392, 0.2271, 0.0513, 0.0752, -1.0462, 6.9949, 1.6435, -0.0659, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcOhHd8ia6lkGH5rISxnWzaQc5xlHVzR_RrxMzFSBoN8a42lNrXtPyBd2_1uVIaZf94XtEvBRZa-vPl0wCZsZ45DqAKiIOmR6uuC8A0JfGtxYIH4Gly51S_x63GVzhpr5ERfxrnva7tXUobXW38Ee2S4DqyO2KBrVOtagvy_bekeh9-2Sx_Xgde-ruWZqgNfWdx42TvtOfWI9TGz9B5ZWBu8WQTPEO8mMuNn2UkWDCSb2ZGjkjhDRfY1taXUJqZcMQmwkq3wwiyurjn2Si3coLG9ncGHQ4g30BWEgeczf0UuLHInLGDkSdzO9Q5aPJYoR_q5pbXparfcd2524VrPvXtEqZ4UAeWdVqH35csPw1Lq8cCnbk6AV6MJlkdwIrgfW3Ux7gPC1B-tzZRQt0oRjUU2XTMx05Sxvkp40JnG64dt7Z8bU98EA6n-xw1BelLWj-KfWo-BltPNSz1M9LAEXYBVeDCK4TjoiFtpqfOEtiLfcHzDJAolOQSPJWLy2mUQ8kg1M5q3WW3q5ABelq7wOuvbbzX7iLFxaNYM3JF9xkUeu7S9Vya8q2FxwSi_qZKkv3HAqxAPHR5mu-sJHfHwi_3FTZp7sngDrnkZHGT6xfjzKALgjzlJdswv97kGXR_KXhXM_Tc8So5L3kbwaAcDV9hR1BDBxlMyJEMr8S88pz7GjYakdnseQH_hSwgYgB5FQunEs4cJLyOhEWqma7SvQuN_WNT6i4kxZ6AYoBc4UbDDx2RQ8AmpYscX_lQMlWhzauxrhgImIgff0W4XBPcOmYO6p1IQ1VsL8f0XqMeNclBL-JJYwFbWVZ_QgbQEyNuKI2Gd8j5vthbiAuC2XZQwKmtVl-uLDo46aoO3THhGAtfNhZzb0S5mWqFgQpEacCl5b9yOPQcYOlrvopu--ELnF3FcE1AY0wNluYT408x0FrAYfAXh_22AHrcbHe1hw-jpqP4PMS3TQ5Cf9oDEBXXKsVZLKSMbsFEDBCKdAQw5VfQvQqRuLRrXEzMsXDtcga34iUYwBJGqQZLKYzTqjkeqayzSm4TQS-bDHjf3dsyL7wpEhtpy22s6WicB3uFNzflijlktp77ECdh3zfp-oYDld_oor8J6QGEkdVckG3aCSfO566Xu73I4Z-Wt9TteOk1fP7KKvqx5k2qLbejV5oN57ajWLRITS7ytWlDeB0LFF5ybTD27k74o3fmZgM7JXwMg2XpcoonY7OJjXGkK4LIbp39NJjV_DMjJLJEI0aP5lRP0EcS6HqM-uQRR3blSqOn_jG1e25FlEXcRft9IgglvQMCTU_q-NKPxNj5NskJLSf4nnt5wJaBT0yovpFY8HDtpIXIDmUS1gkMVjEPqAFCcqP_eq24i53LnqJ7l24Ne2bgatpUMKqQ7ETT-mR4HIajzGvjWIINA62wO1mL6c2nkdyM2HrGpbDZ1Q2Q9b0dVH0LTqszkPZaJkrbeIyyTGLAHbIr9Xzy96Q-04vxEkwj_MuVJcRVGfTobqo7TdwLxHtDDl9L71lVcT6fbVGzmEyH1s5bkhKqDCXXqEhpJlsgoePocw==",
  "id": "rs_09f9ff656e2fa405016ab2b70a065087d09d97436c03e109fb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.2,\"right_z\":0.045},\"note\":\"The pink bowl’s left edge is aligned beside the jaw column. I’m advancing slightly and lowering so the fingers straddle its wall below the rim.\"}",
  "call_id": "call_N2z0fyuzb7y5gNCasDNwCbDz",
  "id": "fc_09f9ff656e2fa405016ab2b70c83cc87d0b2ef9db18ea856f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_N2z0fyuzb7y5gNCasDNwCbDz",
  "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]: [-0.1085, 0.8116, 0.6487, -0.4522, -0.181, -0.0792, 0.9955, 0.654, 1.7813, 0.8963, -0.0265, 0.4644, 0.3698, 0.9975]\nstate[eef_state]: left_x=0.2912 left_y=0.0039 left_z=0.1824 left_yaw=0.0716 left_pitch=-0.0398 left_roll=0.0506 left_gripper=0.9955 right_x=0.3765 right_y=0.1934 right_z=0.0385 right_yaw=0.0437 right_pitch=-0.22 right_roll=-0.0947 right_gripper=0.9975\nstate[joint_eff]: [-0.0205, -1.4154, 7.0632, 1.8584, -0.1929, -0.1734, -0.0171, -0.8137, -8.1026, 5.7368, 1.453, 0.2857, -0.0122, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e5467eed791f2c3b862ed4d9bb2b53081bfb2cb09fbc95edbc4b590f215e316",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dbf8ce4d192a53cae409c83d3049c97871b8dee496855c6b69a67216c3df4d0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d749519ad1f039c875f7c9c96f9319453b5f5ce3b1ffb1cbdb90f9876784ef00",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1081, 0.8097, 0.6487, -0.432, -0.1902, -0.0895, 0.9955, 0.6968, 1.533, 0.9871, -0.3077, 0.498, 0.4072, 0.9977]\nstate[eef_state]: left_x=0.2938 left_y=0.0053 left_z=0.1872 left_yaw=0.0851 left_pitch=-0.0168 left_roll=0.0431 left_gripper=0.9955 right_x=0.3576 right_y=0.1939 right_z=0.1303 right_yaw=0.0472 right_pitch=-0.1563 right_roll=-0.0536 right_gripper=0.9977\nstate[joint_eff]: [0.253, -1.8393, 9.6752, 1.8437, -0.0562, 0.2466, -0.0073, 0.2256, -7.2, 9.1692, 1.6288, 0.4811, 