adhoc

completed
2026-09-22T17:51:39.536100+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
218.4 s
total steps
251
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the turquoise bowl’s near-side rim with the left gripper so I can lift it by the rim rather than squeeze across its full width.
move_to
left_x0.3300left_y-0.1350left_z0.1500left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0193, 0.7944, 0.6044, -0.3801, -0.0223, -0.0261, 0.9957, -0.0208, 0.7925, 0.6006, -0.3832, -0.0158, -0.0402, 0.9993] state[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2938 right_y=0.0003 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.6496, -1.5111, 10.1538, 1.7998, -0.0122, 0.0855, -0.4567, -0.4718, -1.347, 10.3043, 1.9756, -0.0952, 0.2418, -0.0952] 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":0.33,"left_y":-0.135,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"I see three upright bowls in a row. I’ll approach the turquoise bowl’s near-side rim with the left gripper so I can lift it by the rim rather than squeeze across its full width."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe turquoise bowl is centered in the wrist view, with its left rim clearly visible. I’ll shift toward that rim and lower to just above its lip.
move_to
left_x0.3450left_y-0.1000left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.646, 1.2091, 0.6582, -0.1989, -0.5064, -0.3885, 0.9958, -0.0219, 0.8005, 0.6037, -0.3935, -0.0151, -0.0448, 0.9992] state[eef_state]: left_x=0.3182 left_y=-0.1281 left_z=0.1289 left_yaw=-0.0305 left_pitch=-0.0693 left_roll=0.0378 left_gripper=0.9958 right_x=0.2933 right_y=-0.0002 right_z=0.1752 right_yaw=0.0007 right_pitch=-0.0153 right_roll=-0.0039 right_gripper=0.9992 state[joint_eff]: [-0.3761, -4.1778, 9.3744, 1.7949, -0.3834, -0.0757, -0.4518, -0.4034, -1.7709, 7.4051, 1.746, -0.0659, 0.0366, -0.022] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.1,"left_z":0.065},"note":"The turquoise bowl is centered in the wrist view, with its left rim clearly visible. I’ll shift toward that rim and lower to just above its lip."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe open fingers now straddle the turquoise bowl’s near-left edge. I’ll advance slightly and lower enough for one finger to enter the bowl before closing on the rim.
move_to
left_x0.3600left_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.49, 1.3834, 0.4988, 0.0952, -0.4114, -0.3027, 0.9955, -0.0216, 0.8036, 0.6022, -0.3965, -0.0154, -0.0486, 0.9992] state[eef_state]: left_x=0.3313 left_y=-0.0926 left_z=0.0553 left_yaw=0.0071 left_pitch=-0.1409 left_roll=0.0698 left_gripper=0.9955 right_x=0.2929 right_y=0.0 right_z=0.1731 right_yaw=0.0035 right_pitch=-0.0229 right_roll=-0.0067 right_gripper=0.9992 state[joint_eff]: [0.2393, -5.094, 5.7778, 1.8437, -0.0855, 0.0659, -0.0415, -0.0479, -1.0051, 7.1863, 1.7802, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_z":0.025},"note":"The open fingers now straddle the turquoise bowl’s near-left edge. I’ll advance slightly and lower enough for one finger to enter the bowl before closing on the rim."})
tool
executing move_to over 3 steps (0.3s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteOne finger is inside the turquoise bowl and the other is outside its left wall. I’ll close on that wall to secure the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.445, 1.5791, 0.503, 0.2523, -0.3859, -0.2783, 0.9954, -0.0219, 0.8066, 0.6018, -0.4118, -0.0151, -0.049, 0.9992] state[eef_state]: left_x=0.3462 left_y=-0.0875 left_z=0.0175 left_yaw=0.0211 left_pitch=-0.181 left_roll=0.0877 left_gripper=0.9954 right_x=0.2909 right_y=-0.0001 right_z=0.169 right_yaw=0.003 right_pitch=-0.0416 right_roll=-0.0067 right_gripper=0.9992 state[joint_eff]: [0.294, -7.1043, 7.5556, 1.7851, -0.1099, 0.0659, -0.022, -0.2667, -0.9778, 7.0496, 1.8535, -0.0464, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"One finger is inside the turquoise bowl and the other is outside its left wall. I’ll close on that wall to secure the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe gripper stopped at about a centimeter of thickness, consistent with holding the bowl wall. I’ll lift a short distance to confirm the bowl follows.
move_to
left_z0.1050right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4381, 1.5936, 0.5282, 0.3336, -0.3668, -0.2844, 0.0997, -0.0219, 0.8089, 0.6003, -0.4156, -0.0151, -0.049, 0.9992] state[eef_state]: left_x=0.3653 left_y=-0.0972 left_z=0.0337 left_yaw=0.0101 left_pitch=-0.1042 left_roll=0.03 left_gripper=0.0997 right_x=0.2903 right_y=-0.0001 right_z=0.1669 right_yaw=0.003 right_pitch=-0.0492 right_roll=-0.0066 right_gripper=0.9992 state[joint_eff]: [0.3214, -4.8889, 5.4496, 1.2527, -0.2564, 0.1783, 0.4274, -0.0752, -1.4564, 7.3368, 1.7363, -0.022, -0.0806, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"The gripper stopped at about a centimeter of thickness, consistent with holding the bowl wall. I’ll lift a short distance to confirm the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe turquoise bowl lifted with the gripper. I’ll carry it above the purple bowl in the middle, keeping it clear of both bowls on the table.
move_to
left_x0.3700left_y-0.2170left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4385, 1.4071, 0.651, 0.0269, -0.3668, -0.2882, 0.0992, -0.0216, 0.8326, 0.6182, -0.458, -0.0154, -0.0528, 0.9992] state[eef_state]: left_x=0.365 left_y=-0.0972 left_z=0.0916 left_yaw=0.0117 left_pitch=-0.1017 left_roll=0.0258 left_gripper=0.0992 right_x=0.2877 right_y=0.0001 right_z=0.1603 right_yaw=0.0059 right_pitch=-0.0973 right_roll=-0.0081 right_gripper=0.9992 state[joint_eff]: [-0.3487, -6.4479, 8.7863, 1.6337, -0.1978, 0.0269, -0.0562, 0.0068, -1.0051, 10.2632, 1.8291, -0.0611, 0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.217,"left_z":0.18},"note":"The turquoise bowl lifted with the gripper. I’ll carry it above the purple bowl in the middle, keeping it clear of both bowls on the table."})
tool
executing move_to over 11 steps (1.1s)
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 wrist view shows the turquoise bowl still off to the left, so the rim grasp did not remain secure during transport. I’ll open and move clear to locate it again before retrying.
move_to
left_x0.2900left_y-0.0600left_z0.2200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7654, 1.5799, 1.1698, -0.4419, -0.5758, -0.5442, 0.0992, -0.0219, 0.836, 0.6197, -0.4679, -0.0151, -0.0528, 0.9992] state[eef_state]: left_x=0.3682 left_y=-0.2154 left_z=0.1692 left_yaw=-0.0076 left_pitch=-0.1135 left_roll=0.0182 left_gripper=0.0992 right_x=0.2865 right_y=-0.0 right_z=0.1581 right_yaw=0.0052 right_pitch=-0.1091 right_roll=-0.008 right_gripper=0.9992 state[joint_eff]: [-0.3214, -7.0359, 8.841, 1.2186, -0.3834, 0.0024, -0.0171, -0.1573, -1.6752, 6.8444, 1.7021, -0.0464, -0.0611, -0.0122] 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":0.29,"left_y":-0.06,"left_z":0.22,"left_gripper":1},"note":"The wrist view shows the turquoise bowl still off to the left, so the rim grasp did not remain secure during transport. I’ll open and move clear to locate it again before retrying."})
tool
executing move_to over 14 steps (1.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteAll three bowls are still on the table. I’ll retry the turquoise bowl farther forward, aiming at the middle of its side wall rather than the shallow near edge.
move_to
left_x0.4100left_y-0.1350left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4217, 0.9684, 0.9211, -0.6693, -0.3569, -0.3084, 0.9949, -0.0216, 0.8383, 0.6197, -0.4747, -0.0151, -0.0528, 0.9992] state[eef_state]: left_x=0.2965 left_y=-0.0615 left_z=0.2233 left_yaw=0.0308 left_pitch=-0.093 left_roll=-0.0016 left_gripper=0.9949 right_x=0.2856 right_y=0.0001 right_z=0.1562 right_yaw=0.0056 right_pitch=-0.1183 right_roll=-0.0078 right_gripper=0.9992 state[joint_eff]: [0.253, -2.2906, 6.1744, 1.6923, -0.1245, 0.2515, -0.4567, -0.0479, -1.1966, 6.9675, 1.6777, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.135,"left_z":0.085},"note":"All three bowls are still on the table. I’ll retry the turquoise bowl farther forward, aiming at the middle of its side wall rather than the shallow near edge."})
tool
executing move_to over 9 steps (0.9s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe bowl is now centered between the open fingers, with the fingers outside both sides. I’ll lower toward its narrower lower walls for a more secure two-sided grasp.
move_to
left_z0.0150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4847, 1.6238, 0.8085, -0.036, -0.3973, -0.3565, 0.9952, -0.0219, 0.8425, 0.617, -0.4755, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.3868 left_y=-0.1224 left_z=0.0634 left_yaw=0.0358 left_pitch=-0.1978 left_roll=0.0508 left_gripper=0.9952 right_x=0.2852 right_y=-0.0 right_z=0.1538 right_yaw=0.0055 right_pitch=-0.1259 right_roll=-0.0079 right_gripper=0.9992 state[joint_eff]: [-0.3624, -8.6769, 8.7453, 1.6532, -0.3199, -0.0171, 0.0269, -0.1299, -1.7983, 7.159, 1.5946, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.015},"note":"The bowl is now centered between the open fingers, with the fingers outside both sides. I’ll lower toward its narrower lower walls for a more secure two-sided grasp."})
tool
executing move_to over 4 steps (0.4s)
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 descent stopped near the bowl walls, and both fingers appear outside the bowl. I’ll close and check whether this wider grasp holds securely.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3939, -0.3637, 0.9952, -0.0216, 0.8436, 0.6151, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.3846 left_y=-0.1218 left_z=0.0367 left_yaw=0.0384 left_pitch=-0.2101 left_roll=0.0498 left_gripper=0.9952 right_x=0.285 right_y=0.0001 right_z=0.1527 right_yaw=0.0059 right_pitch=-0.1286 right_roll=-0.0078 right_gripper=0.9992 state[joint_eff]: [-0.1573, -6.8718, 5.6137, 1.4676, -0.2418, 0.0513, -0.0122, -0.0205, -1.5521, 7.1316, 1.619, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The descent stopped near the bowl walls, and both fingers appear outside the bowl. I’ll close and check whether this wider grasp holds securely."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe gripper closed empty inside the bowl, so the bowl is wider than the available jaw opening here. I’ll reopen, lift, and move onto its left rim for a deliberate rim pinch.
move_to
left_gripper1.0000left_z0.1050left_x0.4250left_y-0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3935, -0.3641, 0.0082, -0.0219, 0.8436, 0.6128, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.3846 left_y=-0.1219 left_z=0.0367 left_yaw=0.0383 left_pitch=-0.2102 left_roll=0.0493 left_gripper=0.0082 right_x=0.2847 right_y=0.0 right_z=0.1517 right_yaw=0.0055 right_pitch=-0.1309 right_roll=-0.0077 right_gripper=0.9992 state[joint_eff]: [-0.0615, -7.3915, 5.5863, 1.3993, -0.1685, -0.022, 0.6325, -0.0068, -1.4701, 7.1316, 1.5995, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.105,"left_x":0.425,"left_y":-0.075},"note":"The gripper closed empty inside the bowl, so the bowl is wider than the available jaw opening here. I’ll reopen, lift, and move onto its left rim for a deliberate rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe left rim is now aligned with the center of the gripper, with one finger over the bowl and one outside. I’ll lower around that rim.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.297, 1.6447, 0.9424, -0.1646, -0.2817, -0.2443, 0.9947, -0.0219, 0.8436, 0.6109, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.4175 left_y=-0.0727 left_z=0.0802 left_yaw=0.0693 left_pitch=-0.2535 left_roll=0.0571 left_gripper=0.9947 right_x=0.2844 right_y=0.0 right_z=0.1509 right_yaw=0.0055 right_pitch=-0.1328 right_roll=-0.0077 right_gripper=0.9992 state[joint_eff]: [0.4171, -10.3453, 8.9231, 1.3993, -0.0024, 0.1734, -0.2857, -0.2667, -1.4701, 7.1179, 1.619, -0.0317, -0.0611, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The left rim is now aligned with the center of the gripper, with one finger over the bowl and one outside. I’ll lower around that rim."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe fingers are positioned on opposite sides of the turquoise rim. I’ll pinch it and then test the hold with a vertical lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2935, 1.721, 0.8677, -0.0471, -0.281, -0.2356, 0.9952, -0.0216, 0.8436, 0.609, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.4123 left_y=-0.0697 left_z=0.0401 left_yaw=0.0705 left_pitch=-0.2854 left_roll=0.0751 left_gripper=0.9952 right_x=0.284 right_y=0.0001 right_z=0.15 right_yaw=0.0059 right_pitch=-0.1347 right_roll=-0.0076 right_gripper=0.9992 state[joint_eff]: [-0.4308, -8.1162, 6.065, 1.6435, -0.1294, -0.1343, 0.0464, -0.0068, -1.4427, 7.1316, 1.6093, -0.0464, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers are positioned on opposite sides of the turquoise rim. I’ll pinch it and then test the hold with a vertical lift."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteThe rim is visibly between the fingertips, although its thin wall gives a small gripper reading. I’ll lift straight up and verify the bowl moves off the table.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 1.7206, 0.8581, -0.0208, -0.2623, -0.2581, 0.0228, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.4136 left_y=-0.0736 left_z=0.0401 left_yaw=0.0654 left_pitch=-0.2737 left_roll=0.0392 left_gripper=0.0228 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992 state[joint_eff]: [-0.1026, -6.7487, 6.1607, 0.9402, -0.4274, 0.1587, 0.9695, -0.1299, -1.2786, 7.0632, 1.5751, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12},"note":"The rim is visibly between the fingertips, although its thin wall gives a small gripper reading. I’ll lift straight up and verify the bowl moves off the table."})
tool
executing move_to over 6 steps (0.6s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe turquoise bowl has lifted visibly and remains against the fingertips. I’ll move it above the purple bowl, allowing clearance for its hanging base.
move_to
left_x0.4050left_y-0.1950left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2943, 1.6123, 1.0149, -0.3164, -0.2619, -0.2588, 0.0324, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.4108 left_y=-0.073 left_z=0.0971 left_yaw=0.0683 left_pitch=-0.3023 left_roll=0.0496 left_gripper=0.0324 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992 state[joint_eff]: [-0.0752, -9.3333, 9.1556, 1.3993, -0.1929, -0.0317, 1.0281, -0.1846, -1.3333, 6.9538, 1.6093, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.195,"left_z":0.19},"note":"The turquoise bowl has lifted visibly and remains against the fingertips. I’ll move it above the purple bowl, allowing clearance for its hanging base."})
tool
executing move_to over 11 steps (1.1s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe carried bowl is slightly left of the purple bowl in the overhead view. I’ll center it a little farther right and lower slowly toward the purple bowl’s opening.
move_to
left_y-0.2200left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6201, 1.7515, 1.5227, -0.7898, -0.4221, -0.5308, 0.037, -0.0216, 0.8448, 0.6071, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.403 left_y=-0.1944 left_z=0.1778 left_yaw=0.0418 left_pitch=-0.3206 left_roll=0.0427 left_gripper=0.037 right_x=0.2838 right_y=0.0001 right_z=0.1489 right_yaw=0.0059 right_pitch=-0.1377 right_roll=-0.0075 right_gripper=0.9992 state[joint_eff]: [-0.335, -8.5265, 8.8821, 1.0476, -0.5348, -0.0464, 1.0281, -0.0205, -1.4291, 7.0085, 1.5946, -0.022, -0.0464, -0.0171] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.22,"left_z":0.085},"note":"The carried bowl is slightly left of the purple bowl in the overhead view. I’ll center it a little farther right and lower slowly toward the purple bowl’s opening."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe turquoise bowl is aligned over the purple bowl’s opening. I’ll lower the last few centimeters to let it nest before releasing.
