adhoc

completed
2026-09-22T16:48:09.035525+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
230.1 s
total steps
252
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’m bringing the left gripper above the left bowl’s rim so I can lift it and nest it into the middle bowl.
move_to
left_x0.4100left_y-0.1100left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.794, 0.6044, -0.3786, -0.0227, -0.041, 0.9974, -0.0204, 0.7921, 0.6018, -0.3794, -0.017, -0.033, 0.9965] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9974 right_x=0.2945 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965 state[joint_eff]: [-0.5402, -1.5385, 10.1675, 1.7558, -0.0366, 0.232, -0.2857, -0.5949, -1.3744, 10.359, 1.8828, -0.0952, 0.2027, -0.3785] 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":0.41,"left_y":-0.11,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"I see three upright bowls in a row. I’m bringing the left gripper above the left bowl’s rim so I can lift it and nest it into the middle bowl."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left bowl is directly below the wrist view, with its right-hand rim close to the jaw line. I’m lowering with a small sideways adjustment to put one finger inside the bowl and one outside its rim.
move_to
left_x0.3950left_y-0.1200left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4068, 1.4399, 0.8162, -0.0578, -0.3264, -0.252, 0.9974, -0.0219, 0.7982, 0.6041, -0.3893, -0.017, -0.0341, 0.9962] state[eef_state]: left_x=0.3948 left_y=-0.1045 left_z=0.1299 left_yaw=-0.0188 left_pitch=-0.0717 left_roll=0.0228 left_gripper=0.9974 right_x=0.2938 right_y=0.0001 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0007 right_gripper=0.9962 state[joint_eff]: [-0.3487, -6.7077, 8.7179, 1.8291, -0.2125, 0.0024, -0.2808, -0.2393, -1.4427, 7.0496, 1.7998, -0.0708, -0.0708, -0.0415] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.12,"left_z":0.065},"note":"The left bowl is directly below the wrist view, with its right-hand rim close to the jaw line. I’m lowering with a small sideways adjustment to put one finger inside the bowl and one outside its rim."})
tool
executing move_to over 5 steps (0.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe open fingers straddle the bowl’s right rim, but the grasp point is still near rim height. I’m lowering a few centimetres so the fingers can capture the wall securely.
move_to
left_z0.0270left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4519, 1.6054, 0.6945, 0.1482, -0.3504, -0.2775, 0.9972, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.3856 left_y=-0.1158 left_z=0.0561 left_yaw=-0.027 left_pitch=-0.1394 left_roll=0.0497 left_gripper=0.9972 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=-0.0012 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9962 state[joint_eff]: [-0.6769, -7.2274, 5.6957, 1.9512, -0.3248, -0.0317, -0.0317, -0.0615, -1.2786, 7.241, 1.7509, -0.0513, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.027,"left_gripper":1},"note":"The open fingers straddle the bowl’s right rim, but the grasp point is still near rim height. I’m lowering a few centimetres so the fingers can capture the wall securely."})
tool
executing move_to over 2 steps (0.2s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe descent stopped with the fingers around the bowl wall. I’m closing gently through the controller to test a rim grasp before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.6234, 0.683, 0.2073, -0.3607, -0.2821, 0.9974, -0.0219, 0.7986, 0.6037, -0.3927, -0.0162, -0.0345, 0.9962] state[eef_state]: left_x=0.3897 left_y=-0.1179 left_z=0.0558 left_yaw=-0.0223 left_pitch=-0.1093 left_roll=0.04 left_gripper=0.9974 right_x=0.2933 right_y=0.0 right_z=0.1759 right_yaw=-0.0013 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9962 state[joint_eff]: [-0.212, -7.3915, 5.9145, 1.8291, -0.2027, -0.0708, -0.2808, -0.2667, -1.2513, 6.9949, 1.7314, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped with the fingers around the bowl wall. I’m closing gently through the controller to test a rim grasp before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper closed empty; the right rim remained just outside the closed fingers. I’m reopening and shifting two centimetres toward that rim for a second, better-centred attempt.
move_to
left_gripper1.0000left_y-0.1400left_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4564, 1.6234, 0.683, 0.2127, -0.3607, -0.2878, 0.009, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962] state[eef_state]: left_x=0.3905 left_y=-0.1183 left_z=0.0567 left_yaw=-0.0194 left_pitch=-0.1043 left_roll=0.0333 left_gripper=0.009 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962 state[joint_eff]: [-0.1299, -6.735, 5.6957, 1.58, -0.1245, 0.0366, 0.6129, -0.1709, -1.2513, 7.0222, 1.7314, -0.0317, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_y":-0.14,"left_z":0.075},"note":"The gripper closed empty; the right rim remained just outside the closed fingers. I’m reopening and shifting two centimetres toward that rim for a second, better-centred attempt."})
tool
executing move_to over 10 steps (1.0s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe bowl wall now lies between the open fingers at the jaw line. I’m closing on that wall and will check the resulting gap before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5182, 1.6234, 0.7311, 0.1081, -0.3985, -0.3389, 0.9946, -0.0216, 0.7986, 0.6037, -0.3931, -0.0166, -0.0345, 0.9962] state[eef_state]: left_x=0.3826 left_y=-0.1351 left_z=0.0582 left_yaw=-0.02 left_pitch=-0.1417 left_roll=0.0425 left_gripper=0.9946 right_x=0.2933 right_y=0.0002 right_z=0.1758 right_yaw=-0.0006 right_pitch=-0.0183 right_roll=-0.0011 right_gripper=0.9962 state[joint_eff]: [-0.5265, -8.1299, 8.6632, 1.5067, -0.3687, -0.0073, -0.188, -0.0342, -1.2376, 7.0085, 1.7802, -0.0269, -0.0757, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl wall now lies between the open fingers at the jaw line. I’m closing on that wall and will check the resulting gap before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe second close was also empty, so I’m not repeating it. I’m lifting and moving aside to recheck the bowl’s position and choose a less awkward approach.
move_to
left_x0.3100left_y-0.0600left_z0.1900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.522, 1.6234, 0.7338, 0.0929, -0.3946, -0.3405, 0.0091, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962] state[eef_state]: left_x=0.3805 left_y=-0.1364 left_z=0.0565 left_yaw=-0.0252 left_pitch=-0.154 left_roll=0.045 left_gripper=0.0091 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962 state[joint_eff]: [0.0615, -6.9812, 5.5726, 1.6239, -0.2027, -0.0073, 0.6276, -0.0615, -1.2376, 7.1726, 1.7753, -0.0513, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.31,"left_y":-0.06,"left_z":0.19,"left_gripper":1},"note":"The second close was also empty, so I’m not repeating it. I’m lifting and moving aside to recheck the bowl’s position and choose a less awkward approach."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe bowl has not moved, and the previous low pose stayed above its rim rather than reaching the requested height. I’m tilting the tool forward to give the arm more room to reach down onto the side wall.
move_to
left_x0.3900left_y-0.1200left_z0.0750left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.366, 1.0573, 0.8139, -0.5034, -0.2955, -0.2501, 0.9944, -0.0219, 0.8028, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962] state[eef_state]: left_x=0.3167 left_y=-0.0625 left_z=0.1789 left_yaw=-0.0018 left_pitch=-0.1398 left_roll=0.0294 left_gripper=0.9944 right_x=0.2935 right_y=0.0001 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0229 right_roll=-0.001 right_gripper=0.9962 state[joint_eff]: [0.2803, -3.1111, 9.5111, 1.5604, -0.1001, 0.2418, -0.1197, -0.1299, -1.0598, 7.0085, 1.7607, -0.0366, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.12,"left_z":0.075,"left_pitch":0.35},"note":"The bowl has not moved, and the previous low pose stayed above its rim rather than reaching the requested height. I’m tilting the tool forward to give the arm more room to reach down onto the side wall."})
tool
executing move_to over 17 steps (1.7s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe tilted wrist view shows that the rim is still ahead of the fingertip line. I’m advancing four centimetres and lowering onto the right side of the bowl.
move_to
left_x0.4300left_y-0.1320left_z0.0350left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5255, 1.8168, 0.3981, 1.0317, -0.5224, -0.1581, 0.9956, -0.0219, 0.8089, 0.6037, -0.3939, -0.0166, -0.0345, 0.9962] state[eef_state]: left_x=0.3813 left_y=-0.1151 left_z=0.0509 left_yaw=-0.0148 left_pitch=0.2331 left_roll=0.0688 left_gripper=0.9956 right_x=0.2938 right_y=0.0001 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9962 state[joint_eff]: [-0.4034, -7.1179, 4.6017, 2.127, -0.1685, 0.0757, 0.1148, -0.0752, -1.7709, 7.2137, 1.6825, -0.0415, -0.0855, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.132,"left_z":0.035,"left_pitch":0.35},"note":"The tilted wrist view shows that the rim is still ahead of the fingertip line. I’m advancing four centimetres and lowering onto the right side of the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteThe fingers now visibly straddle the bowl wall at a low grasp height. I’m closing on the rim in this corrected, farther-forward position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5056, 2.117, 0.5446, 1.2469, -0.5285, -0.1123, 0.9957, -0.0216, 0.8116, 0.6037, -0.3935, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.4192 left_y=-0.1262 left_z=0.0215 left_yaw=-0.0073 left_pitch=0.2857 left_roll=0.0851 left_gripper=0.9957 right_x=0.294 right_y=0.0002 right_z=0.1722 right_yaw=-0.0008 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9962 state[joint_eff]: [0.4718, -8.6769, 3.8769, 2.2002, -0.022, 0.1294, -0.0024, -0.1299, -1.5521, 7.0359, 1.7167, -0.0611, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers now visibly straddle the bowl wall at a low grasp height. I’m closing on the rim in this corrected, farther-forward position."})
tool
executing move_to over 10 steps (1.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe gap is very small, which could be either a thin rim or an empty grasp. I’m lifting five centimetres to verify visually whether the bowl follows.
move_to
left_x0.4250left_y-0.1230left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5018, 2.104, 0.551, 1.3247, -0.5697, -0.0811, 0.0219, -0.0216, 0.812, 0.6037, -0.3939, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.4263 left_y=-0.1211 left_z=0.0462 left_yaw=0.0316 left_pitch=0.3743 left_roll=0.0769 left_gripper=0.0219 right_x=0.294 right_y=0.0002 right_z=0.172 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=-0.0005 right_gripper=0.9962 state[joint_eff]: [-0.6359, -6.5162, 2.7556, 0.2857, 0.5446, -0.4371, 1.3651, -0.1026, -1.3333, 7.0359, 1.7656, -0.0562, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.425,"left_y":-0.123,"left_z":0.12},"note":"The gap is very small, which could be either a thin rim or an empty grasp. I’m lifting five centimetres to verify visually whether the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe left bowl rose with the gripper, confirming a thin-rim grasp. I’m carrying it above the middle bowl with extra vertical clearance.
move_to
left_x0.4000left_y-0.2900left_z0.1900left_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5041, 1.7874, 0.5526, 1.0267, -0.5777, -0.0937, 0.0296, -0.0219, 0.8146, 0.6037, -0.3962, -0.0162, -0.0341, 0.9962] state[eef_state]: left_x=0.4229 left_y=-0.119 left_z=0.1135 left_yaw=0.048 left_pitch=0.3931 left_roll=0.0539 left_gripper=0.0296 right_x=0.2938 right_y=0.0 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9962 state[joint_eff]: [-0.6359, -7.8838, 7.3778, 1.7705, -0.1099, 0.0415, 1.0232, -0.1983, -1.0598, 7.0085, 1.7558, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.29,"left_z":0.19,"left_pitch":0.35},"note":"The left bowl rose with the gripper, confirming a thin-rim grasp. I’m carrying it above the middle bowl with extra vertical clearance."})
tool
executing move_to over 16 steps (1.6s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe carried bowl is slightly left of the middle bowl. I’m correcting that sideways offset while lowering toward the nesting position.
move_to
left_x0.4000left_y-0.3250left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9268, 1.8275, 1.0939, 0.3454, -0.9588, -0.308, 0.0303, -0.0216, 0.8162, 0.6037, -0.3965, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.3996 left_y=-0.2854 left_z=0.1832 left_yaw=0.0364 left_pitch=0.3481 left_roll=0.0457 left_gripper=0.0303 right_x=0.2939 right_y=0.0002 right_z=0.1703 right_yaw=-0.0008 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9962 state[joint_eff]: [-0.3897, -8.6222, 8.7316, 1.6435, -0.3248, 0.0415, 1.033, -0.1846, -1.5248, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.325,"left_z":0.095},"note":"The carried bowl is slightly left of the middle bowl. I’m correcting that sideways offset while lowering toward the nesting position."})
tool
executing move_to over 6 steps (0.6s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe lifted bowl is now over the middle bowl, with its base just above the receiving rim. I’m lowering slowly to let the two bowls nest before releasing.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9775, 2.1078, 1.1034, 0.5137, -0.9863, -0.3386, 0.0303, -0.0219, 0.8173, 0.6037, -0.4015, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.3963 left_y=-0.3178 left_z=0.0855 left_yaw=-0.0029 left_pitch=0.301 left_roll=0.1107 left_gripper=0.0303 right_x=0.2932 right_y=0.0001 right_z=0.169 right_yaw=-0.0012 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9962 state[joint_eff]: [-0.4991, -10.441, 7.8291, 1.7363, -0.5153, -0.0659, 1.0281, -0.1709, -1.4838, 7.2, 1.79, -0.0513, -0.0562, -0.0122] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The lifted bowl is now over the middle bowl, with its base just above the receiving rim. I’m lowering slowly to let the two bowls nest before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe descent has slowed at the receiving bowl, indicating support. I’m opening the fingers to leave the first bowl nested in the middle one.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.981, 2.1906, 1.0962, 0.6128, -0.9882, -0.3386, 0.0303, -0.0216, 0.8173, 0.6037, -0.4118, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.3967 left_y=-0.321 left_z=0.0594 left_yaw=-0.0024 left_pitch=0.3069 left_roll=0.1032 left_gripper=0.0303 right_x=0.2917 right_y=0.0002 right_z=0.167 right_yaw=-0.0008 right_pitch=-0.0557 right_roll=-0.0 right_gripper=0.9962 state[joint_eff]: [-0.0479, -9.9487, 4.2188, 1.619, -0.188, -0.0464, 1.0281, -0.1846, -1.3607, 7.1316, 1.7607, -0.0317, -0.0562, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The descent has slowed at the receiving bowl, indicating support. I’m opening the fingers to leave the first bowl nested in the middle one."})
tool
executing move_to over 10 steps (1.0s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe first bowl has been released onto the middle bowl. I’m clearing the left arm and bringing the right gripper toward the remaining pink bowl, keeping the arms in separate regions.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000right_x0.4050right_y0.1750right_z0.1500right_pitch0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.981, 2.2089, 1.0916, 0.6586, -0.9955, -0.3389, 0.9943, -0.0219, 0.8177, 0.6037, -0.4152, -0.0166, -0.0341, 0.9962] state[eef_state]: left_x=0.3974 left_y=-0.3209 left_z=0.0567 left_yaw=0.0099 left_pitch=0.3223 left_roll=0.0847 left_gripper=0.9943 right_x=0.2913 right_y=0.0001 right_z=0.1662 right_yaw=-0.0012 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9962 state[joint_eff]: [0.0205, -9.9214, 4.3009, 1.4188, -0.1783, -0.0122, -0.0317, -0.1983, -1.1966, 6.9949, 1.7021, -0.0171, -0.0513, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_pitch":0,"right_x":0.405,"right_y":0.175,"right_z":0.15,"right_pitch":0.35,"right_gripper":1},"note":"The first bowl has been released onto the middle bowl. I’m clearing the left arm and bringing the right gripper toward the remaining pink bowl, keeping the arms in separate regions."})
tool
executing move_to over 29 steps (2.9s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe first two bowls are together at the centre. The pink bowl is below the right wrist; I’m moving to its left rim and lowering for the same thin-wall grasp.
move_to
right_x0.4150right_y0.2000right_z0.0400right_pitch0.3500left_x0.2950left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1211, 0.8413, 0.6464, -0.3885, -0.2108, -0.0696, 0.9949, 0.6289, 1.618, 0.6243, 0.6216, 0.58, 0.1379, 0.9965] state[eef_state]: left_x=0.3015 left_y=0.0041 left_z=0.1866 left_yaw=0.072 left_pitch=-0.0035 left_roll=0.0793 left_gripper=0.9949 right_x=0.3941 right_y=0.1714 right_z=0.1241 right_yaw=0.0444 right_pitch=0.2599 right_roll=-0.0501 right_gripper=0.9965 state[joint_eff]: [0.294, -2.0444, 10.3726, 1.6435, -0.0659, 0.2125, 0.0562, 0.2667, -6.4752, 8.3214, 2.0977, 0.3199, -0.022, -0.3785] camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.2,"right_z":0.04,"right_pitch":0.35,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The first two bowls are together at the centre. The pink bowl is below the right wrist; I’m moving to its left rim and lowering for the same thin-wall grasp."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pink bowl’s left wall is between the right gripper’s fingers. I’m closing on the rim, then I’ll verify the hold with a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1505, 0.8261, 0.6521, -0.4332, -0.226, -0.0788, 0.995, 0.667, 2.1075, 0.6399, 1.0721, 0.614, 0.1009, 0.9962] state[eef_state]: left_x=0.295 left_y=-0.0011 left_z=0.1848 left_yaw=0.0603 left_pitch=-0.0245 left_roll=0.0847 left_gripper=0.995 right_x=0.4049 right_y=0.1938 right_z=0.019 right_yaw=0.0777 right_pitch=0.246 right_roll=-0.1106 right_gripper=0.9962 state[joint_eff]: [-0.5402, -2.1265, 7.2274, 1.7949, -0.1636, -0.1197, -0.0073, 0.3214, -9.5111, 4.8615, 2.0733, 0.315, -0.0659, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink bowl’s left wall is between the right gripper’s fingers. I’m closing on the rim, then I’ll verify the hold with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe fingers stopped at a thin gap and the pink rim shifted with them. I’m lifting a short distance to confirm that the bowl is securely held.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8295, 0.6521, -0.4343, -0.2329, -0.0784, 0.995, 0.6662, 2.0922, 0.6415, 1.1328, 0.6479, 0.0631, 0.0377] state[eef_state]: left_x=0.2951 left_y=0.0 left_z=0.1838 left_yaw=0.0655 left_pitch=-0.0281 left_roll=0.0899 left_gripper=0.995 right_x=0.4104 right_y=0.1916 right_z=0.0391 right_yaw=0.0564 right_pitch=0.3143 right_roll=-0.113 right_gripper=0.0377 state[joint_eff]: [-0.0205, -1.5385, 6.9949, 1.6777, -0.0513, -0.022, -0.0122, -0.0068, -7.2137, 3.7402, 1.0574, -0.1832, 0.3004, 0.906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The fingers stopped at a thin gap and the pink rim shifted with them. I’m lifting a short distance to confirm that the bowl is securely held."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe pink bowl lifted cleanly. I’m carrying it toward the centre stack, keeping it above the other bowls.