0.2173, -0.2564]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcVcVQo8qxjkVeEYG8uQYLPUINuZRSMWBaL22h4qiVPuV6xGVwCmHJqqBcK7R_KmcTrrbWX0Kf-rm5FiRxikvYiQubiDx2fSn1QbGswCjIAKLrhy7Luai6hImhsDjJSPtUgwDGh9HiIJXTT--i0wKPW--egz6sipQHxGRzhR4jK616LOo7iE1YPUERLvlXRVdXd2WJu8rudig2EOCjAX_jW7QKsc1ZxahNtbLmRC--coMzt-owTMjAtForyj9jSl7_kidi4BRRof_ZKGIoAECBbKHrMg76yvGidKSbXhAE2MHvTIZU_UHKiqpGhupqK8e5dpwBafaztOoixi1OJAWftrnYr7-53KHesKWi0Ih_4SmFG6hdih2xB64CaqKPCM4ESIrhw9hjGppppRr7sF810QSLZcvhhxEcTl0oCM8PvHlpqtMl1KqrL2PT5uOzaMZO-34YduvYnLYp8ccUWeZPkzjeZQ9gyjd0xefj0akDsXdIbXu4YqtvpTIwqCwhhssgHvNgXpbSrZsCVkd2L69QepMNjv39HqjxrieJF4V3FShYPIVoOeNxlcuHMJwZGyqrF7-028CjeTE-avWldzRnh5B_fWSWvxyHdEeeQebbKm63BuxSx8zD2FacxnmpVOFck0DHRv8mwk3kIskd51SQpXBaAN3PxJig2GdXWIV0lSlFqZbQjpgOFO13J3Q-WHyMxuuvdt2BVatxUNkF9oHri32zluaNy_f9IT5eLCuA5qEeD8BXcIqE37R-6KQqd-TetfVpJjfejw3dy4xgmS0jZPWUKrwk1gVb9jjcUEKciECKVeQwKeKLJfJt9y77iCG7zmJfi7odloQKmen5DqnWc4JRUZURHuwI-lDZqfUj5kt5LFmv55yyiFiXkGGk5xQS7hLE6ZHgDWxcYSdF7i0JNgGxDkwl9J7lOLr2-eP5-Nv3btBmIsoDPONPNoBye3k860Q4J126FDEqI2c8b8wv4K80hyqQD9hBy5EgqMQ8SgNB31ybmNJYk_dAAZkAkxEeYX6BtX0eMAATTxpnwgen4vdUSCjHWADUqnwYEVtaFdqYA8BlEv2ybaJpK4qSSWy88FXC50G7rF6nYidWqbcLBGDRX9bUSPqMVMBlakZboGHjH2cYWqMRauY0dfti1u23aOMemAn8twUCz-_IMMPyhBtXX5wIkzf7Gn9ddcnTqRCAgmISdveiqSCXQ1U2eQCw1g_LD8BQyYFiBxfoLuDC8dzfPE8eXP8l6XIjvgzUbFWqEv6PebWVGE-OQAybQrZlrXpbJ4cbFdZl9WFtO1fJs9bvuVCuFriEmr51TdwzyRMRUjs2U00Y0MucA7KfnMIwZeuwxO0YdqTsyKDYUl_fzUDp_uNug8mAuuslRlRZm-6c50Sb0dV9gq0ADo4vcc5t6bOy4FagrVyfJLNdkL6i5fxl7_VzyZdyhisEHDVNRUwVKzU3AWqNLgs24uHCBEdunyA0up8PWAE2GXuAaOoW5oTytoUKA_fyXJhSSlNEKQ8F5UsFfiiJ0HCieTpLmQve8",
  "id": "rs_09f9ff656e2fa405016ab2b71103cc87d0bbd94e5998e7c86f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.175,\"right_gripper\":0},\"note\":\"The close view shows the pink wall slightly to the right of the grasp point. I’m shifting inward by about two centimeters and closing on that wall.\"}",
  "call_id": "call_GTa50Nsqb2ZyjIbPkBsT5hRG",
  "id": "fc_09f9ff656e2fa405016ab2b7143a3887d0b5432d3ef12d0615",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GTa50Nsqb2ZyjIbPkBsT5hRG",
  "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]: [-0.1085, 0.8116, 0.6487, -0.4534, -0.1806, -0.0788, 0.9955, 0.6109, 1.7668, 0.8501, -0.0174, 0.4427, 0.3214, 0.0243]\nstate[eef_state]: left_x=0.291 left_y=0.0038 left_z=0.1822 left_yaw=0.0711 left_pitch=-0.041 left_roll=0.0509 left_gripper=0.9955 right_x=0.3728 right_y=0.1731 right_z=0.0285 right_yaw=0.0408 right_pitch=-0.2513 right_roll=-0.1274 right_gripper=0.0243\nstate[joint_eff]: [-0.1026, -1.0872, 7.0085, 1.6825, -0.1099, -0.0415, -0.0122, -0.4171, -9.2103, 5.053, 1.5165, 0.0904, 0.1392, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e31f234c0b8dbc73b3b86b8b5afbc1d9caf022418a884326e80d721d80dd5a21",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:843ebd6168514c31786b71ff988f18bd3094343970f9c27edb4d4f33608f9da1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae885fbf716ee483cea9bff7938dcde4217b169d8d8b8ae54900c0e0b4bf4294",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.308 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]: [-0.1085, 0.8116, 0.6487, -0.4522, -0.181, -0.0792, 0.9955, 0.654, 1.7813, 0.8963, -0.0265, 0.4644, 0.3698, 0.9975]\nstate[eef_state]: left_x=0.2912 left_y=0.0039 left_z=0.1824 left_yaw=0.0716 left_pitch=-0.0398 left_roll=0.0506 left_gripper=0.9955 right_x=0.3765 right_y=0.1934 right_z=0.0385 right_yaw=0.0437 right_pitch=-0.22 right_roll=-0.0947 right_gripper=0.9975\nstate[joint_eff]: [-0.0205, -1.4154, 7.0632, 1.8584, -0.1929, -0.1734, -0.0171, -0.8137, -8.1026, 5.7368, 1.453, 