move_to
left_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6716, 1.858, 1.3079, -0.5465, -0.4438, -0.5674, 0.0387, -0.0219, 0.8448, 0.6071, -0.4751, -0.0151, -0.0528, 0.9992] state[eef_state]: left_x=0.3937 left_y=-0.2115 left_z=0.0841 left_yaw=0.0449 left_pitch=-0.3671 left_roll=0.087 left_gripper=0.0387 right_x=0.2838 right_y=0.0 right_z=0.1489 right_yaw=0.0053 right_pitch=-0.1377 right_roll=-0.0072 right_gripper=0.9992 state[joint_eff]: [-0.3214, -8.8684, 6.3658, 1.1941, -0.3053, -0.1538, 1.033, -0.0889, -1.4701, 7.2957, 1.5995, -0.0464, -0.0366, -0.0171] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.05},"note":"The turquoise bowl is aligned over the purple bowl’s opening. I’ll lower the last few centimeters to let it nest before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe bowl has settled into the purple bowl and the descent has slowed at contact. I’ll release the rim without moving the stack.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6754, 1.8858, 1.2415, -0.4423, -0.4458, -0.5858, 0.0402, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.3936 left_y=-0.2132 left_z=0.0609 left_yaw=0.0505 left_pitch=-0.3577 left_roll=0.0697 left_gripper=0.0402 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992 state[joint_eff]: [-0.0479, -8.1846, 5.7915, 0.8376, -0.1001, 0.1929, 0.9402, -0.335, -1.265, 6.9949, 1.58, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65},"note":"The bowl has settled into the purple bowl and the descent has slowed at contact. I’ll release the rim without moving the stack."})
tool
executing move_to over 7 steps (0.7s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe turquoise bowl is resting inside the purple bowl. I’ll lift the left fingers clear before approaching the remaining pink bowl with the right arm.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6754, 1.8992, 1.2308, -0.4141, -0.4435, -0.5732, 0.6458, -0.0216, 0.8448, 0.6067, -0.4751, -0.0151, -0.0528, 0.9992] state[eef_state]: left_x=0.3948 left_y=-0.2146 left_z=0.0545 left_yaw=0.0406 left_pitch=-0.3564 left_roll=0.0732 left_gripper=0.6458 right_x=0.2837 right_y=0.0001 right_z=0.1487 right_yaw=0.0057 right_pitch=-0.1381 right_roll=-0.0072 right_gripper=0.9992 state[joint_eff]: [0.1299, -9.265, 5.6547, 1.1013, -0.315, 0.0269, -0.1197, -0.1436, -1.4564, 6.9675, 1.619, -0.0269, -0.0171, -0.0122] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The turquoise bowl is resting inside the purple bowl. I’ll lift the left fingers clear before approaching the remaining pink bowl with the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe two-bowl stack is stable in the middle. I’ll park the left arm and bring the right gripper above the pink bowl’s right-hand rim.
move_to
left_x0.2900left_y0.0000left_z0.2000left_gripper1.0000right_x0.3950right_y0.1200right_z0.1150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6754, 1.8217, 1.6222, -0.8593, -0.4427, -0.5774, 0.6464, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992] state[eef_state]: left_x=0.4008 left_y=-0.2195 left_z=0.1779 left_yaw=0.0369 left_pitch=-0.3388 left_roll=0.0534 left_gripper=0.6464 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992 state[joint_eff]: [-0.3487, -9.812, 9.1966, 1.1306, -0.3053, -0.0171, 0.0562, -0.0342, -1.4974, 6.9675, 1.5995, -0.0513, -0.0513, -0.0171] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"left_gripper":1,"right_x":0.395,"right_y":0.12,"right_z":0.115,"right_gripper":1},"note":"The two-bowl stack is stable in the middle. I’ll park the left arm and bring the right gripper above the pink bowl’s right-hand rim."})
tool
executing move_to over 20 steps (2.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe pink bowl’s right rim is visible just to the right of the jaw column. I’ll move slightly forward and outward, then lower the fingers around that rim.
move_to
right_x0.4200right_y0.1000right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0967, 1.0859, 1.0363, -0.8703, -0.1425, -0.12, 0.9952, 0.4149, 1.5005, 0.8364, -0.173, 0.284, 0.2146, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0002 left_z=0.1986 left_yaw=0.0846 left_pitch=-0.3382 left_roll=0.0472 left_gripper=0.9952 right_x=0.3772 right_y=0.1159 right_z=0.0937 right_yaw=0.0374 right_pitch=-0.2195 right_roll=-0.0404 right_gripper=0.9993 state[joint_eff]: [0.253, -3.4667, 6.4615, 1.4237, 0.0024, 0.1294, -0.486, 0.2256, -6.5846, 9.0188, 1.9365, 0.3883, 0.2662, -0.0904] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.10,"right_z":0.055},"note":"The pink bowl’s right rim is visible just to the right of the jaw column. I’ll move slightly forward and outward, then lower the fingers around that rim."})
tool
executing move_to over 4 steps (0.4s)
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 right rim now passes between the fingertips, with one finger inside the pink bowl. I’ll close gently on the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8864, -0.1314, -0.1127, 0.9953, 0.3199, 1.6985, 0.8429, -0.0586, 0.2325, 0.1528, 0.9992] state[eef_state]: left_x=0.291 left_y=-0.001 left_z=0.193 left_yaw=0.0734 left_pitch=-0.3647 left_roll=0.0472 left_gripper=0.9953 right_x=0.3983 right_y=0.0928 right_z=0.0367 right_yaw=0.0132 right_pitch=-0.3073 right_roll=-0.0713 right_gripper=0.9992 state[joint_eff]: [-0.1162, -3.2889, 7.1726, 1.4823, -0.2173, -0.0073, -0.0024, -0.1573, -8.5265, 8.212, 1.8926, -0.0171, -0.0024, -0.022] 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_gripper":0},"note":"The right rim now passes between the fingertips, with one finger inside the pink bowl. I’ll close gently on the rim."})
tool
executing move_to over 10 steps (1.0s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe thin pink rim is visibly pinched between the jaws. I’ll lift vertically to check that it is secure before moving toward the stack.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8871, -0.1307, -0.12, 0.9953, 0.3138, 1.7123, 0.8474, 0.0021, 0.1944, 0.1383, 0.0215] state[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1929 left_yaw=0.0769 left_pitch=-0.3654 left_roll=0.0421 left_gripper=0.9953 right_x=0.4091 right_y=0.1006 right_z=0.0411 right_yaw=0.0521 right_pitch=-0.2666 right_roll=-0.0365 right_gripper=0.0215 state[joint_eff]: [-0.1162, -2.7556, 6.5573, 1.3114, -0.0708, -0.0024, -0.0171, 0.0342, -7.9248, 7.5145, 1.3309, 0.3736, -0.0952, 0.8523] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12},"note":"The thin pink rim is visibly pinched between the jaws. I’ll lift vertically to check that it is secure before moving toward the stack."})
tool
executing move_to over 6 steps (0.6s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe pink bowl lifted with the gripper. I’ll carry it leftward above the two-bowl stack, keeping its base well above the top rim.
move_to
right_x0.4300right_y0.2450right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8867, -0.1307, -0.1204, 0.9953, 0.3141, 1.6085, 0.997, -0.2977, 0.1928, 0.1303, 0.0235] state[eef_state]: left_x=0.2909 left_y=-0.0012 left_z=0.1929 left_yaw=0.0771 left_pitch=-0.365 left_roll=0.0418 left_gripper=0.9953 right_x=0.4037 right_y=0.0993 right_z=0.0923 right_yaw=0.0547 right_pitch=-0.3121 right_roll=-0.0532 right_gripper=0.0235 state[joint_eff]: [-0.1026, -2.988, 6.612, 1.3211, -0.1148, -0.0611, -0.0122, -0.0615, -9.9761, 9.2376, 1.5263, 0.0659, 0.0513, 1.0281] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.245,"right_z":0.2},"note":"The pink bowl lifted with the gripper. I’ll carry it leftward above the two-bowl stack, keeping its base well above the top rim."})
tool
executing move_to over 13 steps (1.3s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
assistant
agent noteThe pink bowl is just to the right of the stack. I’ll shift it slightly left and lower it over the turquoise bowl’s opening.
move_to
right_y0.2600right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0912, 1.0317, -0.8879, -0.1307, -0.12, 0.9953, 0.6384, 1.9152, 1.771, -0.8619, 0.3561, 0.3702, 0.0261] state[eef_state]: left_x=0.2907 left_y=-0.0011 left_z=0.1926 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9953 right_x=0.4251 right_y=0.2432 right_z=0.1857 right_yaw=0.0923 right_pitch=-0.3407 right_roll=-0.0659 right_gripper=0.0261 state[joint_eff]: [-0.0205, -2.7829, 6.5709, 1.3455, -0.1245, -0.0366, -0.0122, 0.212, -9.7983, 9.1009, 1.2967, 0.2711, 0.1441, 1.0281] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.26,"right_z":0.105},"note":"The pink bowl is just to the right of the stack. I’ll shift it slightly left and lower it over the turquoise bowl’s opening."})
tool
executing move_to over 6 steps (0.6s)
step 208
assistant
agent noteThe pink bowl is centered over the stack. I’ll lower it slowly until its base nests into the turquoise bowl.
move_to
right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.12, 0.9952, 0.6662, 1.964, 1.5433, -0.6556, 0.3588, 0.3862, 0.0263] state[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9952 right_x=0.4143 right_y=0.2513 right_z=0.1034 right_yaw=0.0943 right_pitch=-0.3983 right_roll=-0.0979 right_gripper=0.0263 state[joint_eff]: [-0.1709, -2.8239, 6.5436, 1.3553, -0.1001, -0.0415, -0.0122, 0.3077, -9.265, 6.9128, 1.3455, 0.2711, 0.0952, 1.033] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.065},"note":"The pink bowl is centered over the stack. I’ll lower it slowly until its base nests into the turquoise bowl."})
tool
executing move_to over 3 steps (0.3s)
step 211
assistant
agent noteThe pink bowl has contacted the stack and is supported at the nesting height. I’ll open the fingers to release it.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.1204, 0.9952, 0.6674, 1.9747, 1.4582, -0.5426, 0.3592, 0.3862, 0.0271] state[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.0772 left_pitch=-0.3669 left_roll=0.0421 left_gripper=0.9952 right_x=0.4145 right_y=0.2522 right_z=0.0808 right_yaw=0.099 right_pitch=-0.3836 right_roll=-0.0881 right_gripper=0.0271 state[joint_eff]: [-0.1026, -2.947, 6.5846, 1.2967, -0.105, -0.0708, -0.0073, -0.3077, -8.0479, 5.6547, 0.8718, 0.105, 0.0024, 1.0379] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The pink bowl has contacted the stack and is supported at the nesting height. I’ll open the fingers to release it."})
tool
executing move_to over 7 steps (0.7s)
step 218
assistant
agent noteThe pink bowl remains on the stack after release. I’ll lift the fingers straight up so they clear the rims without disturbing the bowls.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0924, 1.0317, -0.8871, -0.1303, -0.1204, 0.9953, 0.6674, 1.9957, 1.4395, -0.522, 0.355, 0.382, 0.646] state[eef_state]: left_x=0.291 left_y=-0.0012 left_z=0.1924 left_yaw=0.0769 left_pitch=-0.3673 left_roll=0.0419 left_gripper=0.9953 right_x=0.4128 right_y=0.2517 right_z=0.0666 right_yaw=0.1005 right_pitch=-0.4019 right_roll=-0.0985 right_gripper=0.646 state[joint_eff]: [-0.1983, -2.8513, 6.5573, 1.3455, -0.0952, -0.0464, -0.0073, -0.1299, -9.9761, 6.188, 1.1697, 0.2076, -0.0366, -0.1099] 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_z":0.21},"note":"The pink bowl remains on the stack after release. I’ll lift the fingers straight up so they clear the rims without disturbing the bowls."})
tool
executing move_to over 10 steps (1.0s)
step 228
assistant
agent noteAll three bowls appear nested, with pink on top and the turquoise and purple rims beneath it. I’ll park the right arm to leave the stack clear and verify it is stable.
move_to
right_x0.2900right_y0.0000right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0924, 1.0298, -0.8875, -0.1307, -0.12, 0.9953, 0.6674, 1.9736, 1.9259, -1.0374, 0.3443, 0.3702, 0.6467] state[eef_state]: left_x=0.2906 left_y=-0.0011 left_z=0.1916 left_yaw=0.0772 left_pitch=-0.3695 left_roll=0.0429 left_gripper=0.9953 right_x=0.4128 right_y=0.2539 right_z=0.1942 right_yaw=0.1144 right_pitch=-0.4134 right_roll=-0.1009 right_gripper=0.6467 state[joint_eff]: [-0.1846, -2.988, 6.6803, 1.3993, -0.1392, -0.0659, -0.0171, -0.294, -9.8256, 9.1009, 1.2576, 0.3297, 0.0904, 0.0708] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"All three bowls appear nested, with pink on top and the turquoise and purple rims beneath it. I’ll park the right arm to leave the stack clear and verify it is stable."})
tool
executing move_to over 22 steps (2.2s)
step 250
assistant
agent noteStacked all three bowls into a stable nested stack, with purple on the bottom, turquoise in the middle, and pink on top. Both arms are parked clear.