move_to
right_x0.4250right_y0.3650right_z0.1950right_pitch0.3500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.831, 0.6521, -0.4343, -0.2333, -0.0784, 0.995, 0.6666, 1.8172, 0.6514, 0.8509, 0.6422, 0.0559, 0.0404] state[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1834 left_yaw=0.0658 left_pitch=-0.0296 left_roll=0.0904 left_gripper=0.995 right_x=0.407 right_y=0.1901 right_z=0.1012 right_yaw=0.0653 right_pitch=0.3154 right_roll=-0.117 right_gripper=0.0404 state[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.663, -0.0904, -0.0708, -0.0171, -0.1162, -9.0325, 7.9248, 1.7656, 0.1734, 0.0269, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.365,"right_z":0.195,"right_pitch":0.35},"note":"The pink bowl lifted cleanly. I’m carrying it toward the centre stack, keeping it above the other bowls."})
tool
executing move_to over 15 steps (1.5s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe pink bowl is a little right of the stack. I’m moving it left to the safe workspace limit and lowering until I can judge the final nesting alignment.
move_to
right_x0.4150right_y0.4000right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 0.955, 2.0426, 1.3983, 0.2581, 0.8845, 0.1394, 0.0434] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.4209 right_y=0.3646 right_z=0.1796 right_yaw=0.1149 right_pitch=0.3229 right_roll=-0.1468 right_gripper=0.0434 state[joint_eff]: [-0.1709, -1.6752, 7.1179, 1.746, -0.1099, -0.0757, -0.0171, -0.0479, -11.3436, 9.0735, 1.6093, 0.486, 0.1978, 0.6374] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.4,"right_z":0.11},"note":"The pink bowl is a little right of the stack. I’m moving it left to the safe workspace limit and lowering until I can judge the final nesting alignment."})
tool
executing move_to over 5 steps (0.5s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe pink bowl is now centred over the two-bowl stack. I’m lowering the final few centimetres so its base seats inside the upper bowl.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0039, 2.2517, 1.4178, 0.3374, 0.9085, 0.157, 0.0461] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4112 right_y=0.3932 right_z=0.0911 right_yaw=0.1589 right_pitch=0.2589 right_roll=-0.2222 right_gripper=0.0461 state[joint_eff]: [-0.1436, -1.4701, 6.9812, 1.6532, -0.1245, -0.0708, -0.0122, 0.2803, -13.6137, 8.5402, 1.9707, 0.4615, 0.0806, 0.6471] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pink bowl is now centred over the two-bowl stack. I’m lowering the final few centimetres so its base seats inside the upper bowl."})
tool
executing move_to over 2 steps (0.2s)
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 downward motion stopped with the pink bowl supported by the stack. I’m releasing the rim so it can settle naturally.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0126, 2.2684, 1.4197, 0.371, 0.9089, 0.1623, 0.0456] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4093 right_y=0.3992 right_z=0.0881 right_yaw=0.1607 right_pitch=0.272 right_roll=-0.2025 right_gripper=0.0456 state[joint_eff]: [-0.1709, -1.2923, 6.9949, 1.7118, -0.1392, -0.0855, -0.0122, -0.4034, -13.7368, 7.9248, 1.8779, 0.4225, 0.0806, 0.3541] approver: 1 step(s) modified (delta_clamped). 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 downward motion stopped with the pink bowl supported by the stack. I’m releasing the rim so it can settle naturally."})
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 settled after release. I’m lifting the open fingers clear before moving the arm away for a final view of the stack.
move_to
right_z0.2000right_x0.4150right_y0.3900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 1.0126, 2.2688, 1.4189, 0.3676, 0.907, 0.1589, 0.9952] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.409 right_y=0.3991 right_z=0.087 right_yaw=0.165 right_pitch=0.2679 right_roll=-0.2089 right_gripper=0.9952 state[joint_eff]: [-0.0342, -1.4427, 6.9812, 1.6484, -0.1001, -0.0513, -0.0171, -0.1846, -12.6701, 6.106, 1.5995, 0.2222, 0.0659, -0.1245] 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":0.415,"right_y":0.39},"note":"The pink bowl has settled after release. I’m lifting the open fingers clear before moving the arm away for a final view of the stack."})
tool
executing move_to over 8 steps (0.8s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
assistant
agent noteThe open gripper is clear of the bowls. I’m parking both arms away from the centre so I can verify that all three bowls remain stacked.
move_to
right_x0.2950right_y0.0000right_z0.1900right_pitch0.0000left_x0.2950left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 0.9993, 2.1235, 1.5452, 0.0559, 0.881, 0.1368, 0.9956] state[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.4117 right_y=0.3949 right_z=0.1621 right_yaw=0.1918 right_pitch=0.2289 right_roll=-0.2522 right_gripper=0.9956 state[joint_eff]: [-0.1983, -1.3607, 7.1453, 1.6825, -0.1392, -0.0757, -0.0171, -0.9641, -15.6513, 9.4427, 1.707, 0.2466, 0.0562, 0.0269] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.19,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.19},"note":"The open gripper is clear of the bowls. I’m parking both arms away from the centre so I can verify that all three bowls remain stacked."})
tool
executing move_to over 33 steps (3.3s)
step 251
assistant
agent noteStacked all three bowls together at the centre of the table and parked both arms clear.
done
hindsightThese thin bowl rims produced successful grasp readings of only 0.02–0.04, so the usual empty-gripper threshold was not reliable; short lifts and overhead confirmation were essential. A forward pitch of about 0.35 rad allowed low side-wall grasps where the initial vertical approach stayed too high. The left bowl required advancing to x≈0.43 before its rim was actually between the fingertips.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1509, 0.8436, 0.6506, -0.4683, -0.2333, -0.0784, 0.995, -0.0288, 0.7963, 0.6109, -0.366, 0.0048, -0.3218, 0.9956] state[eef_state]: left_x=0.2909 left_y=0.0007 left_z=0.1727 left_yaw=0.0664 left_pitch=-0.0765 left_roll=0.1008 left_gripper=0.995 right_x=0.2975 right_y=-0.0058 right_z=0.1854 right_yaw=0.1273 right_pitch=-0.0027 right_roll=-0.2566 right_gripper=0.9956 state[joint_eff]: [-0.335, -1.6479, 10.1812, 1.619, -0.105, -0.0611, -0.0122, -0.1573, -1.6342, 8.1846, 1.7705, -0.1832, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the centre of the table and parked both arms clear.","hindsight":"These thin bowl rims produced successful grasp readings of only 0.02–0.04, so the usual empty-gripper threshold was not reliable; short lifts and overhead confirmation were essential. A forward pitch of about 0.35 rad allowed low side-wall grasps where the initial vertical approach stayed too high. The left bowl required advancing to x≈0.43 before its rim was actually between the fingertips."})
tool
done: Stacked all three bowls together at the centre of the table and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 11.4 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, 0.794, 0.6044, -0.3786, -0.0227, -0.041, 0.9974, -0.0204, 0.7921, 0.6018, -0.3794, -0.017, -0.033, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9974 right_x=0.2945 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.5385, 10.1675, 1.7558, -0.0366, 0.232, -0.2857, -0.5949, -1.3744, 10.359, 1.8828, -0.0952, 0.2027, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8227ce604b8d27aae8e5727066b729440a937f634ca0a9734971954329c290d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4382c0c265941496bc5f419f803a53cc02eb75210fa1e4adfc950794e6e912c4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d173c9006f1a829563ccec55d4d6f50f6256452546acf013b9bc0951316b131",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 11.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFh4yKUf96mCNQd36LXrU580NvJaSLon7p2uJDmT4TZ1uFsgtErFK2GLZxOzHNR7lkL9d5WQrdM8wKiyX2a3G2jK8LHGuG7XhXruBndvsrNwlOUQJT5iG_K4OX0ELtWTgKXgUGpzIMR1SpfQyPa3VXJgQFmNSwSHpoYpBgOaiFvs7hcbGbkfEPwcVLJwEaq1Agogsl5ba6zOV9_xN7kSIQqvqpbCx8TT0OWc40gC8bsNOcAve3CphpW4kBB8Iwz3qHVso4HQxGnLILUi3b6b3UNrhBA0fILSFxFgmx9oyYyOVj5Gn_DaMlguuHuuXOCEXOe4G997eEaQbIsHTFLyLLlGfxeAlV9s-ADLz0aiwv9eThprrRlc0_PvMD8Pz-HK-2arJR-PSMfztZKT60L9FtlxEvSrFYbVCfpx6A8iwVip-3zd3uxuYek9MEW7DUCmUNAToXagY_3ZnDsXb1a_lRiCctA6M_-MNMGJdwn5e8DLYla62gF1X2VHQu_Tt30sMxxaTYVQh0pGTqEsNfISQYltGeducf3GZBRPhnJci7faaQnANGtIjEDe-bn5pZG_oUR8bt0s2f71n_kMX7tONrCoah5708q2ONSXywdiSjAc7BY1elcLL7URUtAjWN-bFlUfP7bLzW48AHRQmbEO6xzg4xu8g-MwSQw0V7goDcwRl5yUP_yIQnSmv8dtW0WDlEm2b-RBlpp2Rn8b_hifyWqpOlWKSt2G17UMNnBrQsHqfb4zy_lqHzmSydxHa5tzrTmCK_5TWJJOi2cpprYxygVoMdale5SQYZw3y3WlN2Ic_PKFy2kKZqFbeL_ZaKFC2O0Hri-r7xNPqDUWiL6oJq5D2wMgySrmSeftlw6pEfer_6IHGCKH4o3gkjNx7WgHM0MXHY-U6NRj0307KyUI9yKRZqTzJVDLHY_rXWtfYLus_k1M_9ZKh-udTsjjEtKW9ie4_kBkAIUOSwr-jjlZQGqDTz8fqIQ9IcRQ4nQFbV5EVhzxVx2Jq-T5JO8xEVcWLHIbH3GQxBg8abVxWVRel6aS_OYuprs7ImPDtsNyH_S-A4wVNV0BdIp6n2lzOYtHf9a1FHOgV-LFoPYBYKfLcLUhmt11_Jp_nO1VWH6T-UGntSffxJAXNY64je9h-xz07nDMI3-zDVfwJSQgKvdrYIDx-dW7AdPITxvfl52_0N7wZdRp32glMpgJoBLsLcqcQyyWCPoB4a0A591u9GacEgNw9dQykDWANTwGkTiBTBHCpQfRqIxdGRxMTrKLXmtYR7Hgy2cmQoABn-XlbFcsjaeMcf_PAd4AWj-4UyF2h-GzUnOtvk7W4Q0JeU13lJWsJbVbYwX_KY8GK37gwdMLD5Rft8fQWkeSCGPEkO4WH1OMR0OJPgpRcNDXzHQZx1nJj7Yt2gOf566Es059CCczpcXp5PckxPkCGYzm2rljma8eTVQ6zVVIRCWTbEjTDpFfDwAaoqWmcQzaDa97wfK6JYHLgX5-tRTupgf-WK7SswYQNrC9l57hEY49U92ztKb_aloIg8LlFYI--TrEVsx3K1xqCKCLu2YDO1aGFMvEZwwEpgrLOqasEEtJmNZWe01N3P1hV1eHahNNRZ7wqYHx8e4UsglT7BV4MUIdyr4H7880jRduBpCUtIaqGPCGRXht03EBfJhVgF11NGpOldWcejXdVF68yP4sL6nfT3VDKtv-EcBL6uY65oZxSSUpVIKJu3b5ujCzmk8JwC5WuErkvS3pI33hF8zx9EBl2y2awXHaXqdjiocz--u16jxhFXGaqQJfCJlrGfhTwPdqGRz_mVOLr-yeotRc-Vq7saBOA8gIdxpFUfCo8WjlCkDG7uNhRuoaujuYKYa2bwJS7IA_D_W7qkFwbjD7-ZD1vD4oxogZ5PxImEGUNXYU4CJhZtb0zINA21Ne1B9uH1Qlw4qbTcWKMkDIfSelcHiB41IgDkKePL2buF77Z1QY-u2sK592gS_eRvHg5yNYHrr2qJrnkrhjA==",
  "id": "rs_0197486123bc8bf2016ab2b1581dd087d0b9a7120a5d0bf684",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.11,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’m bringing the left gripper above the left bowl’s rim so I can lift it and nest it into the middle bowl.\"}",
  "call_id": "call_MZiIPcxPXn2HhO7OOzRnEqQO",
  "id": "fc_0197486123bc8bf2016ab2b15ec25887d096aa4eb7cd19c909",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MZiIPcxPXn2HhO7OOzRnEqQO",
  "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]: [-0.4068, 1.4399, 0.8162, -0.0578, -0.3264, -0.252, 0.9974, -0.0219, 0.7982, 0.6041, -0.3893, -0.017, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3948 left_y=-0.1045 left_z=0.1299 left_yaw=-0.0188 left_pitch=-0.0717 left_roll=0.0228 left_gripper=0.9974 right_x=0.2938 right_y=0.0001 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0007 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -6.7077, 8.7179, 1.8291, -0.2125, 0.0024, -0.2808, -0.2393, -1.4427, 7.0496, 1.7998, -0.0708, -0.0708, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e8d81815a8b16cdf01270b28e068187200a9aebbd81d52f359634e52a060aac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c805dc55035a97d3d4c83d38e5bde4632e6a36230cc15f8443ae5b06b86ebe18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:296bc2bbe95aa0cfd0e9a038a28797d13f552cd324fa122d0d9a1e7abea3f36b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 6.78 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, 0.794, 0.6044, -0.3786, -0.0227, -0.041, 0.9974, -0.0204, 0.7921, 0.6018, -0.3794, -0.017, -0.033, 0.9965]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1805 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9974 right_x=0.2945 right_y=0.0006 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.5385, 10.1675, 1.7558, -0.0366, 0.232, -0.2857, -0.5949, -1.3744, 10.359, 1.8828, -0.0952, 0.2027, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrFtvGS4yE7prz3vJbjeuTF9s02mtN5M7wmKaJIKiZjq7F_Yy1JUYad0QkpxEZf5T1mIB762Jm3d-e28vBEyIuc2SQnbe-pjGZCH9KyOuKktOEuqdjuNQJjiOmyuP6Cwxs9sru5JJiUQ4iFuYIDdmzjwYBtwl82nMQmKoNRX22QQm31_MvGh_Seals1u0yZ1Y8m6mu8gs2xIHzuG8SzFxVq7YzSrNMavoM-TouXhOyfmcdbV0ffbgxeu_xMrPZBHSKi-THxyTceq8sItjeIi23D8Lg9vXbXc5m1pyT2Ke8bfHLTOdjoFvEBYSQPOIRSdCdjaU5DrMhWaziRoAt5dHVShOJSXRYLI6edwJIP69bP27K05Q5ZUu4mMB8aIJhg3OG0c9GY4R_IlQ_7SBJ-q9tTJ110KObDjSZ-VZnmFINvw8QrjL3aJnnpp910_SWx_KScZ7kEEsp6aAK40gueJwioZx_Enuo5QYuCN7r1i6hWj4t9sWm689Uxq1ysIm6yIkrWJGKwoEf2UPs8m22aCGq6qaag87oF8aLXNuruuBtU-g44BVdFfGpgRwIzjyFEuq3GHBuiRo0BvbJpJz9UtpWbiFbzyNd4CPGqR-EyhR1xalETEHFxzGrKVRz6MGv6bFLQzkjZx1vtqstUq1_TnKEDvtqF_cZADgi7nT1gNZK6tnc-Ol0N5QpSkUxLD4Z7qHbwKl-ce9uudqwaLkZbqMUP7fwatoeCCO4u2p8L7T7auwWfFMB2E11ewAdiMme0vxXVGFoigO1nUbDiPia8gKsVLHikhWQS7HwvxcKJch5aC8PoolN4wfktu2ueSDwWwuvfvWT123BWHrU9-UoUJ-ZqmI4FaCQz7JOKGvqH12CGxDkknngC9qJ3Kok8GGYWDlMXv8-T6cJPgfdIgTQCic1F-S6r8lcI0s_QZDTumUxt10lfWFWsB6NE4-O3c4D-W9oI-EO5SAjp6or-ENhuwxStTTbITwjVUgC1bEfcM6skV1g6wqN8EpFn0WQLNKl78wCl6DgwvvS_1tqruZVZ0gf1Y1IfcKBz3cQ_TUR0o84pSW7QsC41F2WjsUlwaKxMATErLYJdrDqxXQnvLLLGSuTOp_2JpPEsOo9tOzv6CfDonyEx3N_RbsmzggHJBE9Tn6xuXqcuclopSVG0Ma0EVhZ_Y63208tPt0FECOQsNbYiEVCiUkBnAcU4qjZI_aTfrXJBYmkW6iVr1ParjDW7EERiSt40jkCTGlDc7-gXvvDio4DrQW2hAWJl4nQaEvv8BSgUN_F1yl1jeeYhtLVWsUDWd4P2hTRKgMGZRspwIE1ZX23N0QmlLeDW_I7NiL4afgzYrLFmqij97AkgB7W7JtNRRtv_umAJ4tpOh5wY0RUoPvytuu1jjKMU1sEJldxwgga7VNTVJrk3n7y7sgJQYV6-wL53ovX6uls7M36RSqC21UlseAkG1iMGuF6Gfs4Yisg6WUKO1bMm0lq4uUFK0wjAkIpOnjKLnNAT3_hDg8juK4Ht0cBU1A3LwSh7lt39noUNT3OklxUZP-Os-c1tinwxIY8YpU9T__fFj4WMZU1hMUml3mttA6TIph9b9G7HrLEvTjVUat2_ls_YHhuUrPijNFvVPxhTLbowHJq5YZ2bEX1Ei6gJOTYLsR81hohOn-saqidO9Aan6uv1tzZ6CKMM-H-xzZNph8WPA5KNpo2WaAhGK9UQ0NZ8bB7Ge_5d36n0Ue4GK18Sab1SylzVZyjgGAugSkVGiWcu2If4ipjHZPLBx486wOxSv1jCmsWpiipVQ4TQDRJGAy3yDDd-ZUM5qOThulvKZnw2UmwTWRNH7fRqPXnPBUBlX1Wx4s8Rcdb3TMWagZzgUg3WLTexcngSkqJhL77hSnMO5d68T1vfhFTs19kwndNmqW53fiUXoUE7x",
  "id": "rs_0197486123bc8bf2016ab2b164bc4487d0a2638a69f2ba7fe6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.12,\"left_z\":0.065},\"note\":\"The left bowl is directly below the wrist view, with its right-hand rim close to the jaw line. I’m lowering with a small sideways adjustment to put one finger inside the bowl and one outside its rim.\"}",
  "call_id": "call_4hpk0AWDWFZq4scbpkzLlRGM",
  "id": "fc_0197486123bc8bf2016ab2b16baa2c87d089390eff804ecad5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4hpk0AWDWFZq4scbpkzLlRGM",
  "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]: [-0.4519, 1.6054, 0.6945, 0.1482, -0.3504, -0.2775, 0.9972, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3856 left_y=-0.1158 left_z=0.0561 left_yaw=-0.027 left_pitch=-0.1394 left_roll=0.0497 left_gripper=0.9972 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=-0.0012 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -7.2274, 5.6957, 1.9512, -0.3248, -0.0317, -0.0317, -0.0615, -1.2786, 7.241, 1.7509, -0.0513, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a916f46d3dd52edd4abddbffed1dc91a0b8c0ca6467acde12b7dbd02e4536e35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc478aedf5fa279f1ac7ba1b70a0b0fe890d6f2d9532cc7d19b432aed88b33f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7ba47d7e6ad031b00b6d7821ab833dc15e39e36d02eeb8b2b48db89de372eb8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.883 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]: [-0.4068, 1.4399, 0.8162, -0.0578, -0.3264, -0.252, 0.9974, -0.0219, 0.7982, 0.6041, -0.3893, -0.017, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3948 left_y=-0.1045 left_z=0.1299 left_yaw=-0.0188 left_pitch=-0.0717 left_roll=0.0228 left_gripper=0.9974 right_x=0.2938 right_y=0.0001 right_z=0.1769 right_yaw=-0.0009 right_pitch=-0.0137 right_roll=-0.0007 right_gripper=0.9962\nstate[joint_eff]: [-0.3487, -6.7077, 8.7179, 1.8291, -0.2125, 0.0024, -0.2808, -0.2393, -1.4427, 7.0496, 1.7998, -0.0708, -0.0708, -0.0415]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrF1SV6kEJmuDciqi06Uw4b7_4jdPZdIYDMVuI7dpPlRReGqaiB2vIM0wk_O0FTEjLI_RlK0fxYbAmvHdGig5Y3r0nnjmc0oGzeaxCiSk_SJKulIuz-hbihIMjWNxgbpJbMcb3AC3J81xM0n-61nH9ovuTcjezAGv2FCgPUuNyEVdybtQ0WF-JAiiaiVeGURiS3kGQ5KNvRXvdXprrydc6TrVqAReACJVUOBu0RGngqGe3Yp-BAuBvoU-z6ICm1_ZY6SKS73o_Vqke7N_AP5AmqG-yDxBUx-t_T_x3XuBR001N9iq7f7xhVOwDy7LWu4aRjIQOgsOwGxWXyTcR_3TFCE_gi93jKGAfKD9eyAJqq8l0fhKHWaYr_7hxx2aNvTB6HeA8fLIwWaSHeI_dX2H0sYxCQqJb3Vk4N8DTPdvACEJ3MtZwUhHbedpzpQs2NDMyuelyvJ3-cKXjAmx6QPM1B7q10OjbVihWSOKy3di4sCp2dBjRaUkVnUBtpUDlVeTW4bGAQOsHhwZOLxJQH4Xayn0nOVSb_ujqzM3fHtY9qMuQX4ckMCbzeLfCzQ3eIGChRDPBgp_R0dXUktlosfP2Gv9pYeqoogkMmkxOL_bPemVTKaj1GubWmY3q_o5jTktseM0jHtWOUCK-R4OHjWom5_hysDIGej-izAd2IHWRQz8s8IeUVzIF_0-lpKP3dirrh3qk9HU5kNz_O9OEyz4f8do5AAYPrX--5k0jsCtRrjxUPPbyWje8-9qJt5cO-Y6V4FaEeDIOv77YHrMFnd2M9H4Lm-y4dGDiKXBjwd8YWD2bE3zmj0AJUYlvoTRhNSCYQFM9EU9CgySYKN3ChQ29_zDlGsg1blzjUmyawW9bmUmlnpdjDpsHw8MKg6m1F2kI5x2YFMKF0gr9XqKN0K2TZwqW7iraWRTaLhA6R8_AsxuNerGzjeP-ZQMTkix_dPTXyhKgMkTRsj2HIYYGX77Cst9g69LTa1qyPxvh62PjuzrV5kwiwAF8zBttTEmGnkUxygv6G5nNWgMA_i6YQLF3eHijXhcu09iVaf-mIVquL6BaW1FBLumMCsNuOrNyNDP7FrQhlUlZjuFLelNIInsl89DGyI6t4bfY5aM2ytu2_9oZYqwwz2XEM8W9WNPESf0zIL5NxRo9tuqlCImoUr87NU6gAA5Gl5liMJM1BIygBqY-s2vKg9PbRq4v30Cv-cjvuCqV-ChNh4MvNyQ_SSb8jVJBJ0hTwTX0LDCi3BQqlqKqRzjVdPf1UUSb1IQTQH_vwAB7Ve9Qh8cAHww6k9HSdC66xIl-73g1ivpenfJBvg2k4EvqrbLbg7Jk83bvPpcga6gK7GUgwEXZYLha9UQa3nYKMcPfCKREJ1a6vBtZsPMc4xzc0rPnWj5dnrNIT-wRKbG_WbTRfbUQF5ku9oVEPUzE30JaBdIXfPOG10MTmew_wXFyDd5FktP8EQsGdH_LavVopoW9Y92c2iPpY2zddv8p7odAPZ-81mi5YUL_ZtEm6Tc4fD9NoPkW1F-A_Q5K1K",
  "id": "rs_0197486123bc8bf2016ab2b1703adc87d08cf4d14ab7980a36",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.027,\"left_gripper\":1},\"note\":\"The open fingers straddle the bowl’s right rim, but the grasp point is still near rim height. I’m lowering a few centimetres so the fingers can capture the wall securely.\"}",
  "call_id": "call_dA2RiJFkz4f8eaApuCMLoyy4",
  "id": "fc_0197486123bc8bf2016ab2b173519c87d0b24c95066799c411",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dA2RiJFkz4f8eaApuCMLoyy4",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4564, 1.6234, 0.683, 0.2073, -0.3607, -0.2821, 0.9974, -0.0219, 0.7986, 0.6037, -0.3927, -0.0162, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3897 left_y=-0.1179 left_z=0.0558 left_yaw=-0.0223 left_pitch=-0.1093 left_roll=0.04 left_gripper=0.9974 right_x=0.2933 right_y=0.0 right_z=0.1759 right_yaw=-0.0013 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.3915, 5.9145, 1.8291, -0.2027, -0.0708, -0.2808, -0.2667, -1.2513, 6.9949, 1.7314, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7530fcc865d5b587f095f56885314ccfaf37c4a0486957b9a2fff80c2cdc5bfb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e740a5131e90b641fab8da129c600829485167296589cf9d6d684ba46834e1fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83f1234a77caceadfc67e8eb1dc023b16cb2e7f3a43348d39bf1d9c551c6ec8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.719 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]: [-0.4519, 1.6054, 0.6945, 0.1482, -0.3504, -0.2775, 0.9972, -0.0219, 0.7986, 0.6037, -0.3927, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3856 left_y=-0.1158 left_z=0.0561 left_yaw=-0.027 left_pitch=-0.1394 left_roll=0.0497 left_gripper=0.9972 right_x=0.2933 right_y=0.0001 right_z=0.1759 right_yaw=-0.0012 right_pitch=-0.0179 right_roll=-0.0008 right_gripper=0.9962\nstate[joint_eff]: [-0.6769, -7.2274, 5.6957, 1.9512, -0.3248, -0.0317, -0.0317, -0.0615, -1.2786, 7.241, 1.7509, -0.0513, -0.0122, -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": "gAAAAABqsrF5FJoJZU7v8mVvKyAwwMTSX_O14E2rRFZ6lyp0y4o__-fVL4nvTihUwZ7wWhaPDfFLNcKv_w2tgPfgS1C_SgnQBLOafRXJX3l8clRQCDqmOZqmwJoxODVhL7fCiGaSH2vCK_-IdA6Dd2K8Bw9RGO8pWWgI4pT6f21_rIT9YixbxGJdrfodh6xgSlL2ok6kOlSkloQbSKy5DWXmHYGXBMbvRuEt76RFl6R7cG2QcJrMY-V2h9ZplJTYuKcbhJd3_G2M7S7mVvvDxm4NrtW1krmUfnQP5BeFtO7ta-O8AF6CppwKzl2LQurXRRFWs82jL7JQkzXaytjtlvnTtlassMC-qR8rFvYyEaWAN8gzPvH6pxaVYw2-yfBsfoWXnOpDFG4NrnzquqSn1WLs0dcwsThoz_KV0apNr7LNc41Kvp_FPKL7bL4x6Rh7bKwylUjC8yug2WaLfEabW6cTJj4ksKjtUlUKoJyDa8YBzoIOUUPjFli431jZN9X8iPfsp9loc-OlXhMYiVMMlw-jtuel6OlPfWmlryUNXU1uG6beRlVGD5A0YAvZ9VP1BuTR-gHuSlj-1TjUePvwWOe7QFlMhqnqW3sHdyARitFRJXlxk2bIa1c0wenQK3vpxNOF3szYa27TmwudA9OFeAiHTKevyzU-lHelDTkfrQlDJraW1TJ-UTI8tEiXgmJ2qoyamiuc8Q17wWsoybe7uvJPWJbqoC1n8nYtRNKOZGaVX1JB6zRr7N_J6I7icrXI3LtaIDz8Zi9PREXoiSOfYxL8Q46sSXbvq__iqc5BVJfzY6urjytrh1HNGu3H39_yybg9n8xveKTVms3hzd5oEABEabz67MgDSAFMA-X1wCN9y5_bCD6tq2YltZg-mOqbe4MvPPqGn-CP8o0eywAFDQAblNLsUCedYxaIbiSQonCeIDf48nUNmxmje7TvDQ90ck2EbDDA1aKs-hJgMPSAk7D-b_pO73U-xlM9Td1FcHKXuAQBSufyjKZv5OuJUA45ZlUqOQgbZ62U7VFlQqyMmk-5XzJJ6Mye0-RbKSXac1j3N6AuJ1WDfkdbyn_7G34dP2uzUIbEOEiHOQY1lEO4GiXlRYywNO_39xn035jbV5RVDRHovYttILmQNmxDKFObya-oejuBB-S-n2-XwZWv6WcGWywKdwItINjdK5qP7Ri24Qjj_vQ9vMma0_fyjCQqf4j94QAof-dbfDD21kP1sig25EbKQNzgUPZ_uumVG26PN1yYFa9taAgop9z6HTRxa2MOVD_xeanyu_KB2qnnCfEIhQd4Ti6OgA==",
  "id": "rs_0197486123bc8bf2016ab2b176f6d487d096da0e5fa8846815",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped with the fingers around the bowl wall. I’m closing gently through the controller to test a rim grasp before lifting.\"}",
  "call_id": "call_jM7wStb7i8lGDPSu2kzJQWjF",
  "id": "fc_0197486123bc8bf2016ab2b17799d487d0b4c7f3c44f74fcad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jM7wStb7i8lGDPSu2kzJQWjF",
  "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]: [-0.4564, 1.6234, 0.683, 0.2127, -0.3607, -0.2878, 0.009, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3905 left_y=-0.1183 left_z=0.0567 left_yaw=-0.0194 left_pitch=-0.1043 left_roll=0.0333 left_gripper=0.009 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -6.735, 5.6957, 1.58, -0.1245, 0.0366, 0.6129, -0.1709, -1.2513, 7.0222, 1.7314, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de2e268e3dd6b35ce90549fca46f4a995cd795614aae58faf1fadfc193f1628a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a4d02ef79c110207d7d6904a51366cbf1411bb78087a5fe736a1a8e0e873d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e069ed1664ef5cffb8c240b4760bdb93e6c40055374e933238f1077d573e45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 5.586 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]: [-0.4564, 1.6234, 0.683, 0.2073, -0.3607, -0.2821, 0.9974, -0.0219, 0.7986, 0.6037, -0.3927, -0.0162, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3897 left_y=-0.1179 left_z=0.0558 left_yaw=-0.0223 left_pitch=-0.1093 left_roll=0.04 left_gripper=0.9974 right_x=0.2933 right_y=0.0 right_z=0.1759 right_yaw=-0.0013 right_pitch=-0.0179 right_roll=-0.0013 right_gripper=0.9962\nstate[joint_eff]: [-0.212, -7.3915, 5.9145, 1.8291, -0.2027, -0.0708, -0.2808, -0.2667, -1.2513, 6.9949, 1.7314, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGC9AP9xAZXBHGz0EdN4jKBZg-xoC56V5ABCGzcFvM7S2K0pWMobu7Lfq9kbFRYwfAwC0hyTEesZ_YKkbCHGwMoRsybljbOP3F4WBCE-mYVRPHZb7Rxt3BWlcwWOmdnPyUOq1UljpeotD79wpDxuo3gYNSh4z4tmxhZYPwv2tCtLArLdLv4a-datkD66AhK2zQDoYxN7aOkJZGLW4dNVn9F0b4qAYfQoI0sk39V7TNPi9bNmSO1lNgcTzMPu6kmuS_Swlg_rhFsdzu-kW2-gegoxf-jUZmVA4pMSBg08THuSB45NUZ3JQr4gyoHCiGbAJlB5KS-WlgMwm3qPCALlQAnOqAiDPqDjreSVDHIBIZmPtAyqqj9mD8Fmp4r5j3l3jHlRHezw92h2bgZfphaD3IgnYZRY6IzH2v7aBjNHroFFU5wBUi2CLR6hBCFMRMurCcnwA5_msc4_-Q6y_rAYH5ZLNSOdWqsWgH1-3dwQ4O1czBeeKhaiifZigEG_5QxjDQ6ZeXJAeq-gIsHD6CwX4ltlkoFAZUMHVDl1okT3AW7z7fpZgdPfmPbZR4gODyRp5L1JcH3aNfQ4QFBrVuyW5D5KKAUmzpU9J-WE1nCgctePUUjEOdBTqjhz5CEzwL7vv0G7nh6gQLYg-aaWVrpkCp0UQ8QHivrtHf-ouVUzznIxA-BXpYyzBP9RX-ej4GRob9Te9EyK-n_Az8szL66IfJjQFl1ll38qQ6yGGp3F7BH3PMlxXw-7ZdMykx8XBigj8Efp0ycUfOY6Y4_coiV_CcxD7Ask4RJ89uDGsWBlSLrc3A40epMzKJJyhVIErB_G7E2dU7PCqqk3OTNFARbTRnUgQkix9zKM_PZIlIB1v9ozsqiPDN-ixryIGFsGqY3un4dWaKiQHf3IFdy2FZVOBbXBQ8UpfQ0tF6PHy17ZsbCFMJlnausLCScLMOGGhrtF20A_zgObLDyF_4qG5ffEH5Rw-XHuCtEkijiU-8JUS8tw-4kGzXs-qqiFjz-H3z3XEF9LLMQVapkLsqqcpVZz4vl9_VVNuTajmf5HCGICkTnEe7IhFgjShA0IDKFQ6G4jST4xWFzZC1V3QNXmFmO2j5e0Tzok_xoz2IAPVa7soTtX3J20Z2N6G-VeieCDUUF8benbzAQ0hXM7k2RrN4bZmefTJWsecHwxwYpNWyJ8SGBTFTrX5E4j5BAuSk9GVdU6wSKcNS4ZtaXQUQexdeLNxL55ZmrSj0UJrfnV9aJ71Q4YkFRGs7VzDJm-9aAU6HuKzVAIBSwL4aTQIENr23DG-DsYytcj3AeArDPncv7tFWhWLqjejsGCXT9xpRWXL7A51NTb5P6kK7TvhVwoyMd5ZktBKwLvu3b-foKggdCMenbm6AYDJkzSziqb7rNrFBdq_-UWyXTZtGjao3jgiSvmng5Zn6WfKtUVtHBgNOJjV6ts4kHAPVFr_N__I2iyE9_AG9zlC-Hwl3UfNgsyUKKPW4JF6oL-n60WdIENWQamy7p2T5tBD917AopAkSJi2gUm1GJf0f_YNckvCRva1PzMttmLKP_9Y2GswTFRr_JKR-weyrrKjrAf-kyuCiZIVGzWjTN5dwt8_VtgAgABy1FPfZY69F3zkJnpB18ObJe8NLS69b0vKgDgqhd0xlkqBBUkgim-3M8PGG1Jo3F2IJHRKWqFzW505uPfnu4J2MyECI6qwOuDV4HoCMB2MLq49vpo1kJXP-MSFIngGZ7h51unXZlGQ==",
  "id": "rs_0197486123bc8bf2016ab2b17be11087d088572ff702db77fc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_y\":-0.14,\"left_z\":0.075},\"note\":\"The gripper closed empty; the right rim remained just outside the closed fingers. I’m reopening and shifting two centimetres toward that rim for a second, better-centred attempt.\"}",
  "call_id": "call_ruHAExl4FGXq3IR4XLqkjMc8",
  "id": "fc_0197486123bc8bf2016ab2b180aecc87d0b72b5de6c62ebdf8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ruHAExl4FGXq3IR4XLqkjMc8",
  "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]: [-0.5182, 1.6234, 0.7311, 0.1081, -0.3985, -0.3389, 0.9946, -0.0216, 0.7986, 0.6037, -0.3931, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1351 left_z=0.0582 left_yaw=-0.02 left_pitch=-0.1417 left_roll=0.0425 left_gripper=0.9946 right_x=0.2933 right_y=0.0002 right_z=0.1758 right_yaw=-0.0006 right_pitch=-0.0183 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -8.1299, 8.6632, 1.5067, -0.3687, -0.0073, -0.188, -0.0342, -1.2376, 7.0085, 1.7802, -0.0269, -0.0757, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9412c269f7e365b0f362d106f43e0d3dbdeefeda16fe7ed3458d2338bbb58fee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84689d74c9744dad03543ffca1639f055e45c980617e494f62b18eb2e2a6f0d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b2ab2fd735cc6c070ae3e886de68e17d012f34e89f88ce064b72f9e66e0dee5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 8.689 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]: [-0.4564, 1.6234, 0.683, 0.2127, -0.3607, -0.2878, 0.009, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3905 left_y=-0.1183 left_z=0.0567 left_yaw=-0.0194 left_pitch=-0.1043 left_roll=0.0333 left_gripper=0.009 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [-0.1299, -6.735, 5.6957, 1.58, -0.1245, 0.0366, 0.6129, -0.1709, -1.2513, 7.0222, 1.7314, -0.0317, -0.0659, -0.0122]\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": "gAAAAABqsrGJ3b4aTgG9_kDhV8UHqtruAjVR0n3FQa2zon4VXj0GxXTiKhvHML1j81WsCA1UhTH8xx79fMcTLdGedHE-3o7HiMv5dlx1P-hlTDIKsRj5jAWBYV79XwB9BrhToC33_FZOWIttxi1orjDIGhsdBgrgYidy2wl8Rh5cLRFpK0cOtkcwTg5dNY7lMhxD0ESWa_8fMVxe7KcHdebYQqeOD2BSlmri3hCic4zXNVf9Jksd_GfVdg0WJIXh7rQrgt4Ezwlcf6fgweFBuGA0mnyaag-5_nq8QAnoqpbgF2SJy0T2aH5POyNSqRg-1yR0Db0rAhpZfwe3F3Al0VWZn0Khvb7SWCC4HvO5cE6CUWztF21lz2YOzL9PBuJFqOhYuWU97WS90yFXTJrdUPsxxuHt0hYLeysr0K3gf0eN1d1VKA7ut_xmHhwZ9cTEiKGyzats4FqKxAkrpUmsXXL_DMDyvN3peDt4YpQ3FPLN88vQxqpvm-0yTNUgsTl12QWg0aUDsN2kyJ73RQLK6BBlrnICMURzFg9WEdR_aJZra5aMcwv5M3w5325_wqsgttvwf5QkHDclzvspw6FfQ8-JLrvtLyPyIveP-QX2R-RK-fdjzKakuTC1JqSXsSkpOGSycRNV31iwE46SrskiX9ZK0p4oX69gZ_tCH-fX9jyVIua7rjJRM_F7skVdq_RrNU0kSIZLKpW-tEDNveo9B_LN0XflPp3Y6DvdWKE9UY9Htzqe7t0jURMXklZTl17HTdw8FFem-iW2gGheNNpJysrtVdb3952yLTS9kNz9UhT1hWiXZdFXyjL2PI55YekIbaLM9hZdJTGmebzyWf-aW6lJFfdkk5nwENA0wxtR7y_qchgWXnk_Q3-im22q1MQOn7dkia1ID2X_oPK5TY7n0XhaTc4r0xigquhfM1VYk6OWPBhUT7aonCfsACgxocNG2DdAvRnqPuf9eL1hsizCZSRNH3Lj72upli7npzO4yAzQ6gLM4ti87j8o_ryR5HJiFQtUBgDyW38CckAtte9-85vi0-IQQRpXZkhV_afka659qa-oCN96EA_v0dNump7I_eBKA02Idcjh6oEQyRKtPnli6JDejZI-IiASwTrJjq97yeOX41GGdPSoSPqMkjokreqLfGTqI5JL4FS15oS7CUcBFb_G0bQoTruaT9CmLDPFSeyCL-Spyjf_vbu8aQqYja2n2rgzvXpU2jhu4B15DdUssBaVOzFQMSl2htH1uQ1i2clfRy35uOo=",
  "id": "rs_0197486123bc8bf2016ab2b187015c87d0b6a81f54b092547b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl wall now lies between the open fingers at the jaw line. I’m closing on that wall and will check the resulting gap before lifting.\"}",
  "call_id": "call_L8jXRfBMLs7g0d8y8hxX8ijp",
  "id": "fc_0197486123bc8bf2016ab2b187bf3487d08008ee3bf7c8cf52",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_L8jXRfBMLs7g0d8y8hxX8ijp",
  "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]: [-0.522, 1.6234, 0.7338, 0.0929, -0.3946, -0.3405, 0.0091, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3805 left_y=-0.1364 left_z=0.0565 left_yaw=-0.0252 left_pitch=-0.154 left_roll=0.045 left_gripper=0.0091 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -6.9812, 5.5726, 1.6239, -0.2027, -0.0073, 0.6276, -0.0615, -1.2376, 7.1726, 1.7753, -0.0513, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed0a513fac4f4b27a98721197565d2177320a125c7c81423b84afc9b1e645a79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0ddd5d047d1946e77d8f0c371763ccb7042d4bad0eb2b417f3d564aa7230347",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f313fac26a9d6edc7aa7c043531c8e48a588ebfbc049497931f59c7485685198",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 12.53 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]: [-0.5182, 1.6234, 0.7311, 0.1081, -0.3985, -0.3389, 0.9946, -0.0216, 0.7986, 0.6037, -0.3931, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3826 left_y=-0.1351 left_z=0.0582 left_yaw=-0.02 left_pitch=-0.1417 left_roll=0.0425 left_gripper=0.9946 right_x=0.2933 right_y=0.0002 right_z=0.1758 right_yaw=-0.0006 right_pitch=-0.0183 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [-0.5265, -8.1299, 8.6632, 1.5067, -0.3687, -0.0073, -0.188, -0.0342, -1.2376, 7.0085, 1.7802, -0.0269, -0.0757, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGSRysQw-Mtvlmvq5sTSJJMwV93_Q9IovhaZ7Jq2WYUpz5UcA6mQt8MAzutewBUrMldAtKuQqFCW3RV4jmPQn4-16UOswocN7G14CaDk78RIeWfk4Q4gFmuL5jKljhKjx9U616aU4uMWhjEtgzCCp12vclUVPmobWa9n4g49FzKrpB2tDMCYrQwYtRru1Y2s7TdVVI8G4EdzDk6UeLbajNnN2ZvLDQGWMlCwKzNmC6fmDBmQACaw5Spz8VAOBFgeySdEBdqe8T7MIpIUUHDETzCQECjaFN08DlXqXdhwG2dsabZ8x848U5PqmZ7KEAMg2QYueJu-VLTpR1HHqFHD_oT34Uh2VEAvGOymSAmDyplQmPQDHnmZbQM8h33MEr25Xsvsn5ElnPF9495rOwsOiOFqQATdShJgv6uomX-1fN7SbYYiJq2CWvNh03rPp8CZQpfYQRn5_gixQTh4ijOMl_cSw8at3cJYSgRlYTFBfckcT4e3R7fzi_F0N3K3fek0kt_Hgsj_PVFkr7F_dWMa7R8fzLoqdHd9YOOV1I9xf4rK7Ofi5md-biz5BQZciLZmcSHdlJVLzHcFsOno7ZOqwe-z9Km6meywco3OrRLQ5INX_KIDuDfoYF_4gj6t0Mo5mOW5Nd3X7vx5MwK8EEJc7BJwl9WMDr2oK2np3OOxIerlxVY4hCHeh7bxY8S2ssSUe3StrWWojk8pIjb5Z8mkUyWNX2SXML2hG1tqJxLgc9wC0jBaJD0745N__nobqpvFiAe9XGb52a227bD0yOLfcg6ppHPnK-EwBoArPbQOIFP6RSRIleiLyfgOaWmpnHi-mUrM0XA6kqfw4L52LyGET0DhPF5CSDrH39HzP_dyRx2a8FHyxTLLMjHOJ3NcbbP3blxq3dhYYuO_92DpKbihuUPqyfig-1tPImt10NbfdHJIIODqHLF531Tdars2BbujKZtem7ey_hM9q5OdqPCzHD02Fg6-ydwZ1upLiddxgofeqTP39UYjCloifEoJfZmv6HP_bcRBHvIVfuGY5Ya_nIY_6ZNUiwR-LDOLSBXmk7ij8Cmu_OtB6pbF5MqgrprfXD54GHynHofnY-JHPN0HKA6zCzyZlJaP8kulPZcZ72DF0aHFBExYRW6GkXO1odB9iiVZZ7OHwUXv-Odh_zvldWLEfEHpBxyUckTuidk-EqnsVYfW_H73Ic9VAKsPbLhqQiFcKW_UIDFPdPx4H2EDy4p0VjO-iTJR7tVL8fxuOXg7n-lq16pmbZqGBZlf4Pkl58iX8uJ5KnxC__DppwkmfLj_ROTFq6w4hufeKPQe38rmtr_GCdLMzDdV732OAqug70j-wjzraulHff6RZN-LskZGXqDzc2uENOERQ4ztDxbe6HTIdb0mzcGdFUGt3561NjnzRZSlYQAMufuvErNJphC4ac2Xdh3GS8LFFbcOaq3JLpDU7ky66rM16_wMqijIjVP",
  "id": "rs_0197486123bc8bf2016ab2b18e333c87d0be484520788bd20e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.31,\"left_y\":-0.06,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The second close was also empty, so I’m not repeating it. I’m lifting and moving aside to recheck the bowl’s position and choose a less awkward approach.\"}",
  "call_id": "call_EAj50nKzdzMPOw4TJLKYRJZJ",
  "id": "fc_0197486123bc8bf2016ab2b1905fcc87d0aa3a2efddb9dde50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EAj50nKzdzMPOw4TJLKYRJZJ",
  "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]: [-0.366, 1.0573, 0.8139, -0.5034, -0.2955, -0.2501, 0.9944, -0.0219, 0.8028, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3167 left_y=-0.0625 left_z=0.1789 left_yaw=-0.0018 left_pitch=-0.1398 left_roll=0.0294 left_gripper=0.9944 right_x=0.2935 right_y=0.0001 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0229 right_roll=-0.001 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -3.1111, 9.5111, 1.5604, -0.1001, 0.2418, -0.1197, -0.1299, -1.0598, 7.0085, 1.7607, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e92da27996042f44698ee6503dadc9012370ebe96aef4824458653cf34eb0d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b41c79c8123899b9be8be36d0d40ae6fade76d8a40c2ec64aff204e142795716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4832339406d1c6caf37def2ff6e04e5f3e6af879f155b7e460fe3009d55e3d5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 6.862 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]: [-0.522, 1.6234, 0.7338, 0.0929, -0.3946, -0.3405, 0.0091, -0.0219, 0.7986, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3805 left_y=-0.1364 left_z=0.0565 left_yaw=-0.0252 left_pitch=-0.154 left_roll=0.045 left_gripper=0.0091 right_x=0.2932 right_y=0.0001 right_z=0.1758 right_yaw=-0.001 right_pitch=-0.0187 right_roll=-0.0011 right_gripper=0.9962\nstate[joint_eff]: [0.0615, -6.9812, 5.5726, 1.6239, -0.2027, -0.0073, 0.6276, -0.0615, -1.2376, 7.1726, 1.7753, -0.0513, -0.0317, -0.0122]\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": "gAAAAABqsrGg_lnMf4SzoxhnLOZrG_0rW6WBu5tZmaEtsll26f8mHVe9iz1FVAsMk_ZeR-wjWyG0dL9mCHKj0-4LMLdT8zeTeWuIOip7EHlg4F8zAavP-QVwCoJ87Ei-3ekTvzzl1iIEwSW9_3tSnIjOz0CLigs3Gk7fAG01xmAUkzQu_8whfmjC5fxBfm42548tPqXT_6LW3Oa5Jph1VsrjJ3swXYkcDIsgLM60GliygK5sjU5-ek-yjW7yYUtFiyG8qoLm9oirNS9QuUwk-Qv9gthyBdro_87MIymc7j1WZ4jca1YWG45uKF3hNVg2SFej6r3nzs1IBSFQ56VDrIkVb67VKy-Tlg_eZI9yBKg40C4oeb-ylUv4RRYSvxENSUISwKbDtfeuW-gKl8tQ0y3PrO2UGQ9fDbuRRUV-WxW5pOzY_Sf5oPtnYQ_-kOPociWMpdO_VMFZNJTIeMX7Ks7DSMCF9v-KihszZqrJjqaRSdmvfOiS04ZRQTUM2esJB_UFeZERMMkFmgsJzVdWhB1INRoWHF7yD3MugKsSccAWEc7WeWtArYbMrzOTsPmu5LSewp_km6D_hjiWaF5tbcLjNunF9oGPi5Uopeo0oNpjP5bbHHfBQpudytVoVVGu-uS_AzGX7gIKojr8Q-_BcSOEj_z05IBAz1TzTZDoNwbkGbJSSEfB2MJcNT0_XOTRhxaHwfUUo2UMGiAIJJPZg0aE5RlVKR1lXiNu1UerNcq4DQocepiJLGihIy4mcIdnQ0biWIlq_dqzvjyONdMFASknTTJnAgtPEI58wNvtInMbiL64z_seS5y-lMHZ3H-UKnin9biG3YCmDsvSq_mSmCkCPtu2_o6Kz88R7PJefSVjE8FnW47UyllhKgPbSJpeqe4msyByHEJhPUnZP2gkN1W4uUX7N4xEwvgVnO2Ze36lPRxlU9uRxW3YgzBa6jLCQkEETa4wai3YNCFeGa-BrOoRMMfcDI6ZpYQM9_kWKj4B49lxKtnns__93AUaHDlnq3gTRNYsz0Ytp_v4ODTGUCmBdko4Z_wA8fSyZCJeDaGf2Bw9qiMlYb2948zmWcENWTW4_gMmeJmuIImdpJnZ7m6f7Foby7nehUz-uRq2xyb3KN7rCUIAyQjRtKeMHYTqeQeYIEFan_Kk-fhgZLD2E7DdbriM9V2KLBeGH7EK_8T8ay2JtQ_WrkF4Mi_YPMlrVYz9b7e-6kp9lCPGShVBE_FaWAjEm6N8iG-LO5AZIbd90WJ4L4GI8BPUwugBGe77Wfcv44yJrD_h3hB7Z4G0wolKS7YYvh0guVclSVB2gs8PpEoEZx78VnQAkzgKFnnNk9eJLgmXd3ClzQ4MGnN-2DpjnH3uaBXL-Ad2iylK9jYwW00quxzK2W5PdD9p0b3BlCz6BXz9pXjF7f9zwPbw4r550e59NqyZ8LP797YAFONbiogQy08PXz_YuDSovVSbOk7aQNNQdaLEqbp4lWCdDnEaAisAxrnQyADBXHokbE75Hv-VOXvcJj_JuvO5TunVNUw0MGbiyPuv2KP743qp_CLXSPUCOPclXD5dopJushu9cPu6RtiNiE3rHmoADwla5QqD7rFx169_lxx3_0YVfVQ-iP6keK9Ae05q6M03t0ix-qVHglphPj72AkSf_XXqHbIW9JeZHtCdytr7BEOO1dWwkOojg-K9Q3oJOX-aqVkS3Z1tfMBUQST7OhZXjQc3Z8xZWFbp9iMq5gyNDsHdbaj1N0bmc8iQVogqCeqCVYngifEYsN6vymTzq6t0yIMnZ5ObomXqUBUSnnFo-fA1AuF78PwxruMYhEMJEcowGcne3Gx-FQ8jwJDRihzR-hHXfuoYNvklDoiPMJMw1eiHwaamVCyDbGd8CXnNGoBn2GUv01BofFqvNaxDotz11sCW3VMXtEv0_ceyheNqTvCZ3cvXUxPRld8V9XfrkfC9LaP0RgkfgFCCg3NOs22z9Q41yN18_tgg73zaTYxIpXBzIUo9-qFnP1xxEasJYG3giitqgZh8TUGM06iMVq_i_wPY4a3idlyDhAVajTOrH44sekXS6GKIZEoeawfJ51m6rOySLsziMeqNodEv6C9fe5-3nPf184v3MLVNi64xXQlT-VKD8DuSkaflf6l7GgIHtzjote2SGOO4J8NN25sH1DdqQG1QF6m9SP4KKp8Qq345qR7tthQICLBKxEdq1OA0DxcxsjvjbB6LU0sA7IIZymE5Kpx1ChEKIz4QwHW7O_RZtiyc7ORpKO_0uQ==",
  "id": "rs_0197486123bc8bf2016ab2b195ad4487d09c09bb274dab35c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.12,\"left_z\":0.075,\"left_pitch\":0.35},\"note\":\"The bowl has not moved, and the previous low pose stayed above its rim rather than reaching the requested height. I’m tilting the tool forward to give the arm more room to reach down onto the side wall.\"}",
  "call_id": "call_QFgCNr1jqlLKAi3MUnUG1D4Z",
  "id": "fc_0197486123bc8bf2016ab2b19e4aac87d0ab44407b8997da30",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QFgCNr1jqlLKAi3MUnUG1D4Z",
  "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]: [-0.5255, 1.8168, 0.3981, 1.0317, -0.5224, -0.1581, 0.9956, -0.0219, 0.8089, 0.6037, -0.3939, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3813 left_y=-0.1151 left_z=0.0509 left_yaw=-0.0148 left_pitch=0.2331 left_roll=0.0688 left_gripper=0.9956 right_x=0.2938 right_y=0.0001 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9962\nstate[joint_eff]: [-0.4034, -7.1179, 4.6017, 2.127, -0.1685, 0.0757, 0.1148, -0.0752, -1.7709, 7.2137, 1.6825, -0.0415, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f7b4b7dfd842647dfedd9841edce9d882607df47513489c72dc36fbf2fbcfbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d11fd12b3c20664935bf11a6d732e17960d0d4e70e6db3ceb34646f64e73adeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eaade5668ca51c454b7e4233198919165244942750b292300ee5684fec794701",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.85 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.366, 1.0573, 0.8139, -0.5034, -0.2955, -0.2501, 0.9944, -0.0219, 0.8028, 0.6037, -0.3935, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3167 left_y=-0.0625 left_z=0.1789 left_yaw=-0.0018 left_pitch=-0.1398 left_roll=0.0294 left_gripper=0.9944 right_x=0.2935 right_y=0.0001 right_z=0.1746 right_yaw=-0.001 right_pitch=-0.0229 right_roll=-0.001 right_gripper=0.9962\nstate[joint_eff]: [0.2803, -3.1111, 9.5111, 1.5604, -0.1001, 0.2418, -0.1197, -0.1299, -1.0598, 7.0085, 1.7607, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrGoNlv9JDgvyXdvVPC9Acxq1yBVpMq88HhXpGzpPyWOWS1wtrpZ1YHwnN0jWFeMATt41yFc4CbZ7f31WHr3Oc9eYEyzICMqdWFctX1j5904YieAvg8wdi9zPq-xR8dEvaZqnqpfskRvAfCPdaPBI9tm91tIr9L9rz6eYCDttA6kCEf6f1eHVvF1ygVEeCgwntOXyrtLNIUjS2cSyYPH5uVomoY2dntO2kSMbJUM1D8Vbfir_mM6GMtdka_rJYh5Cb3TDQ-cky17D2LmogK8iEb6h3GB3zeWKOJlVEJPuWbiRG4Vgr4P3tGIHwbKfG8btKr-lSxiCdfDN2H33X_HcDiliUnbQkwLV52F2XP-MaqsnWMUAtW7CgL1dqTT5X4n_ffVQrxtRZ7CfiN6IBNqyCIZAUkFsGcdr-MnLBKG32U1B2Wy9ICgnOPJjqqVtBwqEAPT6rStw32qFhrRRiNo35pUqcL88X6i7PPt_Qe2cEFKUqKHXGbD_iC2GG4Y6ng9E45lB8m9D_mYuJ049Ba_nb_ZAk8NOSppQNjuivm6XDHkhZMR0Jhf8uG9gt79EBF9Z30_kfSx7vlMWHhIC9OZ5DSllIA_lUekMu8HaLepF3bOHtwXdaXahBrpu0wzZ7GsaJpr9KcoVZGXPBOGH-zKyqlLFLWgXriIn-hIlxR-7HuVzIavVGXxV_rRqfAWXwGUqP_fH1Sp1H5IuWxfBfg-9GyHorCV2BKvUvTkaj-d65yTc3FTdQjDTR9wiJ-hYPSprYTN8EPzXclNfTY_sSNYT4dzqersAT5u6wqmch0k4ioay5cRUpRc7cYNm44RVgO_ljQOjqieS0-o9pLeIMYvjBncgPx7UOP11n4qnK8RwI_Rv0aT9PsXGza3YGJ8SAJ5K4kqlucR7mK0Am1S-ZR2oroZlydSHvK5m-0wmrappr4woC5BRZq_o-b2NKK6fBXlCeY5QHSV8eT2zH29PgQZ5NoDOMkIPW9_Sp43V97hlWRnNo42poskAIu4VHAape_gZgT8G52YVnCH83fH1Dv8SCxUj8ddYeA2v8M2UWEBGjcPUsCdLxsN-mg_rqDhjpBR-j8hjRLjaAuO3kUNpt56AFJOrQRb3VBcmN0bbTx_S9pzBWGWz3yFiJXOAiuBNbC5SZpfJ8YAEeipRfejKrtN3JEafnDM1XpRhex5anXHaXB6EGJwPHsqM6OKgf-bN3xpTLIidUmbm6sSq33kbRzmolsLZh3VsrZGLOcFk49k833AFP5t5FThGP1BLeWmScGisTZlc-bheM60c5MatSNG_q7JLTkT3Q1B_2PRx1NVHpB6PCkE0h-M7pUK4FSJ3YHxbcIzZT7zKNB0YfeaG3pISZDaf3Swr_b-yi7cm3EM404JPzXQQMPYi-0qYkBQ7QRRX7NpVHkq9f5Eh1-sCtsqZqRagHx5ZZZwVk16xhrn0WLB8r6FDXZWPZsKgpXT7cXAH6-sv0yx_JucmtxlUtYtnhlkeJt2qbj4mZurAigHspmKtFc4x1kEjp2L6c3om16hGabz-UvC0toDCMLFCG03f1q5oxjlszyFDF_CnQ_2eFhF8oHtqbiK2iOq0ZkBhi9RuuXBO9TmbqKtCwjKXO8CCeqnO-ZU77dnurqzwjgzKB9zU50=",
  "id": "rs_0197486123bc8bf2016ab2b1a3e7f087d08eae25f5a7582066",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.132,\"left_z\":0.035,\"left_pitch\":0.35},\"note\":\"The tilted wrist view shows that the rim is still ahead of the fingertip line. I’m advancing four centimetres and lowering onto the right side of the bowl.\"}",
  "call_id": "call_GN9hOrJNIs2ZGlyrAPesZPcS",
  "id": "fc_0197486123bc8bf2016ab2b1a70d3087d08776b75277814d5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GN9hOrJNIs2ZGlyrAPesZPcS",
  "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]: [-0.5056, 2.117, 0.5446, 1.2469, -0.5285, -0.1123, 0.9957, -0.0216, 0.8116, 0.6037, -0.3935, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4192 left_y=-0.1262 left_z=0.0215 left_yaw=-0.0073 left_pitch=0.2857 left_roll=0.0851 left_gripper=0.9957 right_x=0.294 right_y=0.0002 right_z=0.1722 right_yaw=-0.0008 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.4718, -8.6769, 3.8769, 2.2002, -0.022, 0.1294, -0.0024, -0.1299, -1.5521, 7.0359, 1.7167, -0.0611, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:351fcdc9510322591b39d657911ea2d12a7dbd06ba37ddfe535fa915b5a0fa69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848e3c233624822c73d496f9784b277d323808139bbb82b9c22e93e6d4681fa4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b47e3666fd293d3a1738af39302188f835c35cae1b341ee9cb2131feb709149",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.256 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]: [-0.5255, 1.8168, 0.3981, 1.0317, -0.5224, -0.1581, 0.9956, -0.0219, 0.8089, 0.6037, -0.3939, -0.0166, -0.0345, 0.9962]\nstate[eef_state]: left_x=0.3813 left_y=-0.1151 left_z=0.0509 left_yaw=-0.0148 left_pitch=0.2331 left_roll=0.0688 left_gripper=0.9956 right_x=0.2938 right_y=0.0001 right_z=0.1729 right_yaw=-0.001 right_pitch=-0.0294 right_roll=-0.0009 right_gripper=0.9962\nstate[joint_eff]: [-0.4034, -7.1179, 4.6017, 2.127, -0.1685, 0.0757, 0.1148, -0.0752, -1.7709, 7.2137, 1.6825, -0.0415, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers now visibly straddle the bowl wall at a low grasp height. I’m closing on the rim in this corrected, farther-forward position.\"}",
  "call_id": "call_q0v9a67nTreGqvtfd43YwkCS",
  "id": "fc_0197486123bc8bf2016ab2b1ab662887d0af9290c4e6d80c73",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q0v9a67nTreGqvtfd43YwkCS",
  "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]: [-0.5018, 2.104, 0.551, 1.3247, -0.5697, -0.0811, 0.0219, -0.0216, 0.812, 0.6037, -0.3939, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4263 left_y=-0.1211 left_z=0.0462 left_yaw=0.0316 left_pitch=0.3743 left_roll=0.0769 left_gripper=0.0219 right_x=0.294 right_y=0.0002 right_z=0.172 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -6.5162, 2.7556, 0.2857, 0.5446, -0.4371, 1.3651, -0.1026, -1.3333, 7.0359, 1.7656, -0.0562, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb36000e3d929061c6f08283ab0e9883d87211f5bc9cd448bc32ffee6917cd27",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5b4823e54110fabea271b8ff3d7a2b8336583f1340ed999a1156f4bfe84b4da2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:feec5e6c178b5a8617f6886869564af270f46c2a420ddeb5afc9f68d7d6d47c4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 8.584 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]: [-0.5056, 2.117, 0.5446, 1.2469, -0.5285, -0.1123, 0.9957, -0.0216, 0.8116, 0.6037, -0.3935, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4192 left_y=-0.1262 left_z=0.0215 left_yaw=-0.0073 left_pitch=0.2857 left_roll=0.0851 left_gripper=0.9957 right_x=0.294 right_y=0.0002 right_z=0.1722 right_yaw=-0.0008 right_pitch=-0.0317 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [0.4718, -8.6769, 3.8769, 2.2002, -0.022, 0.1294, -0.0024, -0.1299, -1.5521, 7.0359, 1.7167, -0.0611, -0.0269, -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": "gAAAAABqsrGzMpcRfRW_QwG7YdMYd1SZQeFDGqezAUbdBX-olCbbzVBVaECMc40CgDNc-K2VroN63ew2jKDNpLCM-MXn1vUkrvpnzZB_5kpvhXp-b5eVFK8E2Y262sIocvvgvPZiksErekZ14ZxGe_gaXbF0_jB55IsUzvrfLDuhfNuCAhr-icafnIXNocb40dE00TjLZ5udWrIzLz0y4iHshhEN7OohqYN_2X7rih96PP1SKF_IgH3F-Itz1tdQjNCVgeHpgWzlYHGPXmaxz-uJvBPHLRXQrTaUkA6ULtUztkzODrdcbP6-8WglctPU_F7E4sv24bpXhKmVE3IPUaPDokDBxG-fV3fd2AhloeY7H14aQVVJoQKF2C2fDYFC0ZG_26KQFybiNduE-7b6Nx9H3vT7aqu_Ay_XzRTmLmhkQwjEyhiwZBCi9qUlAlwjFju9bqbojMsJagYTeM_7TaXFt4PPCz1ZYvgE-NNQex4HkdLZTmshbgb95nPxcd1D0r5VwRJpUUnfSH2lFxaLWhrqnuTEjbUy_ZvYhOXQLAzLs8JN5bWNXqaXUonhgawTSpzW5pyg9kVXpDmIVLP2GXX6KKwb9UcuW9n3llkKEgNvhsX3Kch1ayTpul9QjS2-4ssKy5IGj2HwOIxVPkk-z-bbrv7w_8rGyL8hOqrDJHgXUfsbYK4yzBn3q_tJogzncWwg421w0OIpAFd_1e56VReilzNZsY6I7SVMqmYR5j55u5KLD1TmpgUn43pWbcfHYX-FXhrYL9kHZu1xP-5jevOgATmInnO8EOPoFbSJOnMkrMHERFw9UYqgPoktxwSMOJTcWqKpttqSOhnzsgY-KvUHiH092RvTEUB6YU-J8VBYfQHw8Hj4RExf3UxqwDFgHU2qKegMp4nNVrMdIRLlkTPUmHDOikFX_bT6hXg345q0mbQBCarzgObQ4BFnap1zYNGgNJlP7vid3H8-Vvfn_XgYftUN2ke1xlknEsFV7ymQjEDPfsTxV4e3xR9CZ_vRm-OK_jtANh3muWZta1ouxLIhU8ERxY42clDnTOINUKtN7k5IVpw2ffX4pAvYEj5qbTL00Mad0C9Lcq9q2wp96Qtxdq0bSN_Uy6zUQi-70xyLv06PA_gWPe4ukZjiph1MZQuevnmA-p_AE_1xaBh4FHlcPmrtryBCgDC8QsYlX-Isp71BJikarDmejvgTarBKGgKr-hj6MNze-Nz7Q-yl67rQU_13-T886A==",
  "id": "rs_0197486123bc8bf2016ab2b1b0586c87d0a251a0d8f0d1d302",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.425,\"left_y\":-0.123,\"left_z\":0.12},\"note\":\"The gap is very small, which could be either a thin rim or an empty grasp. I’m lifting five centimetres to verify visually whether the bowl follows.\"}",
  "call_id": "call_YYUjiYUQMhQjcfKQ32Q61R6M",
  "id": "fc_0197486123bc8bf2016ab2b1b0adc487d0a9150dbb80bed742",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YYUjiYUQMhQjcfKQ32Q61R6M",
  "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]: [-0.5041, 1.7874, 0.5526, 1.0267, -0.5777, -0.0937, 0.0296, -0.0219, 0.8146, 0.6037, -0.3962, -0.0162, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4229 left_y=-0.119 left_z=0.1135 left_yaw=0.048 left_pitch=0.3931 left_roll=0.0539 left_gripper=0.0296 right_x=0.2938 right_y=0.0 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -7.8838, 7.3778, 1.7705, -0.1099, 0.0415, 1.0232, -0.1983, -1.0598, 7.0085, 1.7558, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8475322aa07daecdcc2b67d4c3365408ddeb7f9ed397ca4d241c381e1fe619f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a392f202f3ccf23ac347011a8ec7d7b74c929e9af4cb5a4cf72c7e773796c62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4631a91dfe76bb099dfb9912068eb409f21d932c066e911eaa2a6db021b0587",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 8.792 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5018, 2.104, 0.551, 1.3247, -0.5697, -0.0811, 0.0219, -0.0216, 0.812, 0.6037, -0.3939, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4263 left_y=-0.1211 left_z=0.0462 left_yaw=0.0316 left_pitch=0.3743 left_roll=0.0769 left_gripper=0.0219 right_x=0.294 right_y=0.0002 right_z=0.172 right_yaw=-0.0008 right_pitch=-0.0324 right_roll=-0.0005 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -6.5162, 2.7556, 0.2857, 0.5446, -0.4371, 1.3651, -0.1026, -1.3333, 7.0359, 1.7656, -0.0562, -0.0464, -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": "gAAAAABqsrG8erurKQLdaPofumsBtxEUwGFMgsh_SOL1sOI7KK0UySJKO_8TsuCQWCxgmcW1u4kjrInM2BbGKIV-gn1I9mn5Mo3m9GRGE6oM9OIt6FJOEwIM9FG_sJQjt77V2lYpr-nve5WvVneIV3q9RvwitPZCmrXrj72O82DnLcbiXTglxsoVC0YBFeLBhhs8PqW19E9xqE-TC-oy5C9ilq6Mp_-D835kShyUTGvjvW9uxKLZHePcy07WyTlSiUbN5b55Htc2kuvZfm02hpuF1PPOkLpaKvPHwS1nGMYfq8QAfGVPgKHL1u60MCCyylY4TWplXKTyn75EnldFp8SbS8wUKO7KHibjHtLFonFHmec6YfPeABsR2ZA3mwb_X_aqe0ilh6Ejb0mrI_h_WBI_Tapf4MOIJ1mO64fk6T83Rh23ThI23LwIDho3n0zOpYwr4uKU3F9XT2YiXS-WM1D9u9gCtXJZvs9sSrvMO9CnDc-E2U8mNtKrl_cwN_O3wUGQXxa1a2ymrVCVBZvYF3GVzE3MOaTEWd6N_viRUmciRsN1_VVaZkQuHy79-I6yDZFNhWPaS2RB80Z7iC6GuyEttzqhpdWOmPKbROT4KqpGavs-i1X2xuw8wPStTAiiCohRI72ei2u09ez8xxfg5e64Z3LOJDyttkBxO1lfhCf77OXhwj311AqEiuetotHaGKCpKYCCi3gs-pWpWGAvhKozYcFaYPu1zar9Ts0uLrS8QeWGfRvLL1DD946CIea2ZOTJYcazB--EwjLz_MJUl6ybn0ymwer7uYPRl8_lXIlSxDP-otQ_LuVrE6tDWTDK_TN8UwGZP7RCAuzq_Kl1dGN6sNyJ9-jG40C_L1wii0gZ9Sh--3vVray-ihLpVm8TjsmXvU_ffoZukk4FxlChNdXXhPJQuyBfovZTe_V5ifocAevOteouJCj_-NiRc6PENvMufciWLZwvZIjHMMVN-XDK9PrOJKchxnnz9F2tdtnr3kU7PkWx3exDD-XMizofImqT-7hLE1RO2EXWNHh99XcNViVT4QBUWoDWmBUh9Oh53oTFujc8Mb8m0m4T1KK83HohlSQ7hwFXow29p55YeQtMK9kESb8ebuepsmCON5zRV0iw_FnjcBPsO5-_k6TVdIEZRmXjUZ97-r5egxA9pBk5KV2ocHfO-rt0V1r_sgK2O7H-t31uTtI-fz-RGS6xL2kNRbj4aWhWS6cp64lpCRRUnHST__DKRoUZzzf60szAgBWIts4s2jMBvWnIhkTVsdFn6wT9mq1bUBdDzu9p8yo00O3UTkZZbiYZL9SHFTJwNCR54K02vISkZmwjLZSOj-dUbwOkKjgc_sbCP1eL6dgnR-reRL_D47ow9vgrVOBxvOM-mAsK7ILEFNXxHB_VSWFcA6Em9zJDD3-gLIj57dKDZ3Z5YJPWrH8HTjPP9yC893MsnlFrqlokX7AAoU4nspB59jAHTw3Lg54HAxuspNQoeIuxB-s4H2__mfMyx5BKHdFz3wkOtyjB7tGzZcxmcs6t0fRRR8cShtPI2U801pDWAvaCmSlFujgANSJdMadknJMFim41alB5SX4LYzxBDByCL-HInvb7VeNhYzfrb1-5gYRLUZyr8M1lxFpl0dUbjPw4bj9OdtgMReKuKuU4GhdN9f7rUAAnhosjpqefZXeYFJh17DZYK6gUzByz41bh0tUp3o4YHvwvp-xEuj355ed_dvvYQ1_oc-d5qrtJIVLhkCkrsHtIN4W6jh7MJlbtfROqZ5SRy_XFpH4XIl717HuWhwXLoFg0",
  "id": "rs_0197486123bc8bf2016ab2b1b5eebc87d0a31a9f599799f832",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.29,\"left_z\":0.19,\"left_pitch\":0.35},\"note\":\"The left bowl rose with the gripper, confirming a thin-rim grasp. I’m carrying it above the middle bowl with extra vertical clearance.\"}",
  "call_id": "call_Kel28tjQQTb2G2oBWqwcyR5f",
  "id": "fc_0197486123bc8bf2016ab2b1baf0e487d0be7124c153f17782",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Kel28tjQQTb2G2oBWqwcyR5f",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9268, 1.8275, 1.0939, 0.3454, -0.9588, -0.308, 0.0303, -0.0216, 0.8162, 0.6037, -0.3965, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3996 left_y=-0.2854 left_z=0.1832 left_yaw=0.0364 left_pitch=0.3481 left_roll=0.0457 left_gripper=0.0303 right_x=0.2939 right_y=0.0002 right_z=0.1703 right_yaw=-0.0008 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.6222, 8.7316, 1.6435, -0.3248, 0.0415, 1.033, -0.1846, -1.5248, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b52b0c2c24894b2967e8eff1b851c58b88a666f41bd24fcad21ac54553228dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2505eeaff7f4c6a090bdeb23192eec7f92c3039658d5bba51353f36d3cd7af2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7000d0154fe824f4182d9c99488deb21b6d2b075c673a0c72c5bd636d10c5f17",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 6.996 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5041, 1.7874, 0.5526, 1.0267, -0.5777, -0.0937, 0.0296, -0.0219, 0.8146, 0.6037, -0.3962, -0.0162, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.4229 left_y=-0.119 left_z=0.1135 left_yaw=0.048 left_pitch=0.3931 left_roll=0.0539 left_gripper=0.0296 right_x=0.2938 right_y=0.0 right_z=0.1708 right_yaw=-0.0015 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9962\nstate[joint_eff]: [-0.6359, -7.8838, 7.3778, 1.7705, -0.1099, 0.0415, 1.0232, -0.1983, -1.0598, 7.0085, 1.7558, -0.022, -0.0562, -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": "gAAAAABqsrHG92TM1qWrzVec0WyEsqKVlhjxCJ05RZ-Q9KYJQIeNR4CLLez37TPgICk7-0zNxaIjsnvvbxDADZkU_PWMpR8WMT46te-ySoXr7f6WmkuFPYYPr9IQ_ccbZBI1wjNYYB2HDPwhRp2Jz-Q3cv9PbFJEl8TBZU-jKNCWMyGGd_RaFcd6qPUAIMqUssG8dFzMALtcLhqnj3w6WdXgHxBRy7SWJWd_NEAf57jz2DAJCbNwOAMa74I5UdUVnbzl7fRZlsIFMngAw5Pv9Tf13ryx0hISMw_GXhuUP_U682Mi10PaapGhUcCEUwuGUEPkgAl3FXMkDRHCMaP0SQnI6nnnKu3kznlsUrNDLE1mTNDpaRmZxMHFA8eTv8AcwLs45lKeBW312AwmNpZ9-QyQP938F2h0210jjNp54IOPXk0c5ClKCNl2pETWAL6xYmYrdmcIpTkYYSOU5rKX7V8_55lYYZShIrYdNGU833TyGorKOjiW_d1hblqT5tZzuNmKZcmmPaGiOXibFCaVqdV2qjdPOHrIIsoA2EQW9v0_xSlBDuHFMyFbGlic9dHwOoM-aNwgk2INNfMNslkR2Hliexr57hQKBw-63gqv28DOxV6cK5SCEIofeQn9frBGJ0Y8CndAvChzwvWhtudbPUEeEzBNfUTYHX1fV2EQP3R9RXZvQEd4YA7lcAxafcLXH0amYvtaqYMsRhQAQDRUGyFhHwMl5qFHDSX7hwPOY3IoQ21weV59gGVhyna4C8vPmtosNMMPagIU7PiWBUL_7RwNdiXWZrZVuDQY2CZsUl2Y6DESvRqOAaB-_BF8pk0QKqqJCpQK5nsUW8HAUoPBBiktFPNx2SY4GIAlQFKe_2JA-SMKl1OjGSXG60cmiCxTbuxw0ZpIBiTP4aTL4x6h_1qfC5RAVLYB6MkwlQkaL5kcBMUu1JEfUO1kk_ZRh0aHrEdZGiQtHVGtp5hTyo9KnvciQdaSkQTDo0jrNS8riJ3c552kirAYrCyjo8zwQuq2QJW-et7Vzl04MzsfWZZd3cCgyIo6Qul7sTythFIORk9gikVuAYuPkLypXTl4fdhRs58dBL__DVz7nU8YqqSX4I20fjhNBeC-lKvJMHs8MdyzoV5BM5NJmYMseWOYJtlG6EhswoiT1zctU0FBOXY6g8r5hBdgDmjeT1KdiX48FnAQzEhjS2Lt_FbJckmS9ipLc8opHBH985xNyHacRuiOFyDomjLdrAs5EdPSvWLQAA0X9Qvo8kAprcitbsvYrzSr8HG0BXYM1MO8fVMMJ1bTHmb8cY9S5yd6cU32JXP1Zl_u5KMQ0fcjAO162h9x5lvTA5qcA41X_JYNPMhVxbYj_wOuGlRWb1Vlp296WJI5bo7NLfIueS6RSgM2EajLHyheLqVtFd1E0XD08JUHo7__qjfh08QnW7T2-ntnIjcI9C3Umv-aEpLFsAs77GgY7f1UT7Pk8PaoZ2j6zUTiqFrP8MdF-NqNXDsv99e8AnFLt6uQgzIB_Jm90uAdu1uJlAZZY1AKt2T1DGm-JAyGshf_atOGs16k4g5gD0yy10gfWiFYb9KUQl82owM-zyrNjHyaCSCnX1FD-i7XPUX5AB2rpnMKa-Pml9hwjAG4lPeiKNIMf9Oo8tz_vdE=",
  "id": "rs_0197486123bc8bf2016ab2b1c1a5b887d0b851c2e5ffe04a52",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.325,\"left_z\":0.095},\"note\":\"The carried bowl is slightly left of the middle bowl. I’m correcting that sideways offset while lowering toward the nesting position.\"}",
  "call_id": "call_HXDDlOvim0uRYghhuy6pkQ97",
  "id": "fc_0197486123bc8bf2016ab2b1c5216487d0a3d8d5924c530fd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HXDDlOvim0uRYghhuy6pkQ97",
  "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]: [-0.9775, 2.1078, 1.1034, 0.5137, -0.9863, -0.3386, 0.0303, -0.0219, 0.8173, 0.6037, -0.4015, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3963 left_y=-0.3178 left_z=0.0855 left_yaw=-0.0029 left_pitch=0.301 left_roll=0.1107 left_gripper=0.0303 right_x=0.2932 right_y=0.0001 right_z=0.169 right_yaw=-0.0012 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -10.441, 7.8291, 1.7363, -0.5153, -0.0659, 1.0281, -0.1709, -1.4838, 7.2, 1.79, -0.0513, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56c7efdaf3641dc8dd0795d840c3333259704145da473e79aed67ee72ec617c6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b2abf35940964293bd7858f728756219cad3d11dce9c9c29f90251d0d35bb65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7db8b0cf9ac978701c164aacf8e2701685dff9bf4a3b151e41898bc7d9025cf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9268, 1.8275, 1.0939, 0.3454, -0.9588, -0.308, 0.0303, -0.0216, 0.8162, 0.6037, -0.3965, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3996 left_y=-0.2854 left_z=0.1832 left_yaw=0.0364 left_pitch=0.3481 left_roll=0.0457 left_gripper=0.0303 right_x=0.2939 right_y=0.0002 right_z=0.1703 right_yaw=-0.0008 right_pitch=-0.0393 right_roll=-0.0004 right_gripper=0.9962\nstate[joint_eff]: [-0.3897, -8.6222, 8.7316, 1.6435, -0.3248, 0.0415, 1.033, -0.1846, -1.5248, 7.1863, 1.7118, -0.0611, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHN1LQyjHq0neFtyzW8-D9GuVHu2XTSK_MSEVXjq7I5QNgti80Rh4w68yBdL8mM5dmeTjukpx7ZKGxbVQcU3Hs31YXR6NkVLPy6f9J4FqzXSQKv4nUr4_tBYreem5iUGI90-yZBp-Es3ht3Jk0lnvWhFA_tvzdTL0jMlE-M4TxnZ8_g1teEgR6502Le8plDTeT4rB0NAIH9N_aGFoy1cyB8NL7K-kyiIqd2e_cAa1jj2zB-7FBoCJzpIJOjvzD3jO3ihPZBj7Qn-RBttCZpR_P83oLAqbZS7eAdQHKrd2oWjTiWWvZxmpdxBiD-B0j-M_FUQpLqjyl__6tqeVUxochDFO3c-NkJvkBOUXB4QKHPk65VxxpG62_yL8muW4K4ilrc479gT9Z2xA_eFzes8LfbOosOhbd5OPQlgPY5NAm48tS4Zu8qILWwfDpAroV66rG4kja6OZC1onrrH0jbbteCtdxyUde-jobxVCpcs-lrbabseAksDXWWyEoempKa4obNeE-HFyVjTYnf3wyIrTpc5T3a9j4xBgG9VQWZO2NQgOhwOnv4WN2nXo3PFcDZgtlI4do0qIcoVadeInnPdxOiAGlEjSCG3WmblLa_4mt2bM4PEUQEOo0E5eZxu_Koe_EBbLDEIgmahpFosH2kJi8lmTIU44uJ-HNqJ8Qz14F5plknemAJEoRPLYspce3_3deKH3JpC6EHFyvdcGSFqIQ8TM7056f_k3a_RPLomK_54xGhLMG2wymeFUwBmBUv6WV7VrIr3c0CB3AX27WYAo3X7ORC0OkjncFPYrJNtG0tF_COWI5g3sH0e3n329RI-Bc81uDpsy-SmLKFPQM_RJ2M2bEeAG9L9TfvjndDTifdcNqEl7Vk1qvb9FbB4G5-dFvIoMNSO8b_pnaDBRLkheZnsE6GBNhFdqen0yy0lF71J5vF4BjeuPLvu3CEdAtZbQ2cwD5IbXX6lsqP_syOrSZgrmJEQI7g195mrUYyms9XuiXsGuu53OqEnPLM4T-wG45mN0Jwnh8kDFVK4ijJ4EJjrFBL26jTWR1XISdgktJy0lc5a5iuKWjQbP5V4RgB3piiUwW9liS5dI8KkOD2Q4roGnuqG3JpKKQpN0_7sRx3s9XenTdsFWkS-oBQfaHazCH7tg7sru38BHXJLxIncSvXE6170d9vV-l4C9X0JiA4RcwKhBwQ9JEkCwPylpICaXkTv6JK7k2-cM-If20YJY3_CXyep0XulHkORsdvX05baxjdHYjEWaiXtP1-VwhzJhH1bO8UXoIWjhM11J2_3buoLbB5QQG2zEFDgNW9ImFuAFkR1VT0KlE2PcGgxy2KXixPZC1r61KBD98CmyQIFfayI9qotwdnUAJIzk7umiM1d5wnTwts0PNoZOnc1K65F9FZJMMsimo0ba9bJD6K0s-qZqKXihm_9SRcW8xYcEl2FvntGHQJZy1HFmVBkUaH9Zv2",
  "id": "rs_0197486123bc8bf2016ab2b1c980b087d0999aed05e52f9410",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The lifted bowl is now over the middle bowl, with its base just above the receiving rim. I’m lowering slowly to let the two bowls nest before releasing.\"}",
  "call_id": "call_dI5J7Ke0USLcwjIG7ZarhB1e",
  "id": "fc_0197486123bc8bf2016ab2b1cc10e087d090a3ebd241ddc361",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dI5J7Ke0USLcwjIG7ZarhB1e",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.1906, 1.0962, 0.6128, -0.9882, -0.3386, 0.0303, -0.0216, 0.8173, 0.6037, -0.4118, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3967 left_y=-0.321 left_z=0.0594 left_yaw=-0.0024 left_pitch=0.3069 left_roll=0.1032 left_gripper=0.0303 right_x=0.2917 right_y=0.0002 right_z=0.167 right_yaw=-0.0008 right_pitch=-0.0557 right_roll=-0.0 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -9.9487, 4.2188, 1.619, -0.188, -0.0464, 1.0281, -0.1846, -1.3607, 7.1316, 1.7607, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94d0e15dc3b0cdb449074863890c649203cbd3a982cfc406a470a48920308e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db9827fab0d55f5c45014dd41b177ddb91fa1857a27e040cf4b6e6f62359a1ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac8c436e688640ac0ec93a3bbc085e7e214a023a14ec2b816b4b6ac6e4e5d96",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 6.455 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9775, 2.1078, 1.1034, 0.5137, -0.9863, -0.3386, 0.0303, -0.0219, 0.8173, 0.6037, -0.4015, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3963 left_y=-0.3178 left_z=0.0855 left_yaw=-0.0029 left_pitch=0.301 left_roll=0.1107 left_gripper=0.0303 right_x=0.2932 right_y=0.0001 right_z=0.169 right_yaw=-0.0012 right_pitch=-0.0454 right_roll=-0.0002 right_gripper=0.9962\nstate[joint_eff]: [-0.4991, -10.441, 7.8291, 1.7363, -0.5153, -0.0659, 1.0281, -0.1709, -1.4838, 7.2, 1.79, -0.0513, -0.0562, -0.0122]",
      "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 receiving bowl, indicating support. I’m opening the fingers to leave the first bowl nested in the middle one.\"}",
  "call_id": "call_hpKqTyh40hY3dJLAqyELwvQa",
  "id": "fc_0197486123bc8bf2016ab2b1d62f9887d0a54e6c853a47a464",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hpKqTyh40hY3dJLAqyELwvQa",
  "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]: [-0.981, 2.2089, 1.0916, 0.6586, -0.9955, -0.3389, 0.9943, -0.0219, 0.8177, 0.6037, -0.4152, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3974 left_y=-0.3209 left_z=0.0567 left_yaw=0.0099 left_pitch=0.3223 left_roll=0.0847 left_gripper=0.9943 right_x=0.2913 right_y=0.0001 right_z=0.1662 right_yaw=-0.0012 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -9.9214, 4.3009, 1.4188, -0.1783, -0.0122, -0.0317, -0.1983, -1.1966, 6.9949, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92444558cc2951ca5e43bbd2290ec9a4f871a1c6df22c8b0de82091a7fa87e7a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b69aa0fdb9d251f6fc3ae69e80b9d86132153e81f5fb7a5ef2a1619effa4c624",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b86ef4896050928d7185cd4234577b2ed4d45984a58e55dbf5de358fe22f5939",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 12.09 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.981, 2.1906, 1.0962, 0.6128, -0.9882, -0.3386, 0.0303, -0.0216, 0.8173, 0.6037, -0.4118, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3967 left_y=-0.321 left_z=0.0594 left_yaw=-0.0024 left_pitch=0.3069 left_roll=0.1032 left_gripper=0.0303 right_x=0.2917 right_y=0.0002 right_z=0.167 right_yaw=-0.0008 right_pitch=-0.0557 right_roll=-0.0 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -9.9487, 4.2188, 1.619, -0.188, -0.0464, 1.0281, -0.1846, -1.3607, 7.1316, 1.7607, -0.0317, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0,\"right_x\":0.405,\"right_y\":0.175,\"right_z\":0.15,\"right_pitch\":0.35,\"right_gripper\":1},\"note\":\"The first bowl has been released onto the middle bowl. I’m clearing the left arm and bringing the right gripper toward the remaining pink bowl, keeping the arms in separate regions.\"}",
  "call_id": "call_uZRrFUo8tGQ5AFw3k97phJ1Q",
  "id": "fc_0197486123bc8bf2016ab2b1dcb12c87d0813f56053b1c2933",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uZRrFUo8tGQ5AFw3k97phJ1Q",
  "output": "executing move_to over 29 steps (2.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1211, 0.8413, 0.6464, -0.3885, -0.2108, -0.0696, 0.9949, 0.6289, 1.618, 0.6243, 0.6216, 0.58, 0.1379, 0.9965]\nstate[eef_state]: left_x=0.3015 left_y=0.0041 left_z=0.1866 left_yaw=0.072 left_pitch=-0.0035 left_roll=0.0793 left_gripper=0.9949 right_x=0.3941 right_y=0.1714 right_z=0.1241 right_yaw=0.0444 right_pitch=0.2599 right_roll=-0.0501 right_gripper=0.9965\nstate[joint_eff]: [0.294, -2.0444, 10.3726, 1.6435, -0.0659, 0.2125, 0.0562, 0.2667, -6.4752, 8.3214, 2.0977, 0.3199, -0.022, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73766954c9e8d5be303103dd7e6e9a13995f6fa03c647c6c4e6eca91b42cb385",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e9c497f00004a704565fb1c52497abd08458c4c8e432af5b51a73b3467bc691",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d0216bc5381bda0f436e522f7420b4b35589c0c67ad1118668e2e73122e1038",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.187 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]: [-0.981, 2.2089, 1.0916, 0.6586, -0.9955, -0.3389, 0.9943, -0.0219, 0.8177, 0.6037, -0.4152, -0.0166, -0.0341, 0.9962]\nstate[eef_state]: left_x=0.3974 left_y=-0.3209 left_z=0.0567 left_yaw=0.0099 left_pitch=0.3223 left_roll=0.0847 left_gripper=0.9943 right_x=0.2913 right_y=0.0001 right_z=0.1662 right_yaw=-0.0012 right_pitch=-0.0595 right_roll=0.0001 right_gripper=0.9962\nstate[joint_eff]: [0.0205, -9.9214, 4.3009, 1.4188, -0.1783, -0.0122, -0.0317, -0.1983, -1.1966, 6.9949, 1.7021, -0.0171, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHuvUj5lxAYJ9GwX-FL62M2Wu6xTzekhqOh0UqkmfkBPBT7AT_9ZE1srO4GjCSCKtmHyFjeyLk4w9VAy_9TSIB4TjwHKcOU7Hi2PAVS4i_zsbGibqReDlxeennAjFfU6lYKnholAtYv19uq94EdTRxMmzZhKLqBQ2-uWQEN5NoQMwzFeMNTx2nyN7QobCj2hwgTRWRvAcLSu5r17WXNz5WI1SL9wIy7GdmgutAmhmztfaNFAPqQoc6c1bnCvfxwqJZfih97Yp4HmpybEWIRjprzilcCAh-QADqBRdaM0hIwJamDrKiws_0tLNJtrinSzxbD1EMzdYgkgUO2iIXK79uSNzHxArTy4eZk3BhQHXZM5FuAGDsFJHTaQcCTcjCPx7YWGc7w-M6QYbpBAjZM4kf9gfZXkVbsElYU43j3FwCVOgOxnAhxyic_apP_YGAnjiVETucYN83ZGCQ0nvncOelbhQunnFfYgez5aLH9zh96QWhscpk3_tWB11Nc-u4sOoEIi-GWZ-uvp69N8Ll12gAhoglEsVxXAXgWAd1KUTGRITKo7w1ZfvYqmw_4SjMFqKEgI9_D-i8mKPg9PUAQsbFx2BfmWCoPITQ7g49Yxn2jrWNWeZ7wXdsdLoVByenCuZOazLIUjOAPAodQA5YB1en_A3EFUtQKb_pASuYde_fleAIt2RleCngARGgJV2Ceez64dhW91ZMEiel-Avsm_11HCN9X0kBUxC81qGrjCkR6DG5ywsgEkDi0DxreKVu3xEDmG0COuj3D64dmYfp4gp1aLmas8QHhfgHbhxdx4-3vmAYEK9ZCYnocgqBNL3qdGYDHMJ3ydqqe5c0EoiSG6_-XBUWvI9EtpOxRtqpzrUyHTVmluv4-6rMR8e_fMx-ELQOstlJNP0_ZsxQx0fTa0WdEAd4CtoMj88qTes0NPLVf5lg0nW_Zwq0ku_-NqgwiTQ-1NpcarS5MEXj7UXSYai23DhG39v_c9yCw_eCcII8aL1DVLF2IwOm0xxa73rh8MOhejriCkGKinoe1_urCDANY_Hhco6PB3FaQ9TaIypf3eRhbYAnF-FC_G8I-uOYwmcrYIeqnz82O0CuziOC636Hs_g-HQR_UYoqJ_Z4_y9xgj135jHDB0jT8zYGK26XUrCJcr_m5ogBvgTi2bjXGX1ZGHrNA1STW2mT3C30lrkaHH3MabPpxmh06wpvB08i1SFmK4zwdjpCci_OKL--h1-25S5PpsDJaKDmc3i0s4lQzlzP1y6e9ZK8yOj3LkoSHmyhbtdrklPTnqsaESEyR9hXHK2PEFzyRfNFzadE8ByV-W10srBksw1os4GO96yyWJlj9oLw7ycU3prMZCP05hNGbIiIQdC2LIoFxnPzm8wM2GgOQxFWchrz-tJsWQx7AVAaZUwnu2XIPKQqxhvFNXo7Qf_TzP16DNbDNz78JFPEmMlPeEzTnSPhE4LSF0z2uKMNycqPE98qx_2NaHDrfRYWJ1ZxwnWTRYRcAQ2Tdzg0boFFBx-_i1ZcJiOgYEOQXrsT8s1jH-GgxxM8J15Ol0t0xsxCLNGP-jXF3olCOOadkxP0zMYlOQkViJIZngI8tHjwTz-OMyKzH_X2X17s3kIIQaKBbk6CmY9qSRFuiZnwIPkNE4dwPqRrqSWR5IA-jJJtQ3Iwri9rauMn1zdkj0PjKDLjxML97wOy8pZWVeVKRY0TMmgltlLQmKKDB34WKF3RrzS7Qu8Xb5eLlofFQ-_fljkzxJMokTCrKi0-OBh4BIKJjR_KO9Qn9wEL9ZB4JDCSyT3p1nXiHWwjlNQKkIwhHKoEOxKWjhNTOeewkW8mlxFcxO8FaJTQ8V-SmxrzIEc3-6_XGC7aKFzo9R9uXW4_YtJwtxzAPxwHQZ7o4SS3JWBOHOWDSsw1KV9JoaMjrib3ZZR2538_ZnNrzi5NJ11G7K_8k6c_DIkGLmGdcFVxUdX94k9ay3N6nAZS16OV4T1GNN4zVCx38tSbXKIUsdwKddiT5p3n-jUy_37VwvuuOnSKigt5qmKiCSDs6Ry8QfeQ-",
  "id": "rs_0197486123bc8bf2016ab2b1e5e0a087d0b5bc0cb64bc3db23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.2,\"right_z\":0.04,\"right_pitch\":0.35,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The first two bowls are together at the centre. The pink bowl is below the right wrist; I’m moving to its left rim and lowering for the same thin-wall grasp.\"}",
  "call_id": "call_vETrzqB7EDa0mVDFIwv7biko",
  "id": "fc_0197486123bc8bf2016ab2b1ebd91087d0b85fab91e13de66a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vETrzqB7EDa0mVDFIwv7biko",
  "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]: [-0.1505, 0.8261, 0.6521, -0.4332, -0.226, -0.0788, 0.995, 0.667, 2.1075, 0.6399, 1.0721, 0.614, 0.1009, 0.9962]\nstate[eef_state]: left_x=0.295 left_y=-0.0011 left_z=0.1848 left_yaw=0.0603 left_pitch=-0.0245 left_roll=0.0847 left_gripper=0.995 right_x=0.4049 right_y=0.1938 right_z=0.019 right_yaw=0.0777 right_pitch=0.246 right_roll=-0.1106 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -2.1265, 7.2274, 1.7949, -0.1636, -0.1197, -0.0073, 0.3214, -9.5111, 4.8615, 2.0733, 0.315, -0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd6a46f4d9e34791bd75f468f00fed9400b8f0add35571e5cd3529da61f4b804",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d2268cf31fca9dd35b273dab335458952768d1a9255630bfc641c49dcf47222",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428624b2982d476fe9e65f0e3464dae50555c82415742186dd5274030d8c4f73",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.729 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1211, 0.8413, 0.6464, -0.3885, -0.2108, -0.0696, 0.9949, 0.6289, 1.618, 0.6243, 0.6216, 0.58, 0.1379, 0.9965]\nstate[eef_state]: left_x=0.3015 left_y=0.0041 left_z=0.1866 left_yaw=0.072 left_pitch=-0.0035 left_roll=0.0793 left_gripper=0.9949 right_x=0.3941 right_y=0.1714 right_z=0.1241 right_yaw=0.0444 right_pitch=0.2599 right_roll=-0.0501 right_gripper=0.9965\nstate[joint_eff]: [0.294, -2.0444, 10.3726, 1.6435, -0.0659, 0.2125, 0.0562, 0.2667, -6.4752, 8.3214, 2.0977, 0.3199, -0.022, -0.3785]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrHyXcL09d3t44jknBnK_Ofc0WXObGCx49zvN4RHSy0HWIARNmVtbmrcDzc01y83KSmtaxb57os1vzdxNwpgUoPgvcVJEAnFSPboUH4x79ad7feiA68xNgKGlw3nkw1darK9JlsdZ0jYQCSn6E7_ADBs8vfAYH4GnfuGnvX6p4uUJGRbVCoJi5UzbbrwB7EJ6lhi67DqHmVIA1ZvSDOX5-llD-ABkR4nM1dIHm0WsnyCff5IqJhTEDyvD8f8fQgkVm3MloAH5XBN8wjFMb80A4u9Uk1I0YOymm1_q4mOPqWifCGOQ3EZVsgSnFl0KZuMvjPRwynroMq5C_zyz7ByH8DEEINvWL3bv6HwDMEapYjC5SVUCV4LPRBShqxnBXhBMdmYdWB45LoI7wNokHz14dswBYjuf2DnoFR0lyBrq4JJs4GZzDndLbSKSJxxMxbiB7V9RdQD08kayQmDddn-XQX1sJKEe_1ePRcNcUFkwDWqFCA9QMdR2wtOQktsD4FB5jjmpWUCiRZxBGIdHA8jkwW0JM2LbVWquAOZw-dtJ6fUpaCE8duyExV3bp09uuQqvM0W3ap-C9yYesc78qitve-zp3JGMiQW67wke7GphLRBeLwpAxKT0X6OVw_1KqrT3kxiZzx-nJzXj_uEx7-T8J0mis7sOXmBPNQeTCuP5KEv0DR0kiTanmVp0HInXHPD174uHlBmhB_Ca7kh4FC5n6J-8CKUiIaKNPkpV55Istq66Td0RcumDtUUjmsDvMqcVIB4Y5p2MJvkgCxGOEzRFZmtrVQ1KN0XyQIqZ4uAzeqMxLL-Z0zhy-rYczMd5R5kKDOsut35oXrULN6yTc4uWW3mfGsiJu-BWhkPXSltIEeMBJtTC_NW2AarolTFhEDRNzvTKbClTkcpkkiXetPqS8Qg-tfgkz0ALYkuJ0ZQdFRoMi7hUfuIgs5_1w5doeRoTTvabw0t9oLRInX2lm_Fs1VaBrIUcG2gyAfmfPouf9Y094MJqS2tVLTYvxPgUJeH8cfW0XS3TzbLZAPGFk0F-vsP0UNgWHN6vB7obe2g5q5CMSLLb4GaoSBQBrEE5yXxglRNsCuP5BR0C6dkB8oOrNDBsyweDRzKwAgs90j7l4WyoV0dqT1L6IVc3zoMF23b5dJz7xT3ylMM4H-wdpJY-QbsdZQjeOnySMWrm5Z6VdTdFC5jQVJfrx-wxXVf41MP-dO8Nh9Vb97zsRdV-Kiu-FlnbfoaEORMXmQNCosSiRsLw20=",
  "id": "rs_0197486123bc8bf2016ab2b1f072ac87d08c73ee49dc041eda",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl’s left wall is between the right gripper’s fingers. I’m closing on the rim, then I’ll verify the hold with a short lift.\"}",
  "call_id": "call_QsuwYre4kI2ApwiXjIA4fSMK",
  "id": "fc_0197486123bc8bf2016ab2b1f138a487d080c4f434da22e524",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QsuwYre4kI2ApwiXjIA4fSMK",
  "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]: [-0.1509, 0.8295, 0.6521, -0.4343, -0.2329, -0.0784, 0.995, 0.6662, 2.0922, 0.6415, 1.1328, 0.6479, 0.0631, 0.0377]\nstate[eef_state]: left_x=0.2951 left_y=0.0 left_z=0.1838 left_yaw=0.0655 left_pitch=-0.0281 left_roll=0.0899 left_gripper=0.995 right_x=0.4104 right_y=0.1916 right_z=0.0391 right_yaw=0.0564 right_pitch=0.3143 right_roll=-0.113 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.5385, 6.9949, 1.6777, -0.0513, -0.022, -0.0122, -0.0068, -7.2137, 3.7402, 1.0574, -0.1832, 0.3004, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a487a99894b2e004159dff127405632109a8110767c6bc4c98965decfccf5076",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1e861108d819ae9dd79ce93b5e2865dae5bc0ee23b5c4544ca16375b37ba5ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:959facdf8c583e230f81aa637d5dc65791cd335da6543633a0cb4d3634f9425d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 10.83 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1505, 0.8261, 0.6521, -0.4332, -0.226, -0.0788, 0.995, 0.667, 2.1075, 0.6399, 1.0721, 0.614, 0.1009, 0.9962]\nstate[eef_state]: left_x=0.295 left_y=-0.0011 left_z=0.1848 left_yaw=0.0603 left_pitch=-0.0245 left_roll=0.0847 left_gripper=0.995 right_x=0.4049 right_y=0.1938 right_z=0.019 right_yaw=0.0777 right_pitch=0.246 right_roll=-0.1106 right_gripper=0.9962\nstate[joint_eff]: [-0.5402, -2.1265, 7.2274, 1.7949, -0.1636, -0.1197, -0.0073, 0.3214, -9.5111, 4.8615, 2.0733, 0.315, -0.0659, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The fingers stopped at a thin gap and the pink rim shifted with them. I’m lifting a short distance to confirm that the bowl is securely held.\"}",
  "call_id": "call_jlBRtQ9q9QJd5KFvp68jKXAA",
  "id": "fc_0197486123bc8bf2016ab2b1f60c5887d0922358dd7e18a65f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jlBRtQ9q9QJd5KFvp68jKXAA",
  "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]: [-0.1509, 0.831, 0.6521, -0.4343, -0.2333, -0.0784, 0.995, 0.6666, 1.8172, 0.6514, 0.8509, 0.6422, 0.0559, 0.0404]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1834 left_yaw=0.0658 left_pitch=-0.0296 left_roll=0.0904 left_gripper=0.995 right_x=0.407 right_y=0.1901 right_z=0.1012 right_yaw=0.0653 right_pitch=0.3154 right_roll=-0.117 right_gripper=0.0404\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.663, -0.0904, -0.0708, -0.0171, -0.1162, -9.0325, 7.9248, 1.7656, 0.1734, 0.0269, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0812298a835d9239fdd28e10bae638eb3277a00a67572c1695571bbd4257b3f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88030b6d212c43bac977c7f421f20dfbacc7b1b4538579927a154b5eb851ef68",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b048204603f857b5007d4304d9663ad5af10d332e03610835a603d01694f973",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.216 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8295, 0.6521, -0.4343, -0.2329, -0.0784, 0.995, 0.6662, 2.0922, 0.6415, 1.1328, 0.6479, 0.0631, 0.0377]\nstate[eef_state]: left_x=0.2951 left_y=0.0 left_z=0.1838 left_yaw=0.0655 left_pitch=-0.0281 left_roll=0.0899 left_gripper=0.995 right_x=0.4104 right_y=0.1916 right_z=0.0391 right_yaw=0.0564 right_pitch=0.3143 right_roll=-0.113 right_gripper=0.0377\nstate[joint_eff]: [-0.0205, -1.5385, 6.9949, 1.6777, -0.0513, -0.022, -0.0122, -0.0068, -7.2137, 3.7402, 1.0574, -0.1832, 0.3004, 0.906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIC-x-5tdW5Xg4yA6uoj1zJsDyWol9l6q7BMJcLfchNrYO3IsXPX4CEsVMq7ltGYjns6INeNKvW9NPFnlx6AN4GBQlHKLzugDCgjoO3v39eCN0aT4ugvX7gCoEOrh_BLDg-PZRM1irdejdVQ2zkJ5NjmKWTv_TCsZ2Iqeg742vBerIWT4BsB1nQS5pv8TG3Wf5i46dBZglnMSz4NVA39bildSLl3rLX4iCPJ3xgPK5NDStR2A7nTGnHiqJSBSXq68jC5qEsxAGPpt4o6mGM1rFpq__cBGkaF_DdpEHh3_WhbUW8fPA8-9_bpQQPfFPYaAMU4wXFOXtwElymnAZjR-NAioeZVfaXraFeoqe4og4lX5QALAvDJnfzsNDkbbEwzBMSSV0ar3nefyFbAYulpgDzVcB5bm_5TRQk8SdKrd4ex-3up_oe_Li7i6hbKp_ACDhMCFirRv2oWt8xRcLt8GDSpI4CnzMfLigRZOM-3n388DV3SD6-NtdqcmPgvA3XgMOdjHdOGeA8y2knJr3qk3DfNdNv_hIkxzpeKsZ2N1Qns78LSSikFzRZGr-rmWR1CiOWV1dK551-UEjdvU_I7itF28DJYiLJMTSCEdbnfIIzAjniM-ZS29P84aw76YlBd8MjMZA5Laa_1MvBhIiQU5gzqgK4AF_XGdBhw7XmfiyC_P-dp1c1_JeL8gKB0G9OrYmTOMrYUoy3ooqXL0614jYtewUgNIowCm_AolL9-TcNlbW6e12IEeEU_BV3kQB014fPCmMzByyNNbSPjiFZ0QKfiniYH2FO-8BnfOVw9Y5hoCBYB0U01KF4qRfyABjVxLeQbJQrgOJYywTFYXJVJdxY5PaNz7ccVW_StFjhlTAacZ26ifDqgQ1UraYEe46kqC6iw3QaLPt2OF8Ib2aD-uf-GPOLl4hH7PxO8Sw70qcmdxXNUXm577PB677iLamqYGh3xOL7xu7GEgeSVes60T1BYGPq0Witor5MCr52yHGVHfSSjx4TGCavbqMylWH0lktKWmQjle2FriJKCEXsJqw6_tMNBYxiztC_ukiXaQKM5EOewNDr-Sk3Dv0EXRQ11RUIUrkqDzdXwG-Fyz5KNN2bDp_3MZSlD784AiKWvhZEpJ3CZch_SBwS6kqR1ZoNydavJ_GHijkJ7KpEX6jNCWO4ZmL6e0Ohvf21JujeqqpH2hcDu4fe0Wrjcy7QGcFZnuYIVDKtK_0sQHFEdGi2jG7aM15wyxslnvQsjOJIjw3Uauqyn3gUv7ZVniPD89ZpGFJQG-VX0ptZ7-D6OcOdieHetPszNabzyeUIBn0X5XFMCh3haClJiKT1bHRr-sJZsm8yysY1JDiVWIcBO9hMWQR1YJXR5kxTKduu8B7Fo7uPWpwngRWwdODCT1lLDwGvz3kFrueQPJ-c8lWdRldaC4PYIvr_vSBJnBa2uxEYzf59EUS1rSIVtBKowb0NWBdKgl5x-yAgWk1pqnYsOK6jBeftYadEt3lLWvkDIyO9X2_CVVWdLuT0WoUWl_69-b8_DwTRxMv4trXFGOg7gOqGZvYlDVXKb8FptwBLi3t9QsyQItPiAR-FZsTnpJxjyVF49nxM-O1Uv_SWeEfgc4n_PxW0lVvjPyo875ER3vm4BrkdYVqAW8LivF6zBKuuEnNlSZkHASPrIERLnk7dYO-X5kiRJf9ubRPYNx0QjXcA428Gefs=",
  "id": "rs_0197486123bc8bf2016ab2b1fded0887d0865f37482c602193",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.365,\"right_z\":0.195,\"right_pitch\":0.35},\"note\":\"The pink bowl lifted cleanly. I’m carrying it toward the centre stack, keeping it above the other bowls.\"}",
  "call_id": "call_bWuSD3o1eCBYCr58UtvY5bRY",
  "id": "fc_0197486123bc8bf2016ab2b20137dc87d0b45bf33d62f9cd4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bWuSD3o1eCBYCr58UtvY5bRY",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 0.955, 2.0426, 1.3983, 0.2581, 0.8845, 0.1394, 0.0434]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.4209 right_y=0.3646 right_z=0.1796 right_yaw=0.1149 right_pitch=0.3229 right_roll=-0.1468 right_gripper=0.0434\nstate[joint_eff]: [-0.1709, -1.6752, 7.1179, 1.746, -0.1099, -0.0757, -0.0171, -0.0479, -11.3436, 9.0735, 1.6093, 0.486, 0.1978, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9aa2f0f1f5612b58a3f44b1b34ee1ee3b0272967e2bf25b4604996cc591a801",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a610c6094fae6b06a9a191324ad3d248581c587c60a779b245ef03997385e846",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9d633da2829ac7cba194ef3419fc96fb3eedc5b05905f6bfee033e966d7f891",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.146 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.831, 0.6521, -0.4343, -0.2333, -0.0784, 0.995, 0.6666, 1.8172, 0.6514, 0.8509, 0.6422, 0.0559, 0.0404]\nstate[eef_state]: left_x=0.2952 left_y=0.0001 left_z=0.1834 left_yaw=0.0658 left_pitch=-0.0296 left_roll=0.0904 left_gripper=0.995 right_x=0.407 right_y=0.1901 right_z=0.1012 right_yaw=0.0653 right_pitch=0.3154 right_roll=-0.117 right_gripper=0.0404\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.663, -0.0904, -0.0708, -0.0171, -0.1162, -9.0325, 7.9248, 1.7656, 0.1734, 0.0269, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrILiihrsuioUkpCcwkrw7RXUSQaA7ceD2mQeqmNIbaMzvJntYIf284heMeINkI4TkdVXoV7_mZ9X3DZQbI8faaG4hd_JkDYwXKODWcv_G4A4XG4A24rq3iRi0tAMN4-cFwWMCV7EODiUp-M7AoTXF1B79jBJvRnDdfDp9Pt8fdKPdBuI6f0I23IzdXw4pY78RV3viXPvXu4cIAJXychpuBwdMXwXQHtamhR9EQ2t7mdYa_fvMTegRM5AoKEY7tK3MHKaMEpYLeAxoqLxLL-a0MAb5OmJe7d2XAOqJNcgNt0ZhcNWaRnBduPdQZ7MHPOiYWXkn4D8FJMfK2izcBp2SLCU50NGj30mkP2iJga7nGwisdjtC8TelungndxYRX9GfN4uGCJWwM1Tb3e-m4sv7TosnscaufIGP3H-KVuLr3eFtK-6w4nMNUeb4her3p6boTFrf0EKBJB4SiiipmVzZzG1ZaldUbp59rwguC6H4jb-WqgRsVeWSyRoaQLPFrjCIVVFVeu4zjSGdf9y6YYQ9D4DPADG0u3QHqbM5bNjnyxZvqH4fvWHGWzAUpwVz6zft4kB_jEN6ari-6wUcskntssH4L9_F2yEPC2RysnjG2wcGS5LJWcNCvyqGDMniynsjf-9lLctzzkpGb8jhfGTz2P6QuM9Khzzu9Q690_VATJB_4ekcnug4Rm5_ufp0sirrQAkA24Ni6X8GuBO7CjEShIdZ9jdm0m4wYuUBgRhSYos6_c9WYUYot-bPS3E-yZtVOJvMMQim2vl7a3BUVUFJJgIcj22Cu3q-CAfQA-RdBxMs349OOYvGWdK2_WG855Sy_Xapc9Uh5IqCZrno1z8Gjsp5-LjdomGkLTpXTBWyldzS9ORNdkyZB3NCjSuxZe29m1BVpvgH55SNoxf4ndEwbjOewwHBvlp-KDnEnZmzBpzBfJxnQJEhhKaQQF9iwrvACgL1MDO_d18TmIBYLbygJSPauuYysD6KcEZVaJOUx-12gqQL_JyXhr7PM34B8A6rFtowAeQge9Dn9Hot-y3xmUDnLMcQ6fPJTCQDmh0XBuLoRGQsmPSdQsIQYDvnpRIL9PfbrmE0_uHAc0PqXGSMg3NpZ5eGVykhMzLK33BaTvJocBAi2QR1VwTj7NgU-mJWFfjoXxB6AZUU25D91FlltaMJH_Y59WQ2NE3m8bG0Bj1nst79t5ZWp7YnLj5kbIpQOGDwGbiHaCF3qjjZokfgxZjZLPPdXJAo2IU9LwMHl34Y8citihtIkug5gH0t7gReu3DYsvQCCGqA7p2C8hFhghiMl7v_OXXHBWzxQleizay_bcG3RC58Al3T-PqRfm5LQbPxpnOEYZR7qXkTls5Lb0Atc9km0TiGVOU0stpZcvh833lozVZM_Z_3g-G9OBuL1b",
  "id": "rs_0197486123bc8bf2016ab2b207a75487d0a88d4c90d75f9820",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.4,\"right_z\":0.11},\"note\":\"The pink bowl is a little right of the stack. I’m moving it left to the safe workspace limit and lowering until I can judge the final nesting alignment.\"}",
  "call_id": "call_X7367nxDclk5OPhXhYwBQXLx",
  "id": "fc_0197486123bc8bf2016ab2b209da6887d09394491379577aff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_X7367nxDclk5OPhXhYwBQXLx",
  "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]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0039, 2.2517, 1.4178, 0.3374, 0.9085, 0.157, 0.0461]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4112 right_y=0.3932 right_z=0.0911 right_yaw=0.1589 right_pitch=0.2589 right_roll=-0.2222 right_gripper=0.0461\nstate[joint_eff]: [-0.1436, -1.4701, 6.9812, 1.6532, -0.1245, -0.0708, -0.0122, 0.2803, -13.6137, 8.5402, 1.9707, 0.4615, 0.0806, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63b615dddfe404224e44628888000600684c8b05bbccd39559d8b6788feacfd5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bf4cded838131504d38151c01dfaff3419b24b7e15fb2e3d6906f5fe3192de3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75dc364a61c7f6225fcc87d766ed92f65a9a720f44c989c63c439023b3e5fcbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.546 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 0.955, 2.0426, 1.3983, 0.2581, 0.8845, 0.1394, 0.0434]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.4209 right_y=0.3646 right_z=0.1796 right_yaw=0.1149 right_pitch=0.3229 right_roll=-0.1468 right_gripper=0.0434\nstate[joint_eff]: [-0.1709, -1.6752, 7.1179, 1.746, -0.1099, -0.0757, -0.0171, -0.0479, -11.3436, 9.0735, 1.6093, 0.486, 0.1978, 0.6374]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrIPZSwdnfuxNQN8AGroOQi0Sj3JRiqLPHJnR4z4vyfTpeDAzqoEa27_4RrZngiKSl2B1hzGgtIR2mvrW9UVRD1QWmLFy1GEdXgU32JHLIJrwnCfMvC0FpE1MTYo0BqRZhDv4MJxtnJI5KAJ3aw9H6S0suzc4yJ8GREdgg-LNnNvPrSa5S-OyNibit0u8rRmUgk3cdn61bSnzc2POleFHuubXhvSyAOFPv_-3g6SlciBgyXs8ElQijdWWLiIV0tDrKyLT3sX_GGfysCUGFvPkhzqpPr_FhmvtpRonroQCKkePtX1rjy6HhD6BIJKXiu7OHLEScc4Rk2tAaBX6nowx6LJeoVFDqfIdrQHahtE5rM9g0ZJwx8HrIv0Ydv2FvmrHvR_cB90G74SK9IxaNHz6PH4tLi7Uv_XLFVBrl0H-n89w_hjr9IZQugUmWzz86iCplgfQ0DfbaPZ4FV-YoGuiOpQiKraA_RXLOV5IzGSJ0bYs4SyxdBs1qyminVwazCG5tI5CGiK0OYrCCWEFkpmRtQWg2BA9ivNVjFug7D-zwHVf4Tx5T7pQ_y5zCSuQHHhQGsDFR0rK2ZfyQwUxEpSybEYZLc5TYViHMqIXgJTVqfOO55a1QOIIO_i4JwdbV8_bfQy58gXGaF9a6tHpxrwdK4wzVqKh9Xk7Wp4ncm3J_xBmcZ39qBgmtKmHeAzLwzB99yyjuLc0g-MlgufRv5V-BsJibIW8fXaNVX9EmthOzcnlm2cKcHXGWzI-w8XQTs93aMOlpCBwWkPVbmjPDoKdoQBJsDuFAP4mI-kd-W3dwB9wFUDdp1179ux9y5c3l1vw_O79gPnMtJQ-LJ3itoSwn9Jb-7BcP7fd89jNcAQm5yMZm6z7baCodLjWANXyWXBhNocKpK9zf4lygNXVTWAmDTgyL0sdfbiHWqIJXuoJthpSoMvruPh5OrKEfo55KgvcMhibfVfk-iGAEIg7cLRjy4paBRKL6w3LgEMqnrN286uXZtmB3PuPmj6gkc-2RXNImsPLJIFzzD16awp-NeQ8P2lIdj93dAHDL3CULHNj01-MkPmcqcKL4G7TzlJPlKrWvW0rB02fiuE9z0e87i7wC44HMyZs-ArHtvEAv0wL844y33DRpAKEJRgksulIG7uPK7afxHnl6RuEqlXOWiLtBLDTetSw1plUtPTXCeD9eKYCyEnFoKW-IHsRe-Pb_bhpQiwXOnR9mp_qRtd-syZMbkZgaE0iTcJfO0qg-Vo_ZYXrZn8eh4Eb5p1sxHgM2_D9cnYxfhjozkN8DZF0xbg83bU_A7R5KHQp1uMv7CUNIB1n4w=",
  "id": "rs_0197486123bc8bf2016ab2b20da85487d0af9b9521c1334f15",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pink bowl is now centred over the two-bowl stack. I’m lowering the final few centimetres so its base seats inside the upper bowl.\"}",
  "call_id": "call_4PjS2YeMzpMlRROUIuIlzMH9",
  "id": "fc_0197486123bc8bf2016ab2b20ee86c87d090bd19c53e3817c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4PjS2YeMzpMlRROUIuIlzMH9",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0126, 2.2684, 1.4197, 0.371, 0.9089, 0.1623, 0.0456]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4093 right_y=0.3992 right_z=0.0881 right_yaw=0.1607 right_pitch=0.272 right_roll=-0.2025 right_gripper=0.0456\nstate[joint_eff]: [-0.1709, -1.2923, 6.9949, 1.7118, -0.1392, -0.0855, -0.0122, -0.4034, -13.7368, 7.9248, 1.8779, 0.4225, 0.0806, 0.3541]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bc7a37ad21202d0dae608ac320b07cbe61587b270ccd1265e2fcdfe0eaf2ab7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:50b776699fa06ef574b1916e53d11d81f115c601b374901b43a7cbff3f2e3d75",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8265226b233221b951309b5bfff23d8acdfcd720e57820ef82b7a47480fd569",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 6.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0039, 2.2517, 1.4178, 0.3374, 0.9085, 0.157, 0.0461]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4112 right_y=0.3932 right_z=0.0911 right_yaw=0.1589 right_pitch=0.2589 right_roll=-0.2222 right_gripper=0.0461\nstate[joint_eff]: [-0.1436, -1.4701, 6.9812, 1.6532, -0.1245, -0.0708, -0.0122, 0.2803, -13.6137, 8.5402, 1.9707, 0.4615, 0.0806, 0.6471]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The downward motion stopped with the pink bowl supported by the stack. I’m releasing the rim so it can settle naturally.\"}",
  "call_id": "call_9jRE6llPQ7EjZK1h7dIBRiwu",
  "id": "fc_0197486123bc8bf2016ab2b21280c087d08d8d18773152b8ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9jRE6llPQ7EjZK1h7dIBRiwu",
  "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]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 1.0126, 2.2688, 1.4189, 0.3676, 0.907, 0.1589, 0.9952]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.409 right_y=0.3991 right_z=0.087 right_yaw=0.165 right_pitch=0.2679 right_roll=-0.2089 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.4427, 6.9812, 1.6484, -0.1001, -0.0513, -0.0171, -0.1846, -12.6701, 6.106, 1.5995, 0.2222, 0.0659, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833a25d709bf58b4a3f53f1934950ad16e89d1bf7d8cabf1cfa47adbbe8ce8b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51e676ae3afcd192917ad1d80213392804d7dccf57818c5f41e1d05c26d4ef41",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7655bdc65c54ff0f280853ee43a7eb66efcf22ed4537dd2e4d0d562f6941813",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 13.8 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0788, 0.995, 1.0126, 2.2684, 1.4197, 0.371, 0.9089, 0.1623, 0.0456]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0661 left_pitch=-0.0411 left_roll=0.0926 left_gripper=0.995 right_x=0.4093 right_y=0.3992 right_z=0.0881 right_yaw=0.1607 right_pitch=0.272 right_roll=-0.2025 right_gripper=0.0456\nstate[joint_eff]: [-0.1709, -1.2923, 6.9949, 1.7118, -0.1392, -0.0855, -0.0122, -0.4034, -13.7368, 7.9248, 1.8779, 0.4225, 0.0806, 0.3541]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2,\"right_x\":0.415,\"right_y\":0.39},\"note\":\"The pink bowl has settled after release. I’m lifting the open fingers clear before moving the arm away for a final view of the stack.\"}",
  "call_id": "call_siL5sKsagF6qXMTGgaqDFHhd",
  "id": "fc_0197486123bc8bf2016ab2b21a167887d0ae499db0597f96c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_siL5sKsagF6qXMTGgaqDFHhd",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 0.9993, 2.1235, 1.5452, 0.0559, 0.881, 0.1368, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.4117 right_y=0.3949 right_z=0.1621 right_yaw=0.1918 right_pitch=0.2289 right_roll=-0.2522 right_gripper=0.9956\nstate[joint_eff]: [-0.1983, -1.3607, 7.1453, 1.6825, -0.1392, -0.0757, -0.0171, -0.9641, -15.6513, 9.4427, 1.707, 0.2466, 0.0562, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d2a4ee77a67e881bd2a36733eee90ee843f1813de09174dc0e6be49e3281364",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86c0a275d410627372b5bba3d8925d9bcdc743c02d8d914c1f491c7e1ce0cced",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f120e2e2301a8db8784f893f26cb577de8fa2bf2e4b48ec951ba8b9e2181d70",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 6.941 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8341, 0.6506, -0.4416, -0.2333, -0.0784, 0.995, 1.0126, 2.2688, 1.4189, 0.3676, 0.907, 0.1589, 0.9952]\nstate[eef_state]: left_x=0.2942 left_y=0.0002 left_z=0.1804 left_yaw=0.0659 left_pitch=-0.0411 left_roll=0.0929 left_gripper=0.995 right_x=0.409 right_y=0.3991 right_z=0.087 right_yaw=0.165 right_pitch=0.2679 right_roll=-0.2089 right_gripper=0.9952\nstate[joint_eff]: [-0.0342, -1.4427, 6.9812, 1.6484, -0.1001, -0.0513, -0.0171, -0.1846, -12.6701, 6.106, 1.5995, 0.2222, 0.0659, -0.1245]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19},\"note\":\"The open gripper is clear of the bowls. I’m parking both arms away from the centre so I can verify that all three bowls remain stacked.\"}",
  "call_id": "call_wE9RgwxqNfODM6SviBx4pkfb",
  "id": "fc_0197486123bc8bf2016ab2b22874a487d0bf898663268089ce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wE9RgwxqNfODM6SviBx4pkfb",
  "output": "executing move_to over 33 steps (3.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1509, 0.8436, 0.6506, -0.4683, -0.2333, -0.0784, 0.995, -0.0288, 0.7963, 0.6109, -0.366, 0.0048, -0.3218, 0.9956]\nstate[eef_state]: left_x=0.2909 left_y=0.0007 left_z=0.1727 left_yaw=0.0664 left_pitch=-0.0765 left_roll=0.1008 left_gripper=0.995 right_x=0.2975 right_y=-0.0058 right_z=0.1854 right_yaw=0.1273 right_pitch=-0.0027 right_roll=-0.2566 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.6479, 10.1812, 1.619, -0.105, -0.0611, -0.0122, -0.1573, -1.6342, 8.1846, 1.7705, -0.1832, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07201c1cb058a7d64479bb1a537fb1279b149b34996902a9e84a6d4febe19e2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b1fc49ad838d6a8e8e7da6a1933a3ee8550f08a13f53b20f96f334d80b95faa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364ea58e38eb7b20d85794e1ff5dd59e4f7fd721a5d18cc67c52a509c9abc181",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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