0.2857, -0.0122, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcb-DNl6O_GF_1Gb88sktJmxyb-lIYEisLJOgdhey2SBqoexivyskxkPMrqHW3OaAu2FARlsAnhKXoX_xcx7-6uxxZFPjqE9ue0OeC9YMkBu2KZrNDUyw8c5PrGMIEWaFW3uH3oKm2zUO7IlExSz6KoV-Hz60MAZuPyqJP75M6UCIGeM4QV2F8iozhDntbZPCQC7z1ISufHC2nRJOY9luPiSBn_ALU4nTutxkdg5I-CRWjnBCyk_PWkcQk9IBI3zWdSLG_MTtotL1Z18DhMN1r0TNnLUJNpW7LH4tR4Sn-VB7QWsP_NPuvd8D32TOqtB7VDy8IFJXQbOyePY0m-4-ZptHke-TG0UMaexn3jNyqQiET-k83Bh_egVNIlfWb2Zg18vQTfKLkvd6bE1vQjkQy0UG56xa8AxNFYngeXnvYhlAiD6zArOZvZQcafTJW7U5-nK40tcxFuAzJKthHlVewSNNc5kCrwy6QUixFGHG9TTSeayFR-nnqZ69jb_yUlMmSuOiZfGJpv_uip_QDotKKAx_YbRR-UP1qIE-xqwnoRZZLeojjhRhrIun4BotfkQ4AiIzwJ5cCzpj2nz0OlFECc6pDnao_VTwF9cc0FLvo0up7bL-uDyIf6WUsXftKZwmtel4oQh-ld0txzMquyqQSpElzsNJBMTeilw7E4NjjIupis8NT3GnsOlKySsJBbROW1gi9in120TdUOezg25Ma93QKrWjLuhEXV5FxfdZwztT_xK97AqprL43ukfLwtt45ugqt6fxf6NMeVgiRD_WddI76WeTaKzsq4HymCzOf7syulJwYWOwAUsGLrJzL4v7-xHDe5YCP3uIvniZvsfU95CRYhZ6xKxpd4XauGv7MrEg0r3_Qpk0LUPV6edrGqaCkFvfNNfkBYPvOdrdcxOCXeZLkhECCMcQGI2p-0OuhpILwcJb0kCd_CMLAUIajOZdzlVNt-5hz-jQ_uJA3D1y7-BQwQfz5wTTRSHpRq0iTRcXVqwc2ENmezEyoWj17_1jGpUjaK6BHB_cfGcxKu_N2GRf26iDiQkCjldItNmX8nWe2gqybjv18dczeBcDomuzadQaeFRAR4pEs4yf2SYT4okY6DVCHAhfmSgwEFXPFvXNxHNSVf2b8jHPDICSAxpi8VgW74lPVmAaJSXySB_JsTCvXfazY8HdW1a9zHepuxLm0C2q6FFEPG2P8lvffT_ROmumHIhW_rPqIyYn4iklh08w==",
  "id": "rs_09f9ff656e2fa405016ab2b71a5fb087d0be51c011fbaa36f0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12},\"note\":\"The fingers have closed to a thin gap consistent with the bowl wall. I’m making a short test lift to verify that the pink bowl is attached.\"}",
  "call_id": "call_GucnimrT82HHNOPAsIGdOLxW",
  "id": "fc_09f9ff656e2fa405016ab2b71a783487d0817d16d6749d8737",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GucnimrT82HHNOPAsIGdOLxW",
  "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]: [-0.1085, 0.8116, 0.6487, -0.4599, -0.1806, -0.0784, 0.9955, 0.6113, 1.6215, 1.0256, -0.3492, 0.4294, 0.3138, 0.0324]\nstate[eef_state]: left_x=0.2901 left_y=0.0039 left_z=0.1809 left_yaw=0.0709 left_pitch=-0.0474 left_roll=0.0524 left_gripper=0.9955 right_x=0.3718 right_y=0.1751 right_z=0.101 right_yaw=0.0541 right_pitch=-0.267 right_roll=-0.1294 right_gripper=0.0324\nstate[joint_eff]: [-0.0342, -1.1556, 6.9675, 1.7607, -0.0806, -0.0317, -0.0122, -0.0889, -9.0188, 8.6085, 1.243, 0.2662, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a333f8c91a9bbef93f2185728d74115bf4560dca074672c2b7a66472cc49bf48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c26dabc01d74cc88b4bfb0c3b8728e8a7069b5583b1859f1c561ff4b8ee096",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a21887cce213a46f1b9445e6b349a4a4b7064d9423fd26aba277fef510fd3dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 5.178 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]: [-0.1085, 0.8116, 0.6487, -0.4534, -0.1806, -0.0788, 0.9955, 0.6109, 1.7668, 0.8501, -0.0174, 0.4427, 0.3214, 0.0243]\nstate[eef_state]: left_x=0.291 left_y=0.0038 left_z=0.1822 left_yaw=0.0711 left_pitch=-0.041 left_roll=0.0509 left_gripper=0.9955 right_x=0.3728 right_y=0.1731 right_z=0.0285 right_yaw=0.0408 right_pitch=-0.2513 right_roll=-0.1274 right_gripper=0.0243\nstate[joint_eff]: [-0.1026, -1.0872, 7.0085, 1.6825, -0.1099, -0.0415, -0.0122, -0.4171, -9.2103, 5.053, 1.5165, 0.0904, 0.1392, 1.1648]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcknVmEhugK1w8Eb5L8BUYiuLAJx9UoYE1CsHI75NR27z7Tq4F7L6U_figixXcTcm86y27W-BQEAEhTYE1tghrA6MOvQKjv1bkZ6q5qslo2MqptWBBISC0prwA-8upReJScsRzT3eE75TC5WK5L_xPqdWPXjDZ1tyRuB7Y6YptdIvg9Xf8C_8mtKDM2FPA5ETCLvyPXglkBTODFuQtynKQroelnP8PS7iG5G5jd8nhJUpn5pFnBsQXlryNS--q6dsVw9M_RHG49ubJn1P224QjPnqGxta6dna1OoYgJnrzqmLfkRrT2BgsCCsshWsQeO-BGRV9ehRPS1KRKTECE4qo5RZaVZ_1wg1bb1zGKBZn7fYnauKZ8gMSVmeJPNCVbbqNs1Abx0PzNjpipdNlQ0jdfOHjqwddz2pLW67HQhZ1lzUhrfhqY7kVY7HwiwyGPn99UVeGO7aoQ3z9HSdryrBw97qosuQDRtVSK84564oRlwM55dWCBrB-ba1rHlTEGuxr0wM7nh9uBOuUvzXjn7N9ncHkw-dpo3pknGk1lxxJKI75IAJlGI_8TcvQvXbTJBrXrATTo15gdX7RKVgLd4TrLLRxGHP3oCfh-zQdNJIULXKl1mtGzGCQwkDNDeIebzajXqesAVIqLmfMj6TzFoh1fSk81-Ty-MQXhyasDJJAvtRIs8EVIKK5a0mxhcknSD8CajmpYrSPQ_rvebutfwyeEJJ157imgJJNZHNH2DcavivLJw3d6VnEVJP0tBFakGfKaFA89HwfkDhgjuSH7lwQ0vsoj5xzhmWhAKXbt7G3jujVCwbUtgbDxiNPFha_Lw8p3rboKaxUty5SUR8gcfvMrggI4bAvgEaIwTc3_OqeVGbiY7goSFD-bWpFSkrCOEqe6Lqktd95qeipFJRMSqfsSSgKuIFzQAC6FXkIlD5rwcdw9Vh9419CWTnDIXK5H3OtY7sAsJAtSjbiIdIaRbCcOwnCaS3LOKLqMODMSSvhwyU_yXMcPKnuzU-qm3RnoaQU_YEnvv6QyqxKvOnEcI89WYEdQ8LFRd3dKni0abovCjFH-mrawvd_U0F-smToKJQNmMQkBGbf8W1c6J8eTgsCPmVoeDvJeW9ck8R8LhlFw55V6bSeb2TFcs1lgvJl7YvrbyveJm1Tt58MzOMIZVRkWc1IoHHYZfA6iYOao21MllZu69DWIySvNJkhkweVdA7vtpZK2a_YMtUAOUOIGUFjxMWYsIFrseiOX-FBIhv-QEeoDFeyVAe_yv1NIMe1JqXq0rZuuljH2fmgtn6CDWzpYrReebTNwq78RigWzLxQNvYDjlz1SE4uMMiCwXGh_7gdoRFhLExB2MMLQ65niu6w0hAWOen1I0VXnbXiK2r6FVF6Gtj0WxQhOmdgLYTzOl8TL0MiPxBpmF8szLS5_NG3Sj3Lb-3wxn6qaRfqL1X5PPM80JeohVpyJGEElR453y1cDUBUm1CSL1RXa1_wapwtrBYxaRSswF2hPPP3KRdcwjRLIV3gvrnrP5wGX5d5EN9sBpHDVVFOM_6_n69X9xP52Wg==",
  "id": "rs_09f9ff656e2fa405016ab2b71f712887d09cccea9d1f4e234c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.375,\"right_z\":0.22,\"right_pitch\":0.3},\"note\":\"The pink bowl moved with the test lift. I’m carrying it over the two-bowl stack, using a forward tool pitch to maintain reach near the center of the table.\"}",
  "call_id": "call_xpjaKMcSBOlSkprwPEYhfZzE",
  "id": "fc_09f9ff656e2fa405016ab2b722b0ec87d09ec73d98657c22dd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xpjaKMcSBOlSkprwPEYhfZzE",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1085, 0.8165, 0.6487, -0.4606, -0.1806, -0.0788, 0.9955, 1.0336, 1.9865, 1.4967, -0.1257, 0.9398, 0.2993, 0.0324]\nstate[eef_state]: left_x=0.2903 left_y=0.0039 left_z=0.1794 left_yaw=0.0712 left_pitch=-0.053 left_roll=0.0531 left_gripper=0.9955 right_x=0.3822 right_y=0.37 right_z=0.1907 right_yaw=0.1113 right_pitch=0.2104 right_roll=-0.1898 right_gripper=0.0324\nstate[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.7021, -0.1245, -0.0611, -0.0122, 0.1026, -10.7282, 9.8667, 1.873, 0.6227, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b2a7fb2a68b95bd485af3ec580ba40c5190996d66360f3dae1d4fb46213055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65ebef4c44047e819e5ba3a6ff7c6fadb1faac4ac8d068f9ad1879ec1611c01f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c03176e971b00db459199df2509698573941b4ef4bd02966f083328d503395dd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /responses · status 200 · 5.385 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]: [-0.1085, 0.8116, 0.6487, -0.4599, -0.1806, -0.0784, 0.9955, 0.6113, 1.6215, 1.0256, -0.3492, 0.4294, 0.3138, 0.0324]\nstate[eef_state]: left_x=0.2901 left_y=0.0039 left_z=0.1809 left_yaw=0.0709 left_pitch=-0.0474 left_roll=0.0524 left_gripper=0.9955 right_x=0.3718 right_y=0.1751 right_z=0.101 right_yaw=0.0541 right_pitch=-0.267 right_roll=-0.1294 right_gripper=0.0324\nstate[joint_eff]: [-0.0342, -1.1556, 6.9675, 1.7607, -0.0806, -0.0317, -0.0122, -0.0889, -9.0188, 8.6085, 1.243, 0.2662, 0.0366, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcrsIMxDi_kn3T_bEQx5-Wx7s3_CIEHcBGp-OBqt5WxkByk0kxZIgCyQn1oZgwGt0ub5MSJVRL_SuJMs4ak8-XffhfS7yfUMV-2U_AtYpVv0L4VkG_mk_c8Bp6toAORLeJa4AkjXDDPjqmXV1r12ONvd9u3GMTAK_p1PeEudsHJcgQv-c6iw9pnltrf10MSPb1Zb9Az3_8hobnqO_RVpQAbp7UITJmrdAlLMfKKwoSYW-Ckqj0w1RUCbvQcnZIwGfSAso_qFJsMeVBbn51eKXFjJ9Ahr2i6DKzFLj62vK3R29Dnrxow0JhyYJ1K9gKofjIcE-RcQP3UjEomzLtSVe0EGshCuxNuvmO2gkZDsYFP4Wz8N69ZcUjWuli_uvDkr7xybQqx4edDFABivYJPbzhkf4WD-fBVRp_JPGbC8RZxOA9oUVyx7opL079OVdvccVxWL_7XgMbdBiNHTQ_O-r_ihxYTwXBLrQKeUoRU1n5NaHHTpi1eqK7jxleJnQ8FUVZgMyaTCl7K_QSYJntaveVj1_gaGvx_1X_bbb646t7omtgzIS-DHm7jp_04ih8SUotggo-YYrQ_fj80pM3oc0r9tT-89PVh_79wxSxnD5urK938-i7eULXj8JvMeYHGmyDYvOjSTTaKF1e7ya4hgumAqZnboioFUuL051ZK0HP_1DUMbu_fex7jsG9LfXYbr1jhcbwWhuBlVGD5CXdiiPxl9HfPpo3AQRAYXK8LiwfdZ2rVHmvK8Izt6LUK5nq0KL2fn_Y9Bvt_pKMvN1lsMCQ0OZ66RO5HVi7d2jbeEEHznR6q7D0g6MkRqwvxb_qc-zEYty255_72noqlnqFZo_YrsqTqHFYyqHT7aJ5JIC2FbEOku7g1L8g-mGatKNQXBUHu7F0Gxr3Vt_enHLoWc-r612irpGCAqSSqdHq8v_Gt2aLNSuP4B7KX0nf4UqwfgQZpsN9fbxmoVWH2EFVMHXMs-LopkWkUjpb0-91UXMRLycivEUyU-lhsvRw7fr68WZXVy_I3k13WeKgRSfBu4fJmsF4u2jrB-wXzlEvpps9EejKxmQ9kHDkA476HbTg4zFopBUHapf9KwhAioj8Yx5VZbb1_pJ1TNIs92MTwUrUAdlPAJMj8pHgndrZ340jzfrBcr14zA6FiGQyNXBSFMZYYvlAI4vJjeC6ZF69cc61fwoscbihilfCYr3mu6Gi3qQ0U-pHk7MWnehCzUX3Sl_pt0grHXJNKa5mjl3DsD93lNCLjJWMCpVw0pMXYUt3BHijpqko0DiBsjMCgtfS8moJ3f_SIZ2jrCHTM997FWjglw7g=",
  "id": "rs_09f9ff656e2fa405016ab2b728930c87d0a8050001a4b42c6e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115,\"right_y\":0.385},\"note\":\"The pink bowl is above the existing stack, with only a small lateral offset. I’m lowering it while nudging left to align the bowl centers.\"}",
  "call_id": "call_6zrV11Eazi0PsYLJDK81zETY",
  "id": "fc_09f9ff656e2fa405016ab2b729fbb887d092c45905a2217d31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6zrV11Eazi0PsYLJDK81zETY",
  "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]: [-0.1085, 0.8173, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 1.0466, 2.1365, 1.4094, 0.0254, 0.9363, 0.2985, 0.0324]\nstate[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.1792 left_yaw=0.071 left_pitch=-0.0538 left_roll=0.0535 left_gripper=0.9955 right_x=0.3793 right_y=0.379 right_z=0.1042 right_yaw=0.1399 right_pitch=0.156 right_roll=-0.2587 right_gripper=0.0324\nstate[joint_eff]: [-0.212, -1.1829, 6.9675, 1.6972, -0.0952, -0.0317, -0.0073, 0.4718, -12.9709, 6.735, 1.8144, 0.5104, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55c4340025ae5ae3f9f934e62c95869e09d97c8a99f50adc40023088eafe3e8f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06be1330fa71efc87a8ddf53a0486a0c7f9f11b67f29c799a0dff7744ca0270f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c63fd95b25ae4663d4fa501e09449cd2fae5f216da0ba9646fc1dec09277ada",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.485 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]: [-0.1085, 0.8165, 0.6487, -0.4606, -0.1806, -0.0788, 0.9955, 1.0336, 1.9865, 1.4967, -0.1257, 0.9398, 0.2993, 0.0324]\nstate[eef_state]: left_x=0.2903 left_y=0.0039 left_z=0.1794 left_yaw=0.0712 left_pitch=-0.053 left_roll=0.0531 left_gripper=0.9955 right_x=0.3822 right_y=0.37 right_z=0.1907 right_yaw=0.1113 right_pitch=0.2104 right_roll=-0.1898 right_gripper=0.0324\nstate[joint_eff]: [-0.2256, -1.7299, 6.9675, 1.7021, -0.1245, -0.0611, -0.0122, 0.1026, -10.7282, 9.8667, 1.873, 0.6227, 0.0952, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrcxOBp-_Y9VLEXPzhemPPHJa-PNmN249gmuqz3t_7sfPXDVwEH8QzjXdrNVtyxXfTwygVvJZPp01zsoacSQC7R65mDmoDNIoPu0FttJCCXLEzlKXmYvXE7zSRVGZRTc1RTxghAsZJuEiYNeQBm5byEWsKkaYv-G77xu21HYeg-eq8eKFIc_gNkXqgDBwQRRYYkEbfwDvJbfaIon9WZbarGB0TEMgGdOhcuAO9nUUrYprfL4fAbjsOod36TrsNxzJnq5nsnCfgyXxEQ0qp3KGH1AOnmUtAud79_9CRSKB4-XJ_m9WRDKVo0fb1b8RmzFCfIf6uhAfrlZh3GcGzmz9ZCbPHG2XZoqccd8fQS82ZgS1FWGJD5lPzc7rud-erJKtB5ej-DC0UWlCxn-WTjOZAY-RCBzkkSnbzXn93q9yDbmqreH6Iuk9ru9eoDxpEiNh_40AGAAlkeSLN_TARO1f3wPpooDGIZ91Unk4CJEOtkW_NNTMmZdfs-HbmDOQfwINMriBju5qISYVS7p53d9t8ja4Wkz2Tj1GYH3BOE-b6FhPmXXgBZWHttt4aWqftvVeVhS7yHTlmhHHUBoM8rLAHDN-ScA6qJ0fAWBKjYpY9LX-1zjB0yowHsGW9QtQiBliQXeIUunfMCkF6yiKvOJC3slzFoimr_ona3jrcJ1TzYZrW4zBMlvjCZk0ZbNkwZg8HnLoJY8mYX_okBUoccXsJKypYqxP768GEi2HrXC6KdGYHxbjk68bTZO1A746x_5yvpPI9wisStexWEg6GjAD1aYNfamnPhiMdaWXFRvJrzvdUc3-19Gk3hBK1wminF-0vP2RS5669YL0v4m4ZTs32zzGcIobPfvsNY9vjPcFSiOPkgEsLol_TMS1KnFeGwdxZmof2-Gp2G14bwfr8XwDJbHdq9OxkBFU8TdTvdoyBWfkYtO-TJA6BPb4rnszmTwx5NxjnwJWpfXNdgrVZrR1pIr04hNtxyHGb_jWESQKuR2-jUryxfypAWLViYmiNoCotcHW7hGpK1nx8uUpyFc9GoDIzBSv_5PqYOfap8Za-st37DGg3V3bDGXQ-NNaWHz7P1nlimle3KFdWQdW9sermqigJ7nIs8_6nQvGRgY19kLKUC3n_0mOzwCt73XfpLn9CDbY5jFe6i5CpEc8h4rcK7BBXBdaw0GO8v8Envh7J-M5Q5x9jANYclDPf6d7K1lEYYLnrRo7jKuUVKSRNvjvbCgyXQRCPXyqjnwsYO9L-f3nwYS2MTyZuKp_O_y5tcEBkULOv319sbfuQBQkjgbIg389sUdar7luYZ0LkSK_U2iTSMzkLC--nFcV5Rcmc4GYqy3mQC5c-ZSDmD0fZlwBXJe6kMBqDNgJbVhjhg9w05ealmPwJGKlBABORyFwfzXP5Tdw0kdugUpEj9jcO9r9cWXwkgwiHz9Or79urnB1vmvDUUe8Cytw7x8GoIBUMnlRT48G2ZDXQHbulwWTIYw0duIhH8kdkC4Tv9_3Hj2YLmdZwnJPV3LjV0SV_C7GBv53L6Kh4UZBAJ7rqy56l29u1R8_kY70nYrpj-qe2afxnwBV5c=",
  "id": "rs_09f9ff656e2fa405016ab2b72dc2a487d08f1514dfc6a0d934",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.068,\"right_roll\":0.15},\"note\":\"The pink bowl is centered above the stack. I’m lowering it to make contact and slightly leveling the rim before release.\"}",
  "call_id": "call_MtPIcTWdxTH5eJyxYqSyZZB1",
  "id": "fc_09f9ff656e2fa405016ab2b73096b487d0bac162aec73a219e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MtPIcTWdxTH5eJyxYqSyZZB1",
  "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]: [-0.1085, 0.8181, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 0.9989, 2.1189, 1.1889, 0.3367, 0.7712, 0.4236, 0.0355]\nstate[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.179 left_yaw=0.071 left_pitch=-0.0546 left_roll=0.0537 left_gripper=0.9955 right_x=0.3795 right_y=0.3687 right_z=0.0669 right_yaw=0.1333 right_pitch=0.1559 right_roll=0.0059 right_gripper=0.0355\nstate[joint_eff]: [-0.0479, -1.388, 6.9949, 1.6435, -0.1148, -0.0806, -0.0073, -0.9778, -11.2615, 4.8889, 1.663, -0.398, 0.4908, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e1354ae19c290e2b7ef15e9e8b4c8a9db0a7728951825a0f0835bdd6652eb26",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee69f1dbbef06cc42bbddb1c9d322643421dfca414b1a19b4be263d2652f411c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18e8eae26795d41ebc7dcaf563cef0384cb5a9ccd97bf09beca8b298ed6ac7f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 6.196 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]: [-0.1085, 0.8173, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 1.0466, 2.1365, 1.4094, 0.0254, 0.9363, 0.2985, 0.0324]\nstate[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.1792 left_yaw=0.071 left_pitch=-0.0538 left_roll=0.0535 left_gripper=0.9955 right_x=0.3793 right_y=0.379 right_z=0.1042 right_yaw=0.1399 right_pitch=0.156 right_roll=-0.2587 right_gripper=0.0324\nstate[joint_eff]: [-0.212, -1.1829, 6.9675, 1.6972, -0.0952, -0.0317, -0.0073, 0.4718, -12.9709, 6.735, 1.8144, 0.5104, 0.1587, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrc1OyEH1ItgZzmAwqnst2ujfQCvKNxBvYdiH0fgu9C7gmbqjKteYGeTLIiHrUFKXac0mw6NSNcqMjJRY1LMWmOkrtUG_T4x56JFNWkuE4eqggYs719851xIU0YMXT_eaPC9MMtBMyt3NPhIngu67BQ0kTfydt2sPLiAri1amZaTW_-VnQSxGXcOz6_STSUy19_spMYxdHeh-vMIjNsTWu4_oRfL5Fn_FkjQc5Dyxn-avM8asiaZSaerAOGUK0dN96Wcg6lnTRUWsPGp9TVAKAfLnczBtNSGS2obqn6NcLialMsGXI90xsR59MGPb4pBUNe7LGHPsBHmje6mKnD5inUsdvnJUfaAlDfxKTfeWZxpaMcNnjoyuZUuX4ANuW0rgNPWF4JjwyHK4RwNVHUysuPzOz2iL_OKC1-5nF2oLSiTBn_TWuimwgd5-6qe5484NjcYEgL723n0VVPuDBMcfF53uN7F-voNi2_cbsO0s0co2LSfVfi9XcTxCrA81DvhkLxOydHQPXXWSZQzNn8JggzGNfdweMOmUkDgZUzAcXyIFDWCXVZXqMmCGTIlplvFdiW0jN-f_-vctZd86oNZ7nkPcHEC537DcpG150heAM5wu9KjhXy9sFkbrKH5ZGSaKbQ5tNTaPTtZygfQ4DORR_UCiIvNvpjVZcUSFXgFHq8XxIAkM4hUEduemYAudNaJfOOtzeQaMwoayHVp7r602r0nJkd8VO8LuvmaxsUgIk7NpCBegX3tHvLqVcBcBYLm6jJ4OAzWYF46ARED-xajZLFCZRBZtwcWJPlmAYnnG5akC5jdpGglAXH5eZ_0hl2WbyNOR882Qru87SYQtM5Il2l9fV9L-Fzthza-qDwE5ePywTEgcnurRDecPLFbilx5u8TcqKttn2VTwoER3Gz9g5kk0HFN8axCbzqaHc6Tfd6v9eECcRtMks01NsStMGDeUJbn5EvDaowgvpLrDurBuMWOTyYWGaBxX3tWEq6hryjC8kLz18sl3-BWbbqSs67oA39odkEyri75sliBlq_B9NaX4O-Arojkf6bGv5ti7QSOux1gKjSI-bLMlDRalaNExWC7x5qNz7tT_xMR2rySSD2sRNrb3py0LGSxYCQHPtGNR_-DSlZrykynhttCLn-377WLulZI8s3LSwkW7Z9IodUevN1yI-rAJxD6q4rc8o3hCrr-EYltkD0VV_byO8t3i3ToeZtkv_z4cKCRfWgDOkZA_VPcD0WBT37WmHDoauyHicc=",
  "id": "rs_09f9ff656e2fa405016ab2b733ea9087d0b3eb6cc861d5f6c5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl has reached the stack and is now nearly level. I’m opening the gripper so it can settle into the teal bowl.\"}",
  "call_id": "call_JWJ3KJXbtnXFijsdaQevD3Mv",
  "id": "fc_09f9ff656e2fa405016ab2b73455ac87d0b5acdd722250eaae",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JWJ3KJXbtnXFijsdaQevD3Mv",
  "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]: [-0.1085, 0.8192, 0.6487, -0.4606, -0.1802, -0.0784, 0.9955, 0.9974, 2.1151, 1.1778, 0.3363, 0.7506, 0.4191, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=0.0038 left_z=0.1787 left_yaw=0.0707 left_pitch=-0.0557 left_roll=0.0537 left_gripper=0.9955 right_x=0.3774 right_y=0.3689 right_z=0.0634 right_yaw=0.1511 right_pitch=0.1422 right_roll=0.0035 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.1282, 6.9675, 1.6484, -0.1001, -0.0659, -0.0073, -0.0205, -10.947, 6.6393, 1.58, 0.3883, -0.0317, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e0f1eb0cd4abf623503b4f08fad31f5b641b5154dca41811bf3937abb8d786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac490216746b1736bea3e2bbc677b3503f86942c87a42b8e913517d17e3f4dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85ad5d7ada29b068b3642ce5323b50f80e25073e66853e0173ab5129a297372a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 6.053 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]: [-0.1085, 0.8181, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 0.9989, 2.1189, 1.1889, 0.3367, 0.7712, 0.4236, 0.0355]\nstate[eef_state]: left_x=0.2904 left_y=0.0039 left_z=0.179 left_yaw=0.071 left_pitch=-0.0546 left_roll=0.0537 left_gripper=0.9955 right_x=0.3795 right_y=0.3687 right_z=0.0669 right_yaw=0.1333 right_pitch=0.1559 right_roll=0.0059 right_gripper=0.0355\nstate[joint_eff]: [-0.0479, -1.388, 6.9949, 1.6435, -0.1148, -0.0806, -0.0073, -0.9778, -11.2615, 4.8889, 1.663, -0.398, 0.4908, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_x\":0.32,\"right_y\":0.16},\"note\":\"The pink bowl has been released onto the stack. I’m raising and withdrawing the right gripper to check that all three bowls remain nested.\"}",
  "call_id": "call_Lb4Bxo9mTuvxabCWst9UWR0W",
  "id": "fc_09f9ff656e2fa405016ab2b73afef487d0bdc68c76dd47de4f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Lb4Bxo9mTuvxabCWst9UWR0W",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1085, 0.823, 0.6487, -0.4606, -0.1806, -0.0784, 0.9955, 0.6964, 1.1282, 0.6903, -0.0422, 0.5095, 0.2356, 0.9961]\nstate[eef_state]: left_x=0.2908 left_y=0.0039 left_z=0.1777 left_yaw=0.0711 left_pitch=-0.0594 left_roll=0.0546 left_gripper=0.9955 right_x=0.3241 right_y=0.1633 right_z=0.1976 right_yaw=0.1319 right_pitch=0.1535 right_roll=0.0084 right_gripper=0.9961\nstate[joint_eff]: [-0.1846, -1.4974, 6.9949, 1.6679, -0.105, -0.0562, -0.0073, -0.2256, -3.6991, 7.1726, 1.8681, 0.0317, 0.0171, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23b8df7e6702a0eaac128a2ef5c55b73a867e8083b301c956371e305f1c34212",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1cae9d71ce367b13961c3d85eb2b9e52e267cbcb9ce3dd12965b168658301a3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bcc0aaa595ecdb41668ab5d7f25739e839d6f7750a4cf0cad943e3f9a7ada8b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 9.722 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1085, 0.8192, 0.6487, -0.4606, -0.1802, -0.0784, 0.9955, 0.9974, 2.1151, 1.1778, 0.3363, 0.7506, 0.4191, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=0.0038 left_z=0.1787 left_yaw=0.0707 left_pitch=-0.0557 left_roll=0.0537 left_gripper=0.9955 right_x=0.3774 right_y=0.3689 right_z=0.0634 right_yaw=0.1511 right_pitch=0.1422 right_roll=0.0035 right_gripper=0.9956\nstate[joint_eff]: [-0.1573, -1.1282, 6.9675, 1.6484, -0.1001, -0.0659, -0.0073, -0.0205, -10.947, 6.6393, 1.58, 0.3883, -0.0317, -0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrdE4r-IxcHOHKPwdXExcAtYR58ab0mI5Y5WSApIxDZ1eTzXSzINwd8Qp3ZOYiIyzebOSGNSUymqMIkjf0p_tfOe7ySHd4oqLHsoJMHe5YFGBMtZYrtE8X3pejkXBYH0kxSl8O67wtL-X8eW1Mf5alCcb9TyUR4Mqn6A8mIDWaq3ZPqpvCchPRHxxu8nIwp2ng5PYzNoFpgMr6k9jkFDnbmXIxtjF7d_TtyurLqqLdb3Lj-0lE3Amh2qLtiID0gT2ggzKSsLvrEHrfITTotAMaeNVfWu0WjMPUwwHqfFnZ6kWg3BxtcsoQrpB0cOYNd3HyLGWwDlKPAfUgY6uuRs2I9EFGD8NU-xBN3clkTU30Yn2CMACbe5_kf6PE933PhtoR23r_2kSH-4_uMIgss6nhUQmwaQSjtvZPyjMcwvbbTyfR5oGA69e9tJy9bLozuPxcOiF9v88s_cckWuJlu_SD1n8foSU6rLuPNmp-FzO3NaMSVYEpDtSS_LAdojyjowpsTsfUms8srBm2tBEV7oCaDsBlkqEp1wxxFa1cE-9-N0O0Ah7y5-aT2MXRl0a6SrtWi4oC3bnn_Jp9aP2vs2pod61keQJ5jzp200hqgxKowY2cFRxLIPCd0RyDOBcNlUCyx0pktswmy1S2VKF8kbDsOG4Nrl99vcHgTc9ImMhWvAO485-I1a65TisV9nCgLkP9WxCo9ckfZVmTTEHgHTrp53uFII5ArUGNZ3fvTi18977FH7V8F-2a8YUhFhQc-Vq6jW7UqL_3NkGIBczP4xhgNVRsF2s-8nwlCaBNvqB9H9tKuqyShm7qwAXN695bLFnDiBsKHz0vn6srHFZ3VLHyowyzOE0Eq6AuMaKMH1BHOyB0vYkbxWpeKS15zWD9UVw0bgXbl32RCkRUMISQnS3RxxlwVulPdX72ATj2JVxKSyPxPMoramirf7RS45aeiDXWMJCRemU_NHIt8vXjiEfwmsVC6Ac1rFO0T0Xqe_XtyQ1LjimNcyFkvtlWHo5lgBfJdck4gXk2gHh7Uf3Dug7StG1GzDcmWxJkTacTzQGsF164q1PbZxIhuj-FTpxznvyqQ_9DedOpeXSWfAzHG2bwAL4XbPyp0Ra8cAJP9eTJ4GkWHoYJ0784WDiLUvvIddHRZ5oJszfWnAn_X-7GHmJYyr581Bwyh2rjOxvb5RLYxgBStdEDSphQRW1fCWKfnIbwy4Nks8SUOUODC0hS2jL404GHNCCkEc_VVk-ta_Ipr5FmNiO76FyC_uN_gOLg5RCJecdiOSAJkzqUlQm16IYb2fMA==",
  "id": "rs_09f9ff656e2fa405016ab2b741a43487d08fec1973f3c78704",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"All three bowls remain together in one upright stack, with the pink bowl on top. I’m returning both arms to their parked positions clear of the bowls.\"}",
  "call_id": "call_sUui5f2wowVDFXgfyqsbHVpe",
  "id": "fc_09f9ff656e2fa405016ab2b7425f0487d0a06c663d5c4efe2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sUui5f2wowVDFXgfyqsbHVpe",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1246, 0.857, 0.7082, -0.5293, -0.1852, -0.0872, 0.9955, -0.1268, 0.823, 0.6506, -0.4393, -0.1551, -0.1295, 0.9962]\nstate[eef_state]: left_x=0.2905 left_y=0.0 left_z=0.1818 left_yaw=0.0642 left_pitch=-0.101 left_roll=0.0582 left_gripper=0.9955 right_x=0.2941 right_y=-0.0064 right_z=0.1823 right_yaw=0.064 right_pitch=-0.0348 right_roll=0.001 right_gripper=0.9962\nstate[joint_eff]: [-0.4855, -1.306, 10.2906, 1.7118, -0.2564, -0.0366, -0.0073, -0.0479, -1.2239, 10.7009, 1.7656, -0.2564, -0.0171, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80474eb296ee13d2ea7a8ce9e037d8b1d34a9ab0a8c7b03c72c7a38a5d85cc80",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a8db1e4c4c0204105a16c88e5f564b03445cb80323d0a679d8b5af7dbd3e2eb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5de83df07e56c5f0f80669538427382e0f4661f3e0577d6b0f2318121fa83b8f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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