done
hindsightThese bowls are too wide for a centered grasp; pinch a side rim with one finger inside and one outside. Successful rim grasps read only 0.02–0.04, so the usual empty-gripper threshold is not reliable for these thin walls; verify bowl motion during a short lift. Successful initial rim positions were approximately left (0.414, -0.074, 0.040) for turquoise and right (0.409, 0.101, 0.041) for pink. A large held bowl can remain visible in its own wrist camera despite the usual fingertip blind spot.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0956, 1.0931, 1.029, -0.8871, -0.1287, -0.1204, 0.9953, -0.0032, 1.1515, 1.1149, -0.9592, 0.0174, -0.1787, 0.9984] state[eef_state]: left_x=0.2906 left_y=-0.0015 left_z=0.1911 left_yaw=0.0758 left_pitch=-0.3709 left_roll=0.0412 left_gripper=0.9953 right_x=0.2937 right_y=-0.0004 right_z=0.1972 right_yaw=0.0714 right_pitch=-0.4258 right_roll=-0.1036 right_gripper=0.9984 state[joint_eff]: [-0.0479, -2.7966, 6.653, 1.3846, -0.1636, -0.0562, -0.0122, -0.1026, -4.2872, 5.8735, 1.4286, -0.1001, -0.0122, -0.1392] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls into a stable nested stack, with purple on the bottom, turquoise in the middle, and pink on top. Both arms are parked clear.","hindsight":"These bowls are too wide for a centered grasp; pinch a side rim with one finger inside and one outside. Successful rim grasps read only 0.02–0.04, so the usual empty-gripper threshold is not reliable for these thin walls; verify bowl motion during a short lift. Successful initial rim positions were approximately left (0.414, -0.074, 0.040) for turquoise and right (0.409, 0.101, 0.041) for pink. A large held bowl can remain visible in its own wrist camera despite the usual fingertip blind spot."})
tool
done: Stacked all three bowls into a stable nested stack, with purple on the bottom, turquoise in the middle, and pink on top. Both arms are parked 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"
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]
call 0 attempt 0 · /responses · status 200 · 10.78 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]: [-0.0193, 0.7944, 0.6044, -0.3801, -0.0223, -0.0261, 0.9957, -0.0208, 0.7925, 0.6006, -0.3832, -0.0158, -0.0402, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2938 right_y=0.0003 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.5111, 10.1538, 1.7998, -0.0122, 0.0855, -0.4567, -0.4718, -1.347, 10.3043, 1.9756, -0.0952, 0.2418, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e777d29d17c296a1cd9014ce82b6b6f6ca43a5554eb27d1571d7ba84ed5e05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5aa2ff5a014d179d12413e35546a2f7b82659c568bcafd859ced16f10d50cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1bfd09bb77d1e7c02ba956c58b18400a1751322bf51114aabe03ec416bd7063",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 8.955 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssBD3o4IAtd6sPMH8jSmsOcFf-ThBhXKfQi35shrCJBxESQ1IZebqN0yTJBPzTmiq3xJZSMkGZgyTYLOfB86DXwoU9wkfxYz0kGp1p_1wSfdLsRn3xdb862SrbK1NYnAss4EU88vtyYwhKS9oN2yoA_9Yg08hp5ckl5FZvcc3KMNQP46vW6ryattr-yhQAd-4WyS4lG9beg6pNbOIZmka71SHkd-E8Jtyi1n4u8jCU6qIGKto5p9Nmqflpzn8vc29FoD8YJSj9Es7CBeH5-R4OBY9_JAeAbwjBFlSZzczPUfGfdmp_xBjAHZfYEdP8FlC0_5awUMPz6-XqOGBmS2HqkdY3j_OmeCZhA2XjKF826rvHT67DulOX6dn_iQsxHcN-YWu-DZ_M-DuNLIOXXm_r8aRfyXDipCuTi37vaIrC4ej_NVn09pOjcJ64quG_HQiNqrcdpmJfY0ned3UZwSfOrNhtJ9S1pCUDddedxAsD2oynJRxxBAy4PxLse3O-Tf_RtkYKEKHbGdqVvnll6AvWPtXL4ztw560g5yGOIru0f4lqzL0NG6-yQ0qRkVYj90hCW3QLCvQT0XzWGNowooh5-qVygvEBBdVLWOvhCFUVPU-SauMynv9RI0bdIeXYSEyahvztIDmkorm8pARvoV2zTCZiWzS-E057VTpSkK8IGTN4fOYfUflBZHLKQbMkj8_dfJecus28cDD35Wb3oqhtk6dl8Ol5xjGX9Mxt9t_URS4Gk_j5AgC9H7C-GqOAPUJQy96i9SG4_bcyaVo1asgXZ4rvaLGBxsAiJ-zhh7EPJESZGPvt5v0JPHr2rfw-YnuUdVHM6Gi-nEoKPE-ZJxdYQ-matDFlqN3LdIHikYn-e1Iowr1vDQInI3fqO3TuVDXzS3QGscVYyKzqgc35jFUHKJ6xkaC0JbGVfO3kYq4CyZnggle70Y4kPfwXIlZ3lxyqyp_zqA0T_gDZJQqL-Y8htoORwRthaFcAfFB5YzJr8yF2JH1QgMbvSzHwG7GCSxHu9F5V4JmypYozGkAiCI_2LQJ7uQPfVYH-kP3-3KAMHLUe1DevWn5NIaQZ5uvU2ws1Bwgj283YS2THXHAPARwCRTu0dtQz27sNZWALL1IIzJdqr83WiyBN3S7pbdhepea8-591vdxR6beWNdkOJZ0IpA30rMj5FeC8sQEiGRQr6i85TRnEpGc9M1hKsMTB4McOj1rcn2mtsa5gUO2vmARtbLttGUiib2QstGekhZxa0JqslVT7_gw3xBiW8hvho2P2YMf0UPnyzk10bMkkzBNUPNMX4jA86Jn4ftiY_lP0cSBTWxRWD9eBGl8Y11g7C6APcL3yE0grsaoYZW6nr4zsoXKYbplsgEKGTNN5UmSI9411J1h9UarEd8OeuXtgRU4YzDrnK61nWnpI6PjoRs2zldp8jxqScgvi97XNj93J0poeBc2UdMREHEpbh_v01Ra6dknkCKlSEhc-EzGVsaQhkILKJpf_tb05_tjvcN8UWVH3NsASQ0uW8NzN0WeBlNs1ty0NQ1IM-qVrt2E9_FO8ZRh7dJtHIlWSTjkltqjwau7LsbAPQws_CkUdB2J2UkJUIVyNnz376vDdGlo821M-CIsExfaOzNu7ZujkfIik9GJtiA4P5-bJ0MYfOv_8_Ct1QgJf0d4KF-rahuPgJ7-pia8jfpKMbQLumX7jZ-xnIcEWNlCdbM6IMM4Ro1i1Ue-_awyTlmXheH01noNxEMOeynxWTFUxA3HVnjW_FCLwbCzEbzLO-7ApAJQ11GsWbfl8ericSCERcRP4i3Odwb6EOhrTU4at-q6o2pePn_GNw5H3PYIXnMaMBtdbwcs5X0tLTjQmcredWHZJmLPcS26_73YCi21jQtnmoRsxIeV29VnWnpJ9C73oAL4vdgfMr7dG9yyMt6XckSqV_o_shnJZ1qS08tJYgOWtsOQTYX67gXDez4IHtx_2a5bHijiXpWPjv_Nvz26Sj5l6IEd8nLiqlQoS6folc8IJMmxOpgx9UGqdpvjD1JWx1hXy-eLXFEkaZMKt4RxruavoQ1ABbzrXmcpVkgIiVDgtdXq1kBnvQuGMsSXae0sMHxgtdPIZfDehD_6KVQOXKi6g5MQjECPU2U5d1O52p-KGYTJKzwMOun2wA=",
  "id": "rs_0a50595dba5abf77016ab2c03a012487d0a057e7c012f4f97d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.135,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls in a row. I’ll approach the turquoise bowl’s near-side rim with the left gripper so I can lift it by the rim rather than squeeze across its full width.\"}",
  "call_id": "call_uDNvjf3DrLxZP0OwAjsWEoQe",
  "id": "fc_0a50595dba5abf77016ab2c040b3d487d0bf91cce761649da5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uDNvjf3DrLxZP0OwAjsWEoQe",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.646, 1.2091, 0.6582, -0.1989, -0.5064, -0.3885, 0.9958, -0.0219, 0.8005, 0.6037, -0.3935, -0.0151, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3182 left_y=-0.1281 left_z=0.1289 left_yaw=-0.0305 left_pitch=-0.0693 left_roll=0.0378 left_gripper=0.9958 right_x=0.2933 right_y=-0.0002 right_z=0.1752 right_yaw=0.0007 right_pitch=-0.0153 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -4.1778, 9.3744, 1.7949, -0.3834, -0.0757, -0.4518, -0.4034, -1.7709, 7.4051, 1.746, -0.0659, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62da959c1184c5088e399f3fb37d8cc02f17e3ebe49586e3e963f1a6a7545d4b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d31a653d2fde3df3b7186002cc3bb8c43fe83200e61e35a557532590a77206bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b7be88845becd0f52fe8c7962ea1bfc7084f1327c6295a8b8e601fb860fd62",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 7.094 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]: [-0.0193, 0.7944, 0.6044, -0.3801, -0.0223, -0.0261, 0.9957, -0.0208, 0.7925, 0.6006, -0.3832, -0.0158, -0.0402, 0.9993]\nstate[eef_state]: left_x=0.2948 left_y=0.0019 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9957 right_x=0.2938 right_y=0.0003 right_z=0.1782 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.6496, -1.5111, 10.1538, 1.7998, -0.0122, 0.0855, -0.4567, -0.4718, -1.347, 10.3043, 1.9756, -0.0952, 0.2418, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssBNGughNIMRqP-qodeabMbfVeBE5bF1HClOJrp1Pr8AQiC5b5QE_dNzmMzPb60rfJZ8uuXOZ3djA9wb24-UUhbljz9FprN5lWjlvqJjxdczl7WE0oaUfqG4FAeJxsUr1d6jlo_rO5eP6__GD9SCWQcTm5_OxDZvZ6ZffHkP6pxk3KZA8l7U92q6_rJD-P07HLjYjaz4CibjfStE4fYCgHxIoyRAkNpTgcFy4XXJxxcYhMRg-Ms5fpEIfBK6Ymo7WrXoMivc3tkxSNdDKkM8HAShmxeJO63SjhaOJlcuAUd2fiK2CeTJKHOdS-RSV-3wJW0Q_oo-Of6bEd3QPviQNnDAawaePDsoolBNfnP3GPzEtnfBkYTjMHuuEVTDCLNfZGxbdfT0nsr2e46v3AxR9KXvLm1j4qfa3edVi6WUStIl6aACwethNr7s8rx5HqJRd4eWfeDfq4QE4BrmOpYyzKlFxrWeKwsmSC6cv5i1IizLf_aMBFBr9Ow1FfV9J7TZk8D4IlON4j6PGjuPG7CO34dani4wW8-mdmTNCsG1n2fYwwGHsfV56N9nwQdOcsISThrIJ4yp-29KZ91SLGvLs9USqN26X5-byGM9ci8EKLFA8qli0G6uAmeEAlwgyshpxE47H3NsJUQuCRNYtJxVDhziwPKmm6_IrrFPHu2Z9v__6wyfCQehDuB3rtr1cnjtsziwJ2tI6Zd9xpcOYzyvqRuyAsv54DIZa_vPa32i9nI6ZS5lsfOfSjBKNHmpXxp7XRIB5gMaUZBfaNq1qsjz0l0qLN1Tq41UZcMl0-hT_NQqOOKN6nqvuHU5BYFXjFk1p5g7dPB9mU7JaSYCD8iD1hf9R_CmHJdkMkXYXgmGspbGQUQxSHgektx5FkcZTSx9_9wJh4jSViHKBL-TiW9s98cWpi_leo8bS20VZ45qnxWXCXPNk5EO3nNZ8oqdcM4dmSZlw6sXZEqUg_QAW6bgB31FI4r2esI88A1zpyjWIuDLa3NjJbP4I45fxymXe2bbC_qcwfcfVTQ7a0mvc3uGmD-mUv2BR4YIVhqkboxgsrbISxY8sUftbybrI2Z4n6LEQrAdNFR9_r7afX38gljRi9qn6DzzWGrJOFDdCF51Srx8W0Eq3YXxg1VXhHg5NBOUijETs6emk_JoH9HfV7KquCdnatLyIO0AzralLiIJjpfsb6vpwM7HirYj7uZ4ueZy3I2V_7dS7bH-FGKutpfGFPp4-sEenGPdbqiyNGEJUz6Ef1gZNbbFeM-NTFsB_N0vCmWWW-awAH4B_28Gol2JDED70tkv4Hg44_uSse-YZawDSP8kYVi6p8daI6lbUn-JtPRWQ8sBx2RQ--vudutLpgtceRjrXC2PgXDz0YB96rKwA_0htMA27WVYDtvbmOp0aWe27zceGMspE3vjv2xgwNSvTukGPiy7S-qb29ENjmWhr6IaK9rylW7dtBfPds7A5basJAAPhMwWfbjQIW8kKhS5A4xoQIdjAljdl31eepHkBIo7HW9KBx4lEtasQzLnCYi_KQArt5k4yNI7RTa8MEIqp_OUc2qtKyA-aWoOGhBFzsfB-5SQR2C7-IUVdEsb8T91P6UYOkAvKr3B8IJk2zW86QvqnqFD2Cmy7Mzt0CDeNt1BM6dbhiqmUfjzggtYJwJaiY03uemoeuBSagHMxLDg02Qcnx5u4ts3nohiWMDE33YslbzCGjNzI3fBBi5BtNhXqI7WHdEy7n058HnsSxP36sJp5jp5gCJwH_cHnQT28Lc=",
  "id": "rs_0a50595dba5abf77016ab2c0476d7087d0b5b216f5d1e480c1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.1,\"left_z\":0.065},\"note\":\"The turquoise bowl is centered in the wrist view, with its left rim clearly visible. I’ll shift toward that rim and lower to just above its lip.\"}",
  "call_id": "call_bjxtkUeovk1IuwpelZa9qVKD",
  "id": "fc_0a50595dba5abf77016ab2c04be49087d09944857630287383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bjxtkUeovk1IuwpelZa9qVKD",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.3834, 0.4988, 0.0952, -0.4114, -0.3027, 0.9955, -0.0216, 0.8036, 0.6022, -0.3965, -0.0154, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.3313 left_y=-0.0926 left_z=0.0553 left_yaw=0.0071 left_pitch=-0.1409 left_roll=0.0698 left_gripper=0.9955 right_x=0.2929 right_y=0.0 right_z=0.1731 right_yaw=0.0035 right_pitch=-0.0229 right_roll=-0.0067 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -5.094, 5.7778, 1.8437, -0.0855, 0.0659, -0.0415, -0.0479, -1.0051, 7.1863, 1.7802, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec03e16e4c29a0e6efda49c13e1e6f87c31efd30af6af66b1ae2436a06f02664",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ff8ec32b8b9990981e781d31932b5c0b79f3467fba6eb7af693d5ec2e754348",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baf1c1a76884683112cb90ff83630bb3e65784a2d62b3f7859628780852429d8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.876 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]: [-0.646, 1.2091, 0.6582, -0.1989, -0.5064, -0.3885, 0.9958, -0.0219, 0.8005, 0.6037, -0.3935, -0.0151, -0.0448, 0.9992]\nstate[eef_state]: left_x=0.3182 left_y=-0.1281 left_z=0.1289 left_yaw=-0.0305 left_pitch=-0.0693 left_roll=0.0378 left_gripper=0.9958 right_x=0.2933 right_y=-0.0002 right_z=0.1752 right_yaw=0.0007 right_pitch=-0.0153 right_roll=-0.0039 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -4.1778, 9.3744, 1.7949, -0.3834, -0.0757, -0.4518, -0.4034, -1.7709, 7.4051, 1.746, -0.0659, 0.0366, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssBUVv5EqQ45Faaj8XlGPpKWU_KC8FvmIKB4d1X1pOZw93CzPwnQW8lYm2u0jo3VKhcptpujLYVCsLkNK1kimRiYwIqh6VJ9EqCOnYDhBPZWKDw63cJYeymw1c3ceEmTxTN5APepOXJgWVijy0mobfPHO89PdipR3naU4yg9AOaQU-ertj4JyiEc_k2t_DuVSiCxdHVRt0jlXFRtFwsvEUdwfaSEOrZIFKVbMbT6B3d1IRWkMLslGaCnqwzBDxN8S2tSZ-TKnfMo389EzCnPnr5gIb_cia_Vipey-gjVsppoTd-GgxkWVG70Cb2odgqLuH0M3ZuzZemrde8P5SC_ynxsf_JyPkSk9aO1PUu52Ujx43Uon3nBCpcIxDav7tFu9gt3zXnH45-4jm16rCamUMqO3ZYctYLO-Y10oNzcFASjN-0-Dov9WXrnW5jZc_EEYLzgyIxWJi8_JVg5A_JRuUVoxrUyHm6-dB-TKP02ZbHnCC31r_mNJB6_7b_B8CseBCc1ueMFzreDinUqiDb15b84Hqytud59mflfNNKQN-z2JYs0e08UHubJteM4-mou2tcsOWoebGAcZCTNv09oyK5JZOHoOJAwzEe6y7uCfahifKRF8cpPf2aycxvWBq5J1NkJUwTc9DJNjajIzz_pJbaqkJC0sAnCedbZt6t1wHtW0WkK-7bKRNtkqFklA0mM9gLePYN2X2v5p2Ud4oV9nb9gfaogk-oETTVbO8jN7rn6MHGDXTpFvkTAVyT-ttmlguI7HD_AcN_Dw_opofabtIlaKjojkeLvtm9lYpp1pJRI3uKxRBfvjBbeEpj-zax-RVw4XGC4m58wXL3uDWSVX7nFl1IBH03UEArAgBzd_GxjzIwdC_XtjvMJTulKj0L1E03sIwVdUy7DXMCmnDnKCWHPw7zdm5NQxoJLyf8RQsYhdKh_P_HZfAAiV199jIOxp8ILNaKqzsxoTW2Ik5HLc-vOW8wu9EMfI_LuEghDPzcncX5HYG_UdRqzSJyep8BTPEzgDNVBhiY8UcpKmBIe5UIYH5qD-xq8d0iVmbV_xMOEhBMgxr2nKwsOEJO-V3srGi05peRxwjR8UyM4Ezbg1zD5EaybsYgrDBg253fNQNRm_QUN3Tkit24sHFOUV1SBWxkcz0bsmWEa1VPVjiCOLaPv91i9g1vxtnsy38M-cx_lUSEYzUzTosembdOodXEC2t4hVrwjLetkMWOBNo0HG-ONNk7NvCTsOwyCLEMpHHvLRk4YUzwVne0cdIiHgRT5NERCvVhrTBE2-OyYVw5H_OjKrisEXoS0eQHNzZKwQ6UAESpU4E3R0MNghpFZdyPSNhKLOUEPVNUN4KfoacYYiXsCDoo9zMVebzvwA3oe0zc_vje_lpBVxXb5-whBJ1c33ElYpzytlCABszmDnq1-ZR4JmNUmWMlys7PeGo4KMk_EqqZDkm0Ewvow1SnPD8SBodXgnbokZ7AWB6AoHWjheov0ISNZUUhVufqH4rLCicf5Xvvab2bVznpil-4OCXDA-VEOPpqEv_1EQPWeGhTh31fBrMjmmqere3EOpTP6LmC5JfbClID9p6OjIor8v0kxHv72iNArPyuBwVSMCFxYint5_A==",
  "id": "rs_0a50595dba5abf77016ab2c04f913487d0b1b4af3b8d683b0e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_z\":0.025},\"note\":\"The open fingers now straddle the turquoise bowl’s near-left edge. I’ll advance slightly and lower enough for one finger to enter the bowl before closing on the rim.\"}",
  "call_id": "call_wzkbJZ8Dhc7ni7Q8kjAheKMM",
  "id": "fc_0a50595dba5abf77016ab2c0529a1887d0b74c0925337d92a0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wzkbJZ8Dhc7ni7Q8kjAheKMM",
  "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]: [-0.445, 1.5791, 0.503, 0.2523, -0.3859, -0.2783, 0.9954, -0.0219, 0.8066, 0.6018, -0.4118, -0.0151, -0.049, 0.9992]\nstate[eef_state]: left_x=0.3462 left_y=-0.0875 left_z=0.0175 left_yaw=0.0211 left_pitch=-0.181 left_roll=0.0877 left_gripper=0.9954 right_x=0.2909 right_y=-0.0001 right_z=0.169 right_yaw=0.003 right_pitch=-0.0416 right_roll=-0.0067 right_gripper=0.9992\nstate[joint_eff]: [0.294, -7.1043, 7.5556, 1.7851, -0.1099, 0.0659, -0.022, -0.2667, -0.9778, 7.0496, 1.8535, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3720bdbbc73695d8c5770bee7c909cc3b3de86372d1c6bd6d2c4bf913cc1a4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b4ac163e1a579a7a2dc0b733b3506e2ef97ec948396c5abd30a79d3f942cfdf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d9d645a402bfb2e99cc951da6fc4e75591a83229f02c4d8ee14d12736d90666",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.213 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.49, 1.3834, 0.4988, 0.0952, -0.4114, -0.3027, 0.9955, -0.0216, 0.8036, 0.6022, -0.3965, -0.0154, -0.0486, 0.9992]\nstate[eef_state]: left_x=0.3313 left_y=-0.0926 left_z=0.0553 left_yaw=0.0071 left_pitch=-0.1409 left_roll=0.0698 left_gripper=0.9955 right_x=0.2929 right_y=0.0 right_z=0.1731 right_yaw=0.0035 right_pitch=-0.0229 right_roll=-0.0067 right_gripper=0.9992\nstate[joint_eff]: [0.2393, -5.094, 5.7778, 1.8437, -0.0855, 0.0659, -0.0415, -0.0479, -1.0051, 7.1863, 1.7802, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"One finger is inside the turquoise bowl and the other is outside its left wall. I’ll close on that wall to secure the bowl.\"}",
  "call_id": "call_eJ6WDWMiD3Si9lpqg20gwqj3",
  "id": "fc_0a50595dba5abf77016ab2c0574af087d0acd1d180876f3173",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eJ6WDWMiD3Si9lpqg20gwqj3",
  "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]: [-0.4381, 1.5936, 0.5282, 0.3336, -0.3668, -0.2844, 0.0997, -0.0219, 0.8089, 0.6003, -0.4156, -0.0151, -0.049, 0.9992]\nstate[eef_state]: left_x=0.3653 left_y=-0.0972 left_z=0.0337 left_yaw=0.0101 left_pitch=-0.1042 left_roll=0.03 left_gripper=0.0997 right_x=0.2903 right_y=-0.0001 right_z=0.1669 right_yaw=0.003 right_pitch=-0.0492 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -4.8889, 5.4496, 1.2527, -0.2564, 0.1783, 0.4274, -0.0752, -1.4564, 7.3368, 1.7363, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee4f1b27b8866c708ca84f0b7437b1936f3856a411730368dfef5df0fc292acd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3303648866eadf9874650509db5a5e4074b2c2881064b1e6505e42dfe782593",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd53275ee5c14afcc42fe47831835f1fee979f9b7622928cee119a6b3d373b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 11.47 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]: [-0.445, 1.5791, 0.503, 0.2523, -0.3859, -0.2783, 0.9954, -0.0219, 0.8066, 0.6018, -0.4118, -0.0151, -0.049, 0.9992]\nstate[eef_state]: left_x=0.3462 left_y=-0.0875 left_z=0.0175 left_yaw=0.0211 left_pitch=-0.181 left_roll=0.0877 left_gripper=0.9954 right_x=0.2909 right_y=-0.0001 right_z=0.169 right_yaw=0.003 right_pitch=-0.0416 right_roll=-0.0067 right_gripper=0.9992\nstate[joint_eff]: [0.294, -7.1043, 7.5556, 1.7851, -0.1099, 0.0659, -0.022, -0.2667, -0.9778, 7.0496, 1.8535, -0.0464, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"The gripper stopped at about a centimeter of thickness, consistent with holding the bowl wall. I’ll lift a short distance to confirm the bowl follows.\"}",
  "call_id": "call_4X6tAsaDV8jlhLsdYyLkcCHG",
  "id": "fc_0a50595dba5abf77016ab2c05c358887d0b1f79f73570dec94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4X6tAsaDV8jlhLsdYyLkcCHG",
  "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]: [-0.4385, 1.4071, 0.651, 0.0269, -0.3668, -0.2882, 0.0992, -0.0216, 0.8326, 0.6182, -0.458, -0.0154, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0972 left_z=0.0916 left_yaw=0.0117 left_pitch=-0.1017 left_roll=0.0258 left_gripper=0.0992 right_x=0.2877 right_y=0.0001 right_z=0.1603 right_yaw=0.0059 right_pitch=-0.0973 right_roll=-0.0081 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -6.4479, 8.7863, 1.6337, -0.1978, 0.0269, -0.0562, 0.0068, -1.0051, 10.2632, 1.8291, -0.0611, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a838df389aab72e60058be01f623cb9e0c376bee99cac2e8b89ddba64587f6cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c96fc0e1a287f6bc3a8baab7f5106fd6023325efedb5b30f5646e7b5b3fb8f1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abec30484c32391b9f8037faa0a95fb93fdaf245c3d91967c700fa42e1f7691c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 11.66 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4381, 1.5936, 0.5282, 0.3336, -0.3668, -0.2844, 0.0997, -0.0219, 0.8089, 0.6003, -0.4156, -0.0151, -0.049, 0.9992]\nstate[eef_state]: left_x=0.3653 left_y=-0.0972 left_z=0.0337 left_yaw=0.0101 left_pitch=-0.1042 left_roll=0.03 left_gripper=0.0997 right_x=0.2903 right_y=-0.0001 right_z=0.1669 right_yaw=0.003 right_pitch=-0.0492 right_roll=-0.0066 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -4.8889, 5.4496, 1.2527, -0.2564, 0.1783, 0.4274, -0.0752, -1.4564, 7.3368, 1.7363, -0.022, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssBp-Z_2okh44FvJRTxsbqTBsNaeQ4squk9ki_PMMNKdCDcXcxVs1mOXinn8sRbynx6PCZRlN6FHBJUc_jLvs1hYiQxY3zlHWpx5X0hJgA90CULYvat2WjAQMp4y88BeX3Ta5IQUI-CgeAfleiLk7T9v1QgJX0MMu4nIF-yyBBkZA0_ZtK49Wv-eeuxqucf76Ys_HybdHfZAonC7A0VGd7TQBfInffX61XXiAKGwI45Ce_LUAi8pumOsrJo9IjBHzchFkA9SnIm-HAlinlQaB2_n_olQN1Ucsvl-0dAkXnrX6Q8V_uozjl4i22E-JixrOg8eh3ECGYDDAVFlX-K7mWsbPYaqhgMF9uv9_BQoif9weG23RVMNU_ITt7LJWFLrLM-qpZa8INTcRtmpizT9ViexXAaHhwNlHjUskeBnZDKqZV_16SPKcsjf1Hjgq0YcQ_XclYnX9GI0oqZR-44aKm-a5C2thUz7BKTDhmuuiwx0UC88JilPbCe9FZSpqXRrQREi7BVsCtnjQ4IDo9filiLTzaO23dis8I2doJPxtwzki-Ohg7khliMXmKTuo30Zx8o6AyDFGz_l9IGPeX0YLQFcGYftTa1S04QI1tGbOceY6VM_6bMVrWl3LuMhIBv3kiNwZNp6SJK5CFycW6MtpMgX-M-hycx53egXyKE1lh7S8iRLEb0dMUoNkC0i77nRodvppFcV4A4zLgFiGYFvYvVB-2iZVpabUIJ3dejDwdCSg4Uylc6a7EbELDE5W83ayLiLEv4qA-HICfUuC_LMEGRwoJcbMV1tRtuxLHwVEqxEPl3wZmUUfHHvI8OwDGL4_6m5kBYUZNG7yrMdcbRamrmwGtnnMtfWotnmoCcJBTuC4Y5VH6mBTFn3w0Y9AfNxK5lj7kpdB-lJ8g5k1U_frtp_NI8Zw8OfEqxFaBSH-kO0LDU1gXNI5qrkbfY8sOSD30E9g043uVW_8VlFnuJJbcyBSNfM9LoP2H-heZ2ku1HD7ekE0Urf1N01qVXS9ItrMIGyJO3szjPUXNirsE4Pa1hZo-3ftz3A_iUwLehkcuG1tllQjo56WbgiAWUbstVQfLKY-tjw15RsDP18Oj7cZ8kEVTaCN4RsgYK6wNp2-zEnuR0vw_yP-ZIR_bi1_vaSYd7O100LtCPK5QmNAjz5C893MKCh8lRcEOlxCjHmlKOMxyWJuZfKNdImqoMQ3aZX3DrcCoRLqyJAXUmeEZj5AJQbEFE-7EE_HC36pJrawv6SM-mDryr89XTRvP0F4rV0Decn0W7QCkC0CG1UiZkDXLKQcFYZzA2h1Qlohqu0ljOw6prE1-6J0tM_zG8yUjyONHNpLpt9akCsVkxIA--6MpgSMyW2ZjwU-RqZ1SYwtcXn_toDceutG91ntdvnzpDPE-k3_rD1iEfSGd5CjuFk96q5YEe_JDKQOBxjiwMOGM0MfXHO5oaabIIO3-t6VSzE9-RUer9-BB0BYm4GfqC_2hujciTzR5WrSGAvXsk0MEaUbV1InOrgerYejHWSAgFyPZoQPLxByjQZuaVq8V6HeO95Ehxd7KbEGHt0AoGW12PYa9cclEM95BSrRvOJPTBTKtsd6_4zS2yoIX9QqHDSHUK9ioWm-7T7AjiIhKDc1yQ5SMM=",
  "id": "rs_0a50595dba5abf77016ab2c0648ad887d0a8e604cb242c5a3a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.217,\"left_z\":0.18},\"note\":\"The turquoise bowl lifted with the gripper. I’ll carry it above the purple bowl in the middle, keeping it clear of both bowls on the table.\"}",
  "call_id": "call_v88lzShT5agB5GYIhN0hv8Qh",
  "id": "fc_0a50595dba5abf77016ab2c067f54c87d086c057f4cb8f0db7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_v88lzShT5agB5GYIhN0hv8Qh",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7654, 1.5799, 1.1698, -0.4419, -0.5758, -0.5442, 0.0992, -0.0219, 0.836, 0.6197, -0.4679, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3682 left_y=-0.2154 left_z=0.1692 left_yaw=-0.0076 left_pitch=-0.1135 left_roll=0.0182 left_gripper=0.0992 right_x=0.2865 right_y=-0.0 right_z=0.1581 right_yaw=0.0052 right_pitch=-0.1091 right_roll=-0.008 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.0359, 8.841, 1.2186, -0.3834, 0.0024, -0.0171, -0.1573, -1.6752, 6.8444, 1.7021, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ebdbde05ae946c408773105b8d8e81639eee4e4f8f4083e9f4d2d0040331b02",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254cf5791438b141b5b423bf019de0889e5e0eca43c0fa54e1a27635e847a4de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f824663bd857d4ac6cb5644a6e4f74b9d4b074f25bdd9e2d6e92fbb668670801",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 7.512 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 20 changed as sent

message 20 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4385, 1.4071, 0.651, 0.0269, -0.3668, -0.2882, 0.0992, -0.0216, 0.8326, 0.6182, -0.458, -0.0154, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.365 left_y=-0.0972 left_z=0.0916 left_yaw=0.0117 left_pitch=-0.1017 left_roll=0.0258 left_gripper=0.0992 right_x=0.2877 right_y=0.0001 right_z=0.1603 right_yaw=0.0059 right_pitch=-0.0973 right_roll=-0.0081 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -6.4479, 8.7863, 1.6337, -0.1978, 0.0269, -0.0562, 0.0068, -1.0051, 10.2632, 1.8291, -0.0611, 0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssB2afph5QN04GsS_rvGy_hiySxJpB-Nta_77Hfmo9-EI1iLTzHzDt-RaBCbL6qRh7xEMgLI2fTdRrEbpUvYXYmjdy578mBrpgUZKt3bBkF0N_CMI6i-_wibqhLXE0ca1oLj09wLJgwkrLWxm1kF3v7NbNh-oYQHt7bF5derK347Uav6sV5O5ryRnLb05EtECfmC7fURy0764j3xgatBeBVgjEGYboJgPiVzCecmxeK4Kfvb-BtHHmlT894487Ql2PqZam4SZMlKd4T31AXKytFwVMJ0MNPDLg_QOde9kByHcLlnxa-6LXtjIMmAxgx5u0hH7ofms02_H8yylVB-v6rX1NKlX56fXDeyE-A7SVGuuZh7fP83DEj7QGAgCxCu2vddR7Yr6k4S90o2bPOysaUYvgte92s-0D-q25zpu50ARfO_Xk11Rr9GGHlAAzoOB6MJG3Gfp3tljtHsQvmpdpc1l3a_EfoNdQgdSOX6yLjj0paarL5M7CBKmVTcjKqhGY8Z8uDN8emvbXYZltW41c_0a2A2xeQoHm7xYN3wK1c7R7hxtcW796YHnRNnbr14sOD6prlm7YLTdeVM5ry-314wRtTP2UcwoVRi7s402a9KeCUYPt6zlvIbBkX3V4qO-1JDrb_wct0uV50vpRr583iffdQo7cPgWy9vfNWoZ-o5ogglDStIv0AwqHqRfZ14i61MFTiq1h3LqgkkszgC8SeJTJQiA2XBeUcht3HhsPAW0neJ6CYhA7XCwPRq-8-m5eL4bRmLGm_1iT3h4sBVvBrFvh5yQnACaxBKVM9Sok_FKfySRzRstfh1RllKdfZDXbg59IXP7TI2bvIPaC-WBa7gByZAIfZpg9-hs9Wv-wDQ7PHXzolt4THmg2TCakbDmcZa9G-OnT7ZKQUo1E8Hay9-UUMRt9iSs3nJnraO0XhDzUnZD2iaxzlanQQocam_HJSCKGdSa3LEA6uZp0nuPGcO9z5WiGSAqJ3ADqgGWU0LlYXqC88PvQk5lwQAI72hLPBiWOs6waZLi63GPgZxNbE2zYxTwgHGP1jFH58_FNgY7kClx5hIIfUCbLwG9KGSxj_UQHzqHxOd_vIucBzOPcKRexSBNFEornBWWhnWXFxMJMFG3nwoL__HF9v1qIqfbdEJPaOKurimRVHt9adFUWwDmyAg4CcejT7AhuMIiWFJ4O1SLb6Q4ltfAna-FtqVakML6vV81GlR4luMrqXaMYldQE-AG-G29EB5Ho-973xo5cDxRy4ZZpR_fwpCaW3dwIJ9krAQQYS3DeZbHMOGvURfcC5CK1IOC7EdArUIUpwxq7vyPfcgt_MMeImxG87wUORJP3-UGWoYSbKJAdVyXgTJmksNpLyVTwfGYUIDS1x5D8oqfpsPqFfGIDmaFsNUe8OpW77qgKmehVEgPGR6ea-RqK8bvzb9GWsaqVpGii0LUnvCY8ApThJNx7xAO-DYDx4UMB88tEsQB-3RU8zKh9NXagiEOidK11OnGBJe98dMvtyKmqTGqTG2iEBWHj_PfAkmJQ_9r_MVWI59iHTw4TBJNIn0BlvoIH3z8xeYPn0Qi9k3zsr7O3IQD3AGkwWTg85T5ClUOjeX-CUSXH84CNJHIf1TDD792l79fslIr9T6lkFs3_tUeSJfTr7OBMFyPmOVMYx_hx-0cN9CW_ssGUxHMlZ8O6-2ghGq_MrHbmOF1y5S0rNnKXt6xfJGfTfVFrFY05af0wOfeth9E_lK2JebND43n82liLTQhrLjr5VMvtA7hdx0CZSWZLBjp5_BhYlfx9RYm6XiQSLL1UTznWRX1HAWlQo2ewdytwoB-PLRdeTDuQqWM-FJ6qS11j5l6KUcvb516RA4tJ82BHGL9iD_4ccwOKmOKOHmX1CCjfCY9Sv10x8atp7QxfNFLM7iR3lxeCf0jaBs1mv_MWsd8TcYZroYftgazMDvCKK3_weDZAOE_IoJC4HdhwVhH4eITyVGeESNGq6L6zDGqtOqS2HRjW4pZt7jwUo9QdaweQMJ2SC8HEB61zWjbmoD7UzIaa9ulyhtmEI4T9kQC_4XOCppGmrJVmF7jLQjgqaol3K3scuE-hmmyVBE2x4fDlanPib2n7e8Mz6_OwEjEq7I9tvU7pOV8UARwopSg1J4sWi8gKgxh5MzW9vCb3V7pMSimENhFJls-jH9kC3Ir0MJYMbFotgvl3joq3lk7PwFoQBFvY5-wiLX2VH_0VOGoG5TXyKUgaZi22lgjNUCJpozWmLVGYmkWmjhlPQwg-W8frlHXmI5OngSZfKEbgmxbx_e1awQP4Z8TmpOlc4xpjU8En1xONCB_h1r4F6xhd58OT9vrmA=",
  "id": "rs_0a50595dba5abf77016ab2c06d0f3087d0b306fd26be297c23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.06,\"left_z\":0.22,\"left_gripper\":1},\"note\":\"The wrist view shows the turquoise bowl still off to the left, so the rim grasp did not remain secure during transport. I’ll open and move clear to locate it again before retrying.\"}",
  "call_id": "call_XR1UtleENvJtPlk4w41pP6er",
  "id": "fc_0a50595dba5abf77016ab2c074cc2487d08087231040e572a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XR1UtleENvJtPlk4w41pP6er",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4217, 0.9684, 0.9211, -0.6693, -0.3569, -0.3084, 0.9949, -0.0216, 0.8383, 0.6197, -0.4747, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=-0.0615 left_z=0.2233 left_yaw=0.0308 left_pitch=-0.093 left_roll=-0.0016 left_gripper=0.9949 right_x=0.2856 right_y=0.0001 right_z=0.1562 right_yaw=0.0056 right_pitch=-0.1183 right_roll=-0.0078 right_gripper=0.9992\nstate[joint_eff]: [0.253, -2.2906, 6.1744, 1.6923, -0.1245, 0.2515, -0.4567, -0.0479, -1.1966, 6.9675, 1.6777, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e3b7bbd233a249a4a1485f84303c66fe9c1dd221ab3fb99473b65ba7c598349",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23d34f9dd9397467fc682f9a833563401c9b767ef6b90a408576f5f72c23f05c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c50da69ddc1cfdc15bcc9efe04a02b6f56aa3f65b0c709d65ae654976484f7b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.576 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 24 changed as sent

message 24 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7654, 1.5799, 1.1698, -0.4419, -0.5758, -0.5442, 0.0992, -0.0219, 0.836, 0.6197, -0.4679, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3682 left_y=-0.2154 left_z=0.1692 left_yaw=-0.0076 left_pitch=-0.1135 left_roll=0.0182 left_gripper=0.0992 right_x=0.2865 right_y=-0.0 right_z=0.1581 right_yaw=0.0052 right_pitch=-0.1091 right_roll=-0.008 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -7.0359, 8.841, 1.2186, -0.3834, 0.0024, -0.0171, -0.1573, -1.6752, 6.8444, 1.7021, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssB_5uG3gc5p90y9hedHrG37Pv0u8V-9LmdBhpLzOiZjIsCHJ-AGNiXu0rzlqNpa1I1DEGwoZRcbjXaiP1UX7kWEam4FlCORLMsd_BwMoudTu-inGD5ayeK8sRpi7MjBCEl-i92OQKC4KuylyXZLaD4ypbmToqy59FxyWGqoONiW2h4Y1xLQg_yrsSj1TreuY4qmtzi30QALBSyfAV83sPETGuoXZFwnYRiRgqh3ntch43-dyJ9A5d9ULf1qaLr_ho4XlNldnt7We2rCUywchOhj5R3LmsdSdTA7C8EswsQTH9NvH6EyTH9d1ZylB8DjTTr7Ni769_lgNCaWJdO85rY5PXu1hhvLcad0NfPIvhTYHWAgZM2pMGTiqwbjFD-u1J2DIy2yO-L6NL_1CgWwqwK0m7hCgK_Y6k5k0hedjp1jPeSRbVO3xT-yFhlrlOOYgo625i63z2xtC-GAtXMVlWsBhjlQuW9KOqEZ-cYm7xdOr5x8xNdcpXG-aFF1t9aMYPe_U88FYHJ2LdDDAhbR_1yG-ZeWrTxTFFJ6cb6YXQwIndCHT7EAdyHnunP853IPuFyAxI7qFRk7nGPWzZlTlJB-F0i0kx6unTGkrEZgT0Lk6LJc_TpM9WJ2SG0iX5oVRaWqvXLMLmHqJ0mdmtdxYy0b_WChV9z4ENe1ZZV33tWwZypTw08RMot1d0-kI972zaAu6N8jpqn3EsgsjMV9SFzwEXtQKU1c8uBUveTi26r65lGc18qwXCQjvegJRm8457B3d0dEIjPGutf5_9wpmVkAXrzeNGA1bvPCphPRMUJRAyiqMYMpOfzv5SQR0Z0eJrHbCZHu6QrX27x4BnFmFaoNXmiufgCbUI3qQmBbzBv8Uw-pltPoMMRjjJ8X6JPxxH8s0sbh1zAcpOiXS1HmKDRo5vOAls7oGFA0kANwJAu5I-BChfWNVoO87KvQbPSL-BW_iVo0a4ZXB6BKoc3MX--fFtSwq3KR6VJl6XRJXbFKM4BcPDz6JkmCpfVd3Y1DqvxC_x7tTbBHxSOnYrhGIehiJ_9zRnGluXL3R1VHpl_9yfde1AZqprbbcdtklK2HCUfjws7FKpG_hz06iJKLaFoDP1Qd5GjA5hujQYA2kzFJwnXNoJf4R1W-w5IZiFybW6hxJnxzrhv9emcs4I13caQBk1rP0IPieVeIpdvJ60dkyIaq1nhYA71qLVc4GZW0AEHJPfvWubuWLgHvK-V9rbGNjFZHR_3QzKfaek64HLi3iInZyBkD3qxUwkAmq0cvv-f74PHHeSsAtdMgxt8a_9TlQ2G_DyTmGyX4MRCBHEYs94QE8vIu535TUMUsv9dltj0rZw5RHP7mj-ZVrbE46-bqnsjL1DBLQGlACkPKkIOe8JqqVs1_pbvOnXdAVmj6AJwycNI160-_Q3DfT4nnCG1eJHYlZjTxZIwjb4qOsZEFJvjUy4VuCmc6GnfeTFvKcZQF8J4mimFdseiVvGBTUAlZRKKx2zuaY8f4Gwc_f6mpDJlr0Rlnh7UqL-LWAXpQOHRfvEjDr0aajJc82lsPsRrlyLo_WAi1SjFKX6wPQhP8gcAqw4NCxzjCT9c7SLL12QfpSXmqNIR4aTFtonXQzOMkayhJeZ50tm8gkVPuWgdA-FdWp0vC2ZKeprCj17--zpUt9fHJ83MkEpu682Wtkngt0txtSeAgomciIOKeSd6ZDevjJDt_rFU-hbgZJvqqOadQb5ucIRPqL7Dwc6T30SrPyAQ2Do5NXPJflHuomRbXslQn-3L76Fymi92Vu1RRDNqD73KKuvZ4HLnxZFXoYeUqgYZoNfQBUN4COw-H-tpD3EX2DfYGpGFOtY01ZFfcd6dacx5oYicO7rYEWHfKdMYFjVDdLFXwV4ZvEVQArqVXAO8bTIOmOvXo9VYCzhqm7UTm",
  "id": "rs_0a50595dba5abf77016ab2c079b66887d0b2cf6cafddc89fd4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.135,\"left_z\":0.085},\"note\":\"All three bowls are still on the table. I’ll retry the turquoise bowl farther forward, aiming at the middle of its side wall rather than the shallow near edge.\"}",
  "call_id": "call_iCDSHeLjnFiQloVVPq6W6KeQ",
  "id": "fc_0a50595dba5abf77016ab2c07e253487d0afeba1ef5f7a21ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iCDSHeLjnFiQloVVPq6W6KeQ",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6238, 0.8085, -0.036, -0.3973, -0.3565, 0.9952, -0.0219, 0.8425, 0.617, -0.4755, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.1224 left_z=0.0634 left_yaw=0.0358 left_pitch=-0.1978 left_roll=0.0508 left_gripper=0.9952 right_x=0.2852 right_y=-0.0 right_z=0.1538 right_yaw=0.0055 right_pitch=-0.1259 right_roll=-0.0079 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6769, 8.7453, 1.6532, -0.3199, -0.0171, 0.0269, -0.1299, -1.7983, 7.159, 1.5946, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec090a924ceafd35cca3c0884405460e6485adc524adf70d967e27f26cad292d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16372be58e3c403ce10be84b4b6976db0fe8b4e8843be2cdfffe81f056833270",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d70ddf564bb9dd57288dac94acaee3c1adbb26fe1729a4e41b1afdcc62146674",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 4.474 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4217, 0.9684, 0.9211, -0.6693, -0.3569, -0.3084, 0.9949, -0.0216, 0.8383, 0.6197, -0.4747, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.2965 left_y=-0.0615 left_z=0.2233 left_yaw=0.0308 left_pitch=-0.093 left_roll=-0.0016 left_gripper=0.9949 right_x=0.2856 right_y=0.0001 right_z=0.1562 right_yaw=0.0056 right_pitch=-0.1183 right_roll=-0.0078 right_gripper=0.9992\nstate[joint_eff]: [0.253, -2.2906, 6.1744, 1.6923, -0.1245, 0.2515, -0.4567, -0.0479, -1.1966, 6.9675, 1.6777, -0.0464, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssCHr14J5SalmgBk2Rvx-vEmXqaZQGgOwPpVBReyEVNgIjvqmkcaW9eQQ8-RJHketq2w9ed5Z72jOybyhcJVePhYuow4VhYe4raLeD6PHlYFBtfj3LInUNUnhzkxbfUuWAkHORAhRz7wYrMQBqB4c0mPXtw-m_pq6IeJyw4yQPmoHAX74ThGnKGew9E46gKFdnc4OdxRZFCvelbRvWi2lowQ43-Xec21YMKQ-odWPWq1YihXF_S8GQEK2vlCrJAcswvNTq0cHzYeak4KLRYukxV6dVRozOOHcYldIq0iDI6cxdEhWc3QA6e2L1atvdABujatk6T_olG9pXN8o8hY3FsNUFJQzl0Nn9f04Vh4t_sM6BXnzFcpBZCfu8HGsas5eie-atnOoA_O5M-IM-5wWAHMtwdBkC53MgzcfKupy-b_gJsNmWJi0Do55JOJoZxUYkpH5PNedhNa4wslxR80M-vRFD5M4HMQKF-5j6B-qGTwFMQkwxj7r0HFZQuA7nvWi8F9sptvxZBRslmzd5925LALX46COgOQs0ShSyrHgA7OVjQI9n0Yta4S81YImudzQn62956xFxijgeFkHrbecGKqNygpSsewOTvFypD1uN5BEgih8unJYtgJrufevEgPGXq3WWbVXvbgLk58-b2Xop3p1Xy2K2Wz2IiuJUbZZqyHOR8kNaAR7_BthjnyYQ7awXH8TFFLfbb8LT11upuyibm_v7fhEdaCiQlJsalbkbMeCVMPfcUukbzLSS5-eWIOoQLNpDywnwxd4cZcWGVlYrNtPq6cUebBkwpi8wytuQ0VwpyBieyjX7JTMMixYjbffjk1DVbOF8mubrzuO6f7x4FxoqhFlHD0nr_CaIHrikjFdR8eGnuXgLJIdBSSqO2HpY5tt1o6yhOq2L5edeCFn7EneARaBunPfNGeXTb-sq2T_1eDb6gEKb08LHEEuBJZ95XxolHL_7vi5z6NY5zs6A9XjjXndBWbt35SQLZmT5xsXIg_oy7WMaw2zaFdEPWFwlE6sbuubwTtBHz2peJd70KURQEEN9F4vL9f8ZqnRvQluSutf2tCN4NXTVzvJoNl0Pac0lSpt6G-HXYFFPNB8bErEjqzTJw_3cjSpfUiwo2NNi13Q7NrdYfypQWtgirN5sd9_glxf0Lq6cAyiTSYpz-AFmZfLI858kkOBJNKxeKCKHYpGCS0Xf2U9pxteGlSZAgLXCqLt5iHjZmO8ztmmuUWJEDM7oncb8PTi6i0q5q_bvOWBDAKlPKH8HXVNgGj5FsogQRZ2tThzS4fmF5ZXx5WvavdgiGMCG92sKrfUQK8mP0eCWAs1Wa_J2wz3vBCLgMviD5JPI1-r9BL3lTLHkoFYDO3xSR0Dv27SJsMQsKJs-eL7XMomdafHyM7RnFnnfLD_xrTjMeZ9SM8Fyfzl6oS-RD5xPn3u39zG-kObG-8ThekHFIvX0O1bMMVxZew9XCwI6GdRYqhPpaZN3GO_tvbbJ1SjgnYySuNkdqN5zskkDr14qn66cdeyvWpWe6GpU9vdMdsr7xmjTCWovLWO1oieDUZj-Vc-AqMe7rnUETRvImyv7IfdBm2OLwV-AuL7mfee-jJS2kg5WkZFXtZHQN6OnKKhNs64uRRh9O9AHuSxNdCh_h4czbc5F-oRUEGzQjrM_6qQJh4Lz2dkLhzIN9MPFEr8mIvY6NTvnAxML7ASDog4u7znGjDxaBG9YaxVk0-0urF2-U-zQVm021FCoouJQ==",
  "id": "rs_0a50595dba5abf77016ab2c0829d8c87d09e18040e9ee27289",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.015},\"note\":\"The bowl is now centered between the open fingers, with the fingers outside both sides. I’ll lower toward its narrower lower walls for a more secure two-sided grasp.\"}",
  "call_id": "call_nIENi5FKr3InbXrreOpdnI1w",
  "id": "fc_0a50595dba5abf77016ab2c085ef7c87d0958be1d1d489c260",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nIENi5FKr3InbXrreOpdnI1w",
  "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]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3939, -0.3637, 0.9952, -0.0216, 0.8436, 0.6151, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3846 left_y=-0.1218 left_z=0.0367 left_yaw=0.0384 left_pitch=-0.2101 left_roll=0.0498 left_gripper=0.9952 right_x=0.285 right_y=0.0001 right_z=0.1527 right_yaw=0.0059 right_pitch=-0.1286 right_roll=-0.0078 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.8718, 5.6137, 1.4676, -0.2418, 0.0513, -0.0122, -0.0205, -1.5521, 7.1316, 1.619, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d4ba5d3c18de4e7bf7cd62da87087c6cc0feb60370e9a1f3cfd3d208e2406aa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f5bfc7dd9ad5268b2bb7593f5bc662cf6f22c6414feaab5c50f0268f106049d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83745759926d249d05e74f2561052d3f18ceb94c9236eb3d9cbe927b8344170a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.55 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6238, 0.8085, -0.036, -0.3973, -0.3565, 0.9952, -0.0219, 0.8425, 0.617, -0.4755, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3868 left_y=-0.1224 left_z=0.0634 left_yaw=0.0358 left_pitch=-0.1978 left_roll=0.0508 left_gripper=0.9952 right_x=0.2852 right_y=-0.0 right_z=0.1538 right_yaw=0.0055 right_pitch=-0.1259 right_roll=-0.0079 right_gripper=0.9992\nstate[joint_eff]: [-0.3624, -8.6769, 8.7453, 1.6532, -0.3199, -0.0171, 0.0269, -0.1299, -1.7983, 7.159, 1.5946, -0.0269, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssCMw68El_oj_FINC4RGwkJkJfqfqq-G7r2iDHrDo2WUUctQBkizDUsvJuRKmam-xPDVRX5vFzOmhXeBXJ4Uw6RCT_GImDUMY5MG3jg0T6lH8AiViBfngmk6v0EyWte96gnj49rQWmOFDExHSNkbhuAwFUI1Omunbc1ASi72BgDaRnOyCjY46qRfw1RvvZ9smOOjaSSW_TCSpAI2Ges3JUz-394eDQF2Zco7uSsI1160v1US2m4Iq_0cejrFc0SK1J-TYhkzTYrC9dvKfGGcGMCVKG3iJUF2DEwccSjEp3fwGjSfT9r0MWFLpbmsxuzJGTWBAyW1GEI0LCBOy2pSwRilOcGVtaSjn2DuOelv5E7yIiIwaouE3QnsIYpDLjfeqYZRMzoz9lqekBYLKCLmBdwKEg_9Abdzrn8IDnAFdNfLfAnKOiHkjbkeEolGAFSbu1AOsfqCLQrHrWTY3z7iqVHFmhkeYuXcJ8p_mJJyQE_71-SoZ8hyq9XWEY-3ea16ajxvfWQQGenMebWuOJtEITcKQb8HuYzfhEXZXYoi1lh7kqTAAK3m-drZwISUDDcgrzJNxRbJvnrB3kk8wKw1nWXjR_a230W5iUyQSp3VwxWTGseMExwRCImN4BhBL9-jHtCftjUW3_vH-3vcb8-J9HCmsbUBHw1nj5Rm3NqSxSu2nMzU1G1rNyfIlzDHkdI8Un8yhdUIraxijXu8L2IZ6hyRdyuef7PLEdjjGBC1LCYw92RM-G_7ksxbpftbyPdOyTwTDhSLVHQMUu5KX-gaFBxJKV6kXZfAl1LnGXbQ-2G68piwTo2kjFw_yQQFdLZebTRME1yZeNH9GBhkE71daPe8j4eWtcsUWzW1IPZfP0UFm-EcMowLZTG6c8co_17AjtSFkofiBc1EzlqutRtaQK8C1qCcImDTUbPpktf7MfHvnXUG0BWH0e-_gKfCIfa4jcrhXgiE_7uRcVLfDZy2pa4QE6MwmyP8ajT5BcHKTjr2_XI9ehFADyS6zZjoSFfPrHH6rBtRvzvbDmDiIfpJ_9FkspsU8OH8UEHKJy-6spWnLtZ-iTov7rlnHr6AhW5OtzWqP7bz5gbfRtlxIpflEofADwOFwBkx6CXmL19vD7RO-0A9oRCiLOEvzGhZBqhwJBfKuAc0s-OiIHFpftV_1O0j8313DUxM87pW-uC04T52HKf_9_m8v9DAjIMR83LNFdXJrdzGC78hu8psDSx4AWAVFcoKphQGhxMzUjSoiCj5-oDq5DKte0U56y1yKtF4A4wof809hi9aTYXRZRYZK4pun4Is6q_5v52MY9PkQ19dzCk=",
  "id": "rs_0a50595dba5abf77016ab2c08a8b8087d090d60a8a16f93962",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped near the bowl walls, and both fingers appear outside the bowl. I’ll close and check whether this wider grasp holds securely.\"}",
  "call_id": "call_BHPADaqMNbvvxwFOh1Oji1tB",
  "id": "fc_0a50595dba5abf77016ab2c08b7eb887d0b1329912697cfe88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BHPADaqMNbvvxwFOh1Oji1tB",
  "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]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3935, -0.3641, 0.0082, -0.0219, 0.8436, 0.6128, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3846 left_y=-0.1219 left_z=0.0367 left_yaw=0.0383 left_pitch=-0.2102 left_roll=0.0493 left_gripper=0.0082 right_x=0.2847 right_y=0.0 right_z=0.1517 right_yaw=0.0055 right_pitch=-0.1309 right_roll=-0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.3915, 5.5863, 1.3993, -0.1685, -0.022, 0.6325, -0.0068, -1.4701, 7.1316, 1.5995, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6768effd17390d30e36f2c045f49c21d028d54ccdbfdc4feaa7fb2f1e174977c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dea9b04270d17bf1e0db36415bd0495312c245629ca219fcce96c2d402bf6804",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c6a05846bdf14c82ec6296304a62a2a7f924d7351f1fc807dd2f695c8b9a7c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.552 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3939, -0.3637, 0.9952, -0.0216, 0.8436, 0.6151, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3846 left_y=-0.1218 left_z=0.0367 left_yaw=0.0384 left_pitch=-0.2101 left_roll=0.0498 left_gripper=0.9952 right_x=0.285 right_y=0.0001 right_z=0.1527 right_yaw=0.0059 right_pitch=-0.1286 right_roll=-0.0078 right_gripper=0.9992\nstate[joint_eff]: [-0.1573, -6.8718, 5.6137, 1.4676, -0.2418, 0.0513, -0.0122, -0.0205, -1.5521, 7.1316, 1.619, -0.0171, -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": "gAAAAABqssCUO2qYHa34GsOxzTJgGXs-MyERKG22ewqKDOVeuzrI4mU5CueiUl8LiwfqcL0E6R8u_BA4cs61D1_lxkNexnz_DUxg-3ZAZcAVTno5R7iXzf1frsLHnViDGFnPOIUjmi6hCvuECuCQL-2fjuYbvDN38jMzIeWLBQUM_qI-ggvR3TuZ_bQS0Cp7d-sRKSd5BrZjt8Y4Z6Z_VNOsHSMYUDb8MRug3NVUme4bOhKt0EUcYnkZyfTUkcvNZT5fFDdFqLi_9dBxXPdV7UflX7W-3hvxi1q2rfK-dh7UtyEFT6MUbFT4RDu0dFcVae1cbAI52MluR5PKMCddnNwB-q15H-MTXPrK7ygxFX7yKJvXhLwlnG-ixu_h_ETrSoTEXf6XqrCczIk5NHq-wTxXznHTVWhE1MGP3lHbqpr_6DVuggrwFAkEl420WoWl2pMsp0-Je-qylOrzwHAOMOvZimK_5jiwyEXp2qc81bfZ9cxANoz82h_wjR7RHLrzasx_cWNSBWdnbIhQs6oQXqx199JCiAz7BUifxt6CY_kEJ9z-sVjDVMgA4p4zUW-esY4b0c3W4LCggOAET8clDcUQwQvjmjJy2OUim0WVB6xgFRgaGfNYjMkbku9_IVGNeH6d5Pyr9zVBHvzHKh3OOpppdeU9MsNY4hRCfJI20zZan1yTGcDkD4YPjc1J6skA2W5Vv9q6_PRJ3J4myMQNT9JtBmQph_McIF3Bnk2TfCLXyGYj6AkOzZ95iyOtvCPcR1DiblXb66mB-ndhRadEMx2omncW4oZwOZ2Pm_7tt4JDW2-SBf_JSa5nkhx2fWN-uw2gbX6IIjoFch_yRidLpjNLQa2WC1VQbjFD6BsYHtyW5I1Wu96Cgve9Z4zO8zNthai-tUY4c73kFDA8myi8wWL07X4FOup69eSjuVQ9VsV8hsn1-D8zwtaqlxCPs-4ZsddCMEACCI9QKOXReD5WBsIcLWEcOGflOs1ykXN3Qu2BGVqKAi8kYrVdzMEejz2ShbaTrLCNwCqnffO8_mzDuDehz2A8aWOKR7nd6uXU2C3WlpRWQXh3YoY-FSErpLSAHW5SZuxm_j_PT1aJ77Z71_NXSM8iPTItzOkH14bjWFGXr3Lgfij6ouli45Bmr5fpWzRXrvSA__ZBFT4Fq4TOmtTN1gMOgff3MjsSm6FIJ4v9Tr0xwU5axLMk0Guhn6k-Pxtl_ZJQG1ZP9GLb_k-FA7H6wGjXFGQ1SBtXL7qFtmyDrWAovcvighTb_dmy-9WuJs7DJvVO7lnBDazTxekfsbQirxNLoLKdfvPxBuc1mCuAhsrxDnTsBGRKaGyuVFkNjHF16WvyNZ7eL9is-UfFbB4I-Wpjxg2URYCVIazi-pgKekkTsJFloRUsW1vM9IvDHUZyo5ylERO_q4D5kukZZn_8XLnp0J0tkoQRLG7fkjolMre35s6bp1idEaio0sevV51RpHbKdnGJ_0pa8q7nKhImLXeNOIP6VLDTnJfiFwQdMOV54XXlZ8tzKCnjZhW-r98dclBQMi_NhsfX1MYIsPEJ9ULCb-x5VQOaS0LiC0lwD1TVkjwDoS1RPzaSsTs2mrUWhF-BvuwVD0OGoZKp_bw2Q3c9KXPmGg==",
  "id": "rs_0a50595dba5abf77016ab2c08f20c087d0944cf998209948b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.105,\"left_x\":0.425,\"left_y\":-0.075},\"note\":\"The gripper closed empty inside the bowl, so the bowl is wider than the available jaw opening here. I’ll reopen, lift, and move onto its left rim for a deliberate rim pinch.\"}",
  "call_id": "call_gdtW2PvJ9jEcFtQ4RvhujoDb",
  "id": "fc_0a50595dba5abf77016ab2c0922ce887d094433cd688558873",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gdtW2PvJ9jEcFtQ4RvhujoDb",
  "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]: [-0.297, 1.6447, 0.9424, -0.1646, -0.2817, -0.2443, 0.9947, -0.0219, 0.8436, 0.6109, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4175 left_y=-0.0727 left_z=0.0802 left_yaw=0.0693 left_pitch=-0.2535 left_roll=0.0571 left_gripper=0.9947 right_x=0.2844 right_y=0.0 right_z=0.1509 right_yaw=0.0055 right_pitch=-0.1328 right_roll=-0.0077 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.3453, 8.9231, 1.3993, -0.0024, 0.1734, -0.2857, -0.2667, -1.4701, 7.1179, 1.619, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b34fe8ca4d3252064db4ca7482190daeca81399d09730abfecd410410ce7cc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e2220219d8c5c33e4bafefeb7d891f2e7b522d7fa30e890b65332d3ad707aa9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c216fe158d2dd9e2165f5567d9c78d1ce55acd5927ec73ea33d567556502327",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.603 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4847, 1.6878, 0.7593, 0.0643, -0.3935, -0.3641, 0.0082, -0.0219, 0.8436, 0.6128, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3846 left_y=-0.1219 left_z=0.0367 left_yaw=0.0383 left_pitch=-0.2102 left_roll=0.0493 left_gripper=0.0082 right_x=0.2847 right_y=0.0 right_z=0.1517 right_yaw=0.0055 right_pitch=-0.1309 right_roll=-0.0077 right_gripper=0.9992\nstate[joint_eff]: [-0.0615, -7.3915, 5.5863, 1.3993, -0.1685, -0.022, 0.6325, -0.0068, -1.4701, 7.1316, 1.5995, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssCZTWiRfOdMfy5W7mCMP9esvqd2Xj85eC-E3RIL-EY5kmZ2TdRW9qA4JaumwfzjzRHvr8hfDL02gvUy8eRpWtYjsqzsVjc9wOXtejSzwDVjT8LTER0OSL8n0kG8CO49gxZ2LFdkmpbw0KqMuDmedX3dgPC1L5kwJDmjWyhAnhawUACd8U_PIA9P4zruJcfd7FMK9aBDOwsnGY7NzmBvlWHtYR4B-AWTKwdygO2yIoM92miR5OgCtCEjbZNynj6JxYc3tScYcm5rbZNZ_OMECus4wDshv3Eo3dv9FtB-gi_REk0TsjcaJWgAfrQg7NYal0evecA0_z6avt35OdXTGq07tLNplJlNMQYjb_WNt6kSE15mAiMnzGS0xuWpB-wH_gKwyxfGLP9M-rYOq8hIQSjTAMAIZ5H285Tnx2dPnjOqeUO1j8GlU7fTjkkh4A1kqjrZeCT-aYgsTHhR1M1x2bHgEjV8g0DpKyOeshgzbknDZ6_Lad5aRO7CzO8S9hjUwFMdKIkO7_hZ6OcJMVNEg1TFe-HME8wsZp19JIrf9ODNJlFQhTOh2Qs-hn-nu49fo71z_ePLstgwKG9gZpkUxzVmcCCUMtYKQYRRCEuZqkNKfZP-WG6H1YZuNvJINMljtyyjUvaqcrr5qa9dtl5XYcDEEpuHsKwMDVlTlGi86qJ3W9BR5yqrChmohHqYQo-xbLRUL823SzFI_hlyE_pFaOLypti-aEfNWKshdJebZ0gcAXSD4Wi1arQFyGGfz4I6duKowzTMYs0l9ZFbF3DlVaA9pvHl2xqIwSMnD2eFWnvktQrc3BLyTgK9G0am9pHAtYJ8B5okylR7dzfkJX7q_ki7IBEBNNpCMJCc1d2eiXl5OYQpZvBwh40vjD61oSg282wziX5nurp7r89kbg_PSnxGNabGTXxzHJrVIyz1aHla7I0IHxpQt4vTVrzVZ583tcAwUbMl3EkngGt5wpJDgA8mrjLXtUaIfvDnyPfxgUvsNuSnh2QwEj9Rz7mrofWgTZIN4P7DidBdhceEzgsMUdtcG35rRuxsG4Y_Py9F32K3t6GBYQUfEud27CuebxVmoek8El4QDi2bEicr4fZdvzIEzRfPirdr6LZjDGD18m4morGPUi7hXR4xVCn-QtIbm2dALvCn2loGg9FMDdi8gp8nlvFfLrIrpsr8n7MH7dS7assf8pQKtUz3IKg_uMoQzt8Qv7HTQwCRvPEUj2xj4ySmqQliWY7JrMddLae4I3SRSKQYMdrdflLwIO0onOYeJ37tyTcdYPSdK5PS4zHdSYPmBLe0Qb-kdj56pKdh7nH9CMY=",
  "id": "rs_0a50595dba5abf77016ab2c096ce3487d08a9ed9b4b0ae25a4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The left rim is now aligned with the center of the gripper, with one finger over the bowl and one outside. I’ll lower around that rim.\"}",
  "call_id": "call_rLKpbwYps4NwCXxIDomZzfYi",
  "id": "fc_0a50595dba5abf77016ab2c098322887d09525e387fba8b383",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rLKpbwYps4NwCXxIDomZzfYi",
  "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]: [-0.2935, 1.721, 0.8677, -0.0471, -0.281, -0.2356, 0.9952, -0.0216, 0.8436, 0.609, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4123 left_y=-0.0697 left_z=0.0401 left_yaw=0.0705 left_pitch=-0.2854 left_roll=0.0751 left_gripper=0.9952 right_x=0.284 right_y=0.0001 right_z=0.15 right_yaw=0.0059 right_pitch=-0.1347 right_roll=-0.0076 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.1162, 6.065, 1.6435, -0.1294, -0.1343, 0.0464, -0.0068, -1.4427, 7.1316, 1.6093, -0.0464, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad50118459d2ec26a7f7215d8e99aa4ca61e58ee35ffcab5ee2db9bb01c75f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8953e9c91a485115ec8776feb9f5bd8fd55b3edb4d89918fda40e2b4ac1892b1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fadaff0c5d743999790c1b7ba7b600723f377517009cddac5db3277c167a130",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.335 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.297, 1.6447, 0.9424, -0.1646, -0.2817, -0.2443, 0.9947, -0.0219, 0.8436, 0.6109, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4175 left_y=-0.0727 left_z=0.0802 left_yaw=0.0693 left_pitch=-0.2535 left_roll=0.0571 left_gripper=0.9947 right_x=0.2844 right_y=0.0 right_z=0.1509 right_yaw=0.0055 right_pitch=-0.1328 right_roll=-0.0077 right_gripper=0.9992\nstate[joint_eff]: [0.4171, -10.3453, 8.9231, 1.3993, -0.0024, 0.1734, -0.2857, -0.2667, -1.4701, 7.1179, 1.619, -0.0317, -0.0611, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingers are positioned on opposite sides of the turquoise rim. I’ll pinch it and then test the hold with a vertical lift.\"}",
  "call_id": "call_Ec2xIviYcdiTAgCCpwBT7kfw",
  "id": "fc_0a50595dba5abf77016ab2c09bfc5c87d08a33b793460ee6a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ec2xIviYcdiTAgCCpwBT7kfw",
  "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]: [-0.2939, 1.7206, 0.8581, -0.0208, -0.2623, -0.2581, 0.0228, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4136 left_y=-0.0736 left_z=0.0401 left_yaw=0.0654 left_pitch=-0.2737 left_roll=0.0392 left_gripper=0.0228 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -6.7487, 6.1607, 0.9402, -0.4274, 0.1587, 0.9695, -0.1299, -1.2786, 7.0632, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c83bf8b59e8956b332f21d90a5ef5227241d555d906658120e9a780e908582b1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4e544642cf0d3fded594dc06a95772cf418b636e572db645c43bd1f1bc7c33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55476db8ba15f52425fdd3fb67f2a087aff973f31c1f64aa378854b72f547745",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 7.591 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 1.721, 0.8677, -0.0471, -0.281, -0.2356, 0.9952, -0.0216, 0.8436, 0.609, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4123 left_y=-0.0697 left_z=0.0401 left_yaw=0.0705 left_pitch=-0.2854 left_roll=0.0751 left_gripper=0.9952 right_x=0.284 right_y=0.0001 right_z=0.15 right_yaw=0.0059 right_pitch=-0.1347 right_roll=-0.0076 right_gripper=0.9992\nstate[joint_eff]: [-0.4308, -8.1162, 6.065, 1.6435, -0.1294, -0.1343, 0.0464, -0.0068, -1.4427, 7.1316, 1.6093, -0.0464, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssCiCcBbJjA7kPVDGkNOpsuTfLPpW1Oi_FO8yT__yCXSrYKSe5ShV2B7q7h7N-ukvk4UgNb_Cr_n4GTIF3XEDWw_scy4dUV-O0kILe-exlLehvc9_lI-9itx8k9JQHdoGlyBFv2aNHGwWUv9jkWr1WaC5i12EKTMTi04wMWKrVPnD266IK6XUCr4Aj6O8wSuCSkoDVj15wNOyvPYQ9hx9ZLWO8--wpfqW86zRLVreybIw1MaTWLhPfmI7I2SfYIBXLQiL5AvqCJcJRhQ-lyRVj4JXx1EdIvnFHkkfwNQwJqCwqrnOTYU8gMUPa3r4cA0bFDLvbQ7pUFZ01ygFWS_q0WFGU3kj7RLJWasXzce0K3ZL-N8HjSZTztVBZssd7xmD-MNI-Vp-eLRbUirk4ihkk2odaKuAybBBFjTKLBHayNIqFX6vLtvzR5XQspLDRGBqg5opYAba-zbrN31J2HI_atQ0qi11coxcJ3nXAp8RpwexTS3PsU17XGZUvfzn_0ePH76xXZY3Xyaug5nLAPnu2ppVSKDsztUHYo2n6YBqtltcSuHIaiarvWtdOf7D856s9nOZdca8lTTg5o7N5nIubh4sbqV2j17J-MFQwDqonlB5kxCjfxZEYWd4wqfDgcpYuhPvPMUT_BdVWqw7GdBK3sESJ71RparEpL4mRzduLx7qscZZYc8HxxI1x20qJRdBsggUAE9UT1WhlSkkonA4yoPa65SA98wagxrWaSDMIJZZUiRZHg-6yojWSONVqghYhJugY5mCxTPvNfv3bF8kyv-xfzYjcUXcg_g1Kc5fZVyIVr1WRqZFjWlt8vvy3VccDaQ8NR_of7Q-hnF25iAoNNDxkdXFHJc1T27B4Bqjwls2EQDYkWs4oVAU3mRfGbFMJBiCLN-O9zTnJxcXOfn5SBbfxxCaH4Pfsg0QqJdMbCnwvdg-G-OQLka0xTpnYh6tTdIiWBNLNTpRtjqTNw4GU_rs9NQixxG4x7n_lWzb8Nn5bLR6txgNbWj5K78DTX0cxF8e7XZm7eWHehFf9ZCzTVz6qGhvS9NbqvGzcwJNUYJvxXOMEUn2zEf5UTKcQfeLplFw0TL0x8kNiVyzj_LbwHn74Q_5UTEXQ40i_Qj-euCqUBUcmA1FtQoHCAtG1znRXr6S-ahUq8GHV2uJ2P3htta1FXM--cFMRiTDGOi9CkHE3zVvVoi-Z4-WS7qFTCSyIuF_OmRKE9XM82KKAoEgCukSg==",
  "id": "rs_0a50595dba5abf77016ab2c0a0750887d0aa87b8f38729100d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12},\"note\":\"The rim is visibly between the fingertips, although its thin wall gives a small gripper reading. I’ll lift straight up and verify the bowl moves off the table.\"}",
  "call_id": "call_GdEVCe2CeYtk6tLsoDUDHbEz",
  "id": "fc_0a50595dba5abf77016ab2c0a0e89487d085294fe2c4c1b816",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GdEVCe2CeYtk6tLsoDUDHbEz",
  "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]: [-0.2943, 1.6123, 1.0149, -0.3164, -0.2619, -0.2588, 0.0324, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.073 left_z=0.0971 left_yaw=0.0683 left_pitch=-0.3023 left_roll=0.0496 left_gripper=0.0324 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.3333, 9.1556, 1.3993, -0.1929, -0.0317, 1.0281, -0.1846, -1.3333, 6.9538, 1.6093, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c4ca7d4b4f53b051ee84878f3527fa45a6c113b80006202ea1547f20ff71c67",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:752edc1cbf8035192e94a35d28f2bfd1db8feabaeb2016d6e4109965fd29b0fd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32e5c2fe326e47aec148ebe2e9c4cf02ad3b3fb5298d8d3a92c426f59d5b1120",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 8.872 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 1.7206, 0.8581, -0.0208, -0.2623, -0.2581, 0.0228, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4136 left_y=-0.0736 left_z=0.0401 left_yaw=0.0654 left_pitch=-0.2737 left_roll=0.0392 left_gripper=0.0228 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.1026, -6.7487, 6.1607, 0.9402, -0.4274, 0.1587, 0.9695, -0.1299, -1.2786, 7.0632, 1.5751, -0.0513, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssCq3jHgbZTaqqnWVPxQ5qP1Qqy4JZRm1hnJPK0QRFeI7zlcneibsEKYV7e4ATi40kQdZYBqvM6pI7954lZ7-AELsm8c6tKSiEYkdYlpnQpKz_gnE9gLKgpXH6984v_1tgzBAw3fMAIUxk9ySeTsDVKqkhhbjyveNHyWSiZJcWk0Y1ekDKZadCdlSOi56Oii7NizbTAECQtNkBaOweJ_gteJWtqIAan6_Kdf6HSlaU0iMFPrYKJEDKzH-VKzmS9uJcUeXLkHRJZA6s2C3vRLv-RXxkH7hmkf5naIDLqaBkxfDgV4o4NqUYNhYuagzZWTPI-aaN62J9L-1UP2_eAAXiP3YKTBKD9Iq-5i7rh6PHWFBZh0i-LmV1C3Mtytx7OK19NWAy6vXWsie1m9k1j_8owFeUjYc97voehoV5HSONON9dhXJWcSrP65LjpcmSYzo_zOKmU6bW-Im_AK_l2eImOijiZz4tRK4z9GNX0jnUmHPKldGiKTnHGcR3qNipJ29nu2-6KnRowM7sRkclAv3Em0TIgQZUaMG6eRjCSa04ZbyQy5xyM0s2feXumSzygOwjhXYsqqbfIiK90QRQPqF0UxzKcNZezZO0i-LHlouyVPvKce05JdXVmHebqFNGwmVox0Kkvc-ULFprQY7BQ3v72j7C5w58Yd83RRQHbnVuVK_-95yfa9UsoD7hJhWM9HNCxsILeYnT7sPllDP08jabgUb5KXius8UmmGi27WcQr8wQ-4d9MNwJcGR2jeKUcHC4lO7RLFVNkESj_hxoMcMpMru0SeYTL70rtYqB0Wuq38nCBfNifRqc2ObaaDPmRyaG0JCR34A8QbWJwgM5jQOLYzqwh79ySGHD08J7iki23N3wQORjzKJbI5y1TVdrbQJmIy3sbQ096MNptel66sNf-BVTv-7YOxubg--ZFIogMUuUyRWpsVZ8omqyzYiZEy7Ge6x3NPyjJGygukzmX3p54lh6JfsJzmjg_9632KgJPSRUMquroEdWHdjBZaoh5WUq66LyZ5EOjpc4z5E0x43u3i6ech44Zz9jSkaPlRIRyvaXCOv99EG6ZmR7NEPJVbzTqwPCmXxbsqPq2I1mgFaZy4T7Q1glZSeDEVz-zsI8s7S_qIhCtN3TxWGJfpDDRQ5_HIAhO6aU95woDTO1h8nkNOXXGn2F5OT2Lb6071ekphQOQt5HlPyHn-uUeogh2wsb5PrOm-Jz2076qBPI3BjVQHy0OMQrUARFPYUvSeuzI3uNRhMpeBIuY670Uvjbbxi3vDrlIANgWpv_GMD6d9nD9kmxxF9YY9-4Sd6FV83vb2714WjQQHBJqk_m_uoQmKwAXiwfA5clEFWVZ5LdI92BTmZDt-kCv6WVKEDk2fdhnkW1lwMuyN0llHKcjlALNy3OzDOzKtDNZz_rI4I_Wk7HNRcIscv9-4w-ryuXmgksscZUw=",
  "id": "rs_0a50595dba5abf77016ab2c0a6a8b487d09e936c2c0812aff6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.195,\"left_z\":0.19},\"note\":\"The turquoise bowl has lifted visibly and remains against the fingertips. I’ll move it above the purple bowl, allowing clearance for its hanging base.\"}",
  "call_id": "call_AYxdRMg7OMJlrLYrCRmBWZGD",
  "id": "fc_0a50595dba5abf77016ab2c0a8a76087d0a7e49088b1b41d71",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AYxdRMg7OMJlrLYrCRmBWZGD",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6201, 1.7515, 1.5227, -0.7898, -0.4221, -0.5308, 0.037, -0.0216, 0.8448, 0.6071, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.403 left_y=-0.1944 left_z=0.1778 left_yaw=0.0418 left_pitch=-0.3206 left_roll=0.0427 left_gripper=0.037 right_x=0.2838 right_y=0.0001 right_z=0.1489 right_yaw=0.0059 right_pitch=-0.1377 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.5265, 8.8821, 1.0476, -0.5348, -0.0464, 1.0281, -0.0205, -1.4291, 7.0085, 1.5946, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4efd6f911afb5089a361e548723904b296fb529ebf6a34deaa4d7b084b22828",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93d5e9469fb7193f600174f96b12ccf6e2f799378c66d1c4811a2c8a518e89f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baab2928a60f5ccb2f509fecf7fb2d21a0770042e9c8f0a02081cf7437d9d01b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.032 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2943, 1.6123, 1.0149, -0.3164, -0.2619, -0.2588, 0.0324, -0.0219, 0.8448, 0.6075, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4108 left_y=-0.073 left_z=0.0971 left_yaw=0.0683 left_pitch=-0.3023 left_roll=0.0496 left_gripper=0.0324 right_x=0.2838 right_y=0.0 right_z=0.149 right_yaw=0.0055 right_pitch=-0.1374 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -9.3333, 9.1556, 1.3993, -0.1929, -0.0317, 1.0281, -0.1846, -1.3333, 6.9538, 1.6093, -0.0366, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssC09IQbwke_jzhofBj7Xin2nST5On1HkWMUM4leyelmCsxigvywywST6w231LW1UhdIrLNgsiVCkhaGEak_FEsqpAI4ct0elOT194ESJyfxZu6b0VgGPK_4HMRxwQ_RkyaNlGVjvI7hcI0okvTmz_X0kjvAQYNh0YmIY3ZODdp9ff4YOXk6jRYFajBT0Vnke9kQ2fe1KpWns4VtLCw3HqrDbsX_HQXd4Cka-zsU-o2VVAIGyw3k2N0IAbheMm9QvYkzMaGAK2X7C8_yIb1RsOvSKSbn2ruROL7AeYoR4-vr7jy9t8xWRUWIOWA9jaAvpuIYMIpr1gGpMS8p2-stsvSqQ5XaWrVtBkIG7S_d8TdKja7s562J1RpPJjLqera7IExfQvh0gmt7TZeAVaQ2q_Q2JCfT7oU69cYYDFM7IMtQe2kWNxsT8mbwgRqEgjVosfMCuqAqUMiP43qFgNG-nY348e1taRsMzLWR4k-8q3G5yQ9nOlQTPdJgPdmnKWnKaxbCStf6AMd9iNv2h7DoneoWHVGUNf0NBq0qv8gBrvl3m54jQunPQ2uPL_-7fOdNrQIpJD5OnFxw4Z33QTqLzLilCZ_dpPIpU2CnIaJkbMl1rqgCPhzImK5DVCBwWi3_Cb_h5RTEyTrcSW_o2ofyzKOXRETuM8zuT8a6_Vc03eCYQHMcVBkGgt79HC-Rra1uEoRsPcwwv7wlGfscKAs3YDojGdevR9_0UgoEzuPVquvQO2VM72yY-Y6-SOB8CkDPv8oHjd5Zl4fuQia7u4m83iccq8bqbT2Da53dodNBFN9XNMC6MhsFPmZTpXLk6FZtfBw5qGEWxqb_5phni2916qAuZ5jviWhlLKD7LdP4sRIrmU5sGXjY20AnepDq5y7S8YtbLzvBX3fkafJFy7PqpXfDxKMfrliA97Xcu1L4tQ_WjKjWUnahEztOTKDpc5cPV3tTEZ48QJt1B5-aRrC4b3gim2jvWuYNezFGbkRse6SgI-NsM8tTEYZURFFN4vNswjkgX_azlzHc3_lY6lrGv7T7K45zllQhB-8qLwNQ-QCzzjehXIA_uNU87U0RBEuA4_WfnZyFYACOpFQ02hfK4_aHVE-8_rURGTsIhJV54V8AwOXEJig3Rz0yDpBRJwvoWdePy2QUydcRXVhWj5xg4g-YX4FF3309btW2Jaft8Rm0RsLbrG9f4M2CGqx0STI4LEhjajKXKjGAvCwjaNQ1vqnq-o_T9a_n9eAxyBAhPNbHcxeTWN3W_G1g1IFHcnsBRocTiSeOwzo5ictKLho8Yt4U3sxb8rSIx_F0rtaHrSME50zXTN3JF4KMjLfJHAEjE0q3QHe1wkK9XK97g-PvnqtnJsALejB1RMDvLUdHwjyZuOyYcgejLBofUwzxD-eyuCT98StjvDe6m9Qi-NiEtqc_fJERnPP5rCHVyqcwnT2QLnFQakjktCLQYaKcaAuMasb3HjWkSnjhll1gfgJMMf_JwKejp24HtqKRupcF8jdDpmeSob0wDn_9C6vVEwliUd29vqBtQgbX5XAW6j5P78oZguC6TCjGTBCVb5Ohg_Vs3t_gywys9LjjJ4XGBK9q-6HL23XivBTK8lBLpXOMvig6uHci5NHNhrlcTzVb9fITrKMuyLsIN9e2zYPFxLQaUZxeS0qO27SLKwYUiIhni1OGpGUNda7zjhfZv_uuhHUNvqBx1pTR_tKhCISMphMkE_ml454DGizCm8W61hEfj2QWRJv4DetfBMoI33UajvoxiLnQaT6fszxlsYOFK9oNJvGvGs3UVfGvCWW6mXAJeCEH1ElLnfrGIM7S-yFXGcftJEGWBHLSXyxAKQTdJFEuOPX8ugSkzp_9Yc9zS7XBdKJsOKdfcPnaxDrUuZXUj8-6645rnvWVnyOsTF3E7CkaMiH5JCTcDr_RBb5gcDSIg1IboIGOlWhNNYZRf3uIBxEtNaUjfNyqEIBdQ_TrdpWe4PZ_QBgBIkVMYVFXASYBczWX5plncLyBGLEK0rl9H5ePtAQ=",
  "id": "rs_0a50595dba5abf77016ab2c0ad91bc87d0b160efec13010c6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.22,\"left_z\":0.085},\"note\":\"The carried bowl is slightly left of the purple bowl in the overhead view. I’ll center it a little farther right and lower slowly toward the purple bowl’s opening.\"}",
  "call_id": "call_xD9NRVCqS94VVQcEZTFOTGf6",
  "id": "fc_0a50595dba5abf77016ab2c0b32b3887d0aef9b14aed81b932",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xD9NRVCqS94VVQcEZTFOTGf6",
  "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]: [-0.6716, 1.858, 1.3079, -0.5465, -0.4438, -0.5674, 0.0387, -0.0219, 0.8448, 0.6071, -0.4751, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3937 left_y=-0.2115 left_z=0.0841 left_yaw=0.0449 left_pitch=-0.3671 left_roll=0.087 left_gripper=0.0387 right_x=0.2838 right_y=0.0 right_z=0.1489 right_yaw=0.0053 right_pitch=-0.1377 right_roll=-0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -8.8684, 6.3658, 1.1941, -0.3053, -0.1538, 1.033, -0.0889, -1.4701, 7.2957, 1.5995, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:796214fc00ab070e48c53b7991540a2d1c0f4d9ba366b91a7933936b76f6499b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7f85d59891750f6cf553d02bb85125e74b6aa76241e2acafe81df17078790bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48f84aff95113807efc3ccd61d6594149ee721abe5c1873a82ca3edbdcb9a2a1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.691 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6201, 1.7515, 1.5227, -0.7898, -0.4221, -0.5308, 0.037, -0.0216, 0.8448, 0.6071, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.403 left_y=-0.1944 left_z=0.1778 left_yaw=0.0418 left_pitch=-0.3206 left_roll=0.0427 left_gripper=0.037 right_x=0.2838 right_y=0.0001 right_z=0.1489 right_yaw=0.0059 right_pitch=-0.1377 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -8.5265, 8.8821, 1.0476, -0.5348, -0.0464, 1.0281, -0.0205, -1.4291, 7.0085, 1.5946, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssC57pSiI9F3albddOJY7D_A7Z8RifSY-ZgGOq5Oh2mtfm4uiqPnthyPM9tkSndmgVRUsokIbI0vR-IWGPgeEda68H2qFniWT3JasXxCD1ynlTqQcXNVFlC3fiX5O2gRexRaalPCWslaJYNp4Ey-xFVgW3lm2yxt8Fn-7Low0mPehLCsJOO6kZX0uv1NZE9TX7icEQyzux_GzBkc82lW71sDeWW1K2ivR4bvF3XPJ1QHLDh6JZM6wgcSvDsEY3lvNAeG2vETaI7Ieyr-B3lmEwf8AeHgGsuK9YwPw4xnrX975gogkqOxgKu_ryGVbVZho6H8q29mx9KXQEM0-5sjyBIpT3wJyz7DOVNUMSCas249N_ph9OicaUwOY8HbQmf6LoEtk61634GJUAz1P6Dnj5QQZXODuNni5TaSw2enl4J8hkZZCOffhKzxL4hJ3KP1A8xlfOYbOKKiy1Wrj0ZlgUq76d1O8NNh_VRLTqcpF8v2RvqG1sNXLbD-mJVDRxqNsSBCYbRPuK9Z0sduG_Ifv7LXPWKrbZg_Y1AScDwlvca-VhYgZJIIRG2AZsbjztsA5DsvqlYJgsEzoExqtokVL9M5VISPqxchBsa65BCEtGq0--SiU6_d4j9gWV8zlyane9lzoeop17EfX9P-2Xk8mnRzXU8pBr226gEVf91uj2090IymTlxmHpQ-h8xYDQsbJ9K6ItXSXfwNjdIKdbaVUx7sr1khjj2YbkLNwdIlDwMsteiaaAHrxkSjReVjM7scYva8SI7hFR_EmnUSumKrQhmoOtcqSEaNk0fXh_T-gsB4mBXqeyvdmND14ay6T0SGp3bdInOP9HvURWx_5ddxBz22Z_xw9CPZeMtpAekIVWWEpPkbw_a7vuUvMoDk2Q-NIj3UW9xFpBmNkHpPOFttqopCRTx1vhR4zY-eDcW-6L1TrZtAg9Idc3d8qWzu1et_DtqwOoGH2O6rOB6tJzP0BXEoFMbwws0f23Yv8gSN1FVjTZ9gql3u48jy55ustCZOp4CxEpb7Q8nyTNv00ejDMi0ro4-6-wOeqiV5jV4ZgIZILXcJ0N8UdcUAdrUq7a3RaN8C4L-6dX9ZSBJXA3VPhamNufsDGxXpSJVpTZleIcHqT5FTNeSD0TkSa23BmGUrELwgh9Vk1R2D00hZ87evo6SB5tgDz34lTntGe6txn_ngd5PlIIW5oaSQFX7vqqPDMhxrpIAM_iIgNFPzmg30HIN9RJNCC_CNApP5qVbf_Vc3ZbY=",
  "id": "rs_0a50595dba5abf77016ab2c0b7604887d08e2660e141f95e29",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.05},\"note\":\"The turquoise bowl is aligned over the purple bowl’s opening. I’ll lower the last few centimeters to let it nest before releasing.\"}",
  "call_id": "call_p7RG9aDrXdwBzxaxqN665RjR",
  "id": "fc_0a50595dba5abf77016ab2c0b82d0487d0bf61a297aec766a4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_p7RG9aDrXdwBzxaxqN665RjR",
  "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]: [-0.6754, 1.8858, 1.2415, -0.4423, -0.4458, -0.5858, 0.0402, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3936 left_y=-0.2132 left_z=0.0609 left_yaw=0.0505 left_pitch=-0.3577 left_roll=0.0697 left_gripper=0.0402 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.1846, 5.7915, 0.8376, -0.1001, 0.1929, 0.9402, -0.335, -1.265, 6.9949, 1.58, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8604f7d78d33313315a5c1118fecd249b4604d9cf9d2ca24ee71638997ad79b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d94ed4772bc16dcdf55e573ef6c951bf1c13ca27baeb4d421ba8f8a0d1ad3c64",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996c575b3e89c1d4890a5b7b4ca9f59379f336d2ebc6b87b68adc7e1f6d1dfad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 9.364 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]: [-0.6716, 1.858, 1.3079, -0.5465, -0.4438, -0.5674, 0.0387, -0.0219, 0.8448, 0.6071, -0.4751, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3937 left_y=-0.2115 left_z=0.0841 left_yaw=0.0449 left_pitch=-0.3671 left_roll=0.087 left_gripper=0.0387 right_x=0.2838 right_y=0.0 right_z=0.1489 right_yaw=0.0053 right_pitch=-0.1377 right_roll=-0.0072 right_gripper=0.9992\nstate[joint_eff]: [-0.3214, -8.8684, 6.3658, 1.1941, -0.3053, -0.1538, 1.033, -0.0889, -1.4701, 7.2957, 1.5995, -0.0464, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The bowl has settled into the purple bowl and the descent has slowed at contact. I’ll release the rim without moving the stack.\"}",
  "call_id": "call_kyXUOhOxUXG0bGMIYNcAwN2w",
  "id": "fc_0a50595dba5abf77016ab2c0bbc6b887d09a3334b9077b0486",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kyXUOhOxUXG0bGMIYNcAwN2w",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6754, 1.8992, 1.2308, -0.4141, -0.4435, -0.5732, 0.6458, -0.0216, 0.8448, 0.6067, -0.4751, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3948 left_y=-0.2146 left_z=0.0545 left_yaw=0.0406 left_pitch=-0.3564 left_roll=0.0732 left_gripper=0.6458 right_x=0.2837 right_y=0.0001 right_z=0.1487 right_yaw=0.0057 right_pitch=-0.1381 right_roll=-0.0072 right_gripper=0.9992\nstate[joint_eff]: [0.1299, -9.265, 5.6547, 1.1013, -0.315, 0.0269, -0.1197, -0.1436, -1.4564, 6.9675, 1.619, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97a64113b084367a8e12a30b52bdf0e780cc502e3d662a4632957e2edfa73a34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17195f17fa0138c5e73806d5fc3029f2de5b92105829483a5d594fa41d671763",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae755d847b368461e9beb0c402b1b074361f0d2cf54956503712623b0cb8e79d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.436 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]: [-0.6754, 1.8858, 1.2415, -0.4423, -0.4458, -0.5858, 0.0402, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.3936 left_y=-0.2132 left_z=0.0609 left_yaw=0.0505 left_pitch=-0.3577 left_roll=0.0697 left_gripper=0.0402 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -8.1846, 5.7915, 0.8376, -0.1001, 0.1929, 0.9402, -0.335, -1.265, 6.9949, 1.58, -0.0415, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDHA2pvWA1XUJwfuWlpLoy5BGc7J8wB3opQW2QSaopepRj_rEUEuS0h9xK5vzLTAH9DJ9bYa501f74ba0qN_JizuTM4pE1-Y3IX3ucAUk_pImxFuvk0V_KDpiM_am8oFnp3I7JeTUjIiP1J5_rCS91FZAYUfN5Ejpau1KYModtKYK16ZkJcRQIsDxZXzaTSRO6xeYcChFYxRfkQkHVEP6gP9sBfm4qzIz1dI7P2iaj9vhnx1g5RnCqOhw2Pyg85q5-Wmp7jQb_0nboBJf8q3N-XzWbh2KDZm0v_Ppvts7QPVJKOyzDVc6MICA098wyKsEmECPoB0t0CvS3r0xqlUYaeN28jk2cOLCA0OzMu6fQ4FlFDIQirMIQw1ZmV08LwECMelOINTbAFlGW5tY1wN04aC-fVKT8wxbfqfMbux8kPVRvQwO3j6AQuDwghoBBGOO_UAW6seWWaZCNOYuqyUGRxld30DJWPR51iHiizrvpf3IG7AFY7ZSulu69q4AKVQ8fDRjxxYgmf705u1Z391dbtmuWoav9YNTdOsDatPvFUQJG3BBHsK4CveQc-_8bGk3Ee6TClgwwEels24x9y64S0Ricr6oEkMgaidlPl9KrMvbhIXNlcJSgDawe1Hmfd34E3TTnn9YLZwXHkE9z6yyhfqS6xQ9Po4x8QuKFlm9_yp1dzQv4PbYI_Eke-90fpMFnwR6KbiFi6x1ttUuFwDcuXwxjHbz_LAqbEL1Vi9156u2JJ_r-mhxu4EkjfkDw5BMqcVn3zUP4yhqBtOXej2g1z3aKSgkiXCMVB-xBL3d2-drRKhLyLfldR7XnpBvdMhBbjzGiFhg4Of5ZWGfl9aw3VA9QF_7xOQm6cCEKwiFlfDPTdcrEVH5rGVMO5rQqphBxzLmLopT4GgI8uwhE30x4UOlSYGOl0DQr9SWmpiNwiz6d_wT3JrjwMoXacbSL4C13N1nEod3_9W4PU2C6BeIU0oC3995Ou4xGTZbNfx2NU-GPYdkc2QmSKCTR1uC93mZID3KnaCGX6ZMmIcgkEKfjQ55fApjrzeDJ4C_BJTiSRjs79BcmtO9BJoLVyYyyDdbFECO5w_8KoGDo1vZYLGE_WELHmAVAverWLCgAy0FNhwc1CCy4icGEkZwvwUT1WFzA3qclr5yftc-j33PKnweYPa67VosjEKLSrWm-kRyNwBwckc0JKSpIW_qRm4lLmptoo6J8DW0Hzcru0VUJTiCdoYgWRUXZwxjpkck_wPs-93Tq6F2siJDyu3su7TDX1rGjIc7_m3quoJ5m1mi27PIVtbcDT-975hsmP4yQkA0NjLCZOLiA6WjdAElEEGl4bxYP84oIjR1bEr-vsYAewUinZ2xfuBM3oSt0n7Jb2FZy9yabRgTxmmUa22hpNbrpvnSuZJuaO6DZn-wai4npiliTwRt2Vebx8InGsBORbHuJjqPSThCG8LHZM7R9nUU5grD0aN8ftdapQM5gJJXFFZ9avpUV9d29daSOdJBKC2bTRTIllT5btQLfTQHAjB_btfSSjeCeiLu5EHqgv_xnjS-8Fq3WRam5x8n82qPsSfZHzDLB1asKfrsr3tuo-Z3Lj1sqRHS6vmP20EAFYat6ZeyEyulTTG2T5ZIOUaFmvw7ZaMMEAlqTHFGjJpm0j3asRbM8Sr7tsFaW3byRzkiRS_aoDg-41u3OQRc9OOHfRzMsoTquDLPELLtDtkFwEQOQk6qhpRnV_tKgpLXAqww9DLLw6EgC9Fkvt7egrXTVmhlzZtNeqjic4xVaicZm3LNiNJJoIfqPAYS5S5CfCMlaco_XccP-8IqydNypmz6ZIPxJj7ONtJhTJnb2wYFULFmfEBXL3-WfFQU0dbTc-oF1n9aAkjA==",
  "id": "rs_0a50595dba5abf77016ab2c0c1363487d0bb0794144ca27d79",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The turquoise bowl is resting inside the purple bowl. I’ll lift the left fingers clear before approaching the remaining pink bowl with the right arm.\"}",
  "call_id": "call_JbUd9bdf4baTmxtS0uVdvcfM",
  "id": "fc_0a50595dba5abf77016ab2c0c5da8487d09b9a363122d0662d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JbUd9bdf4baTmxtS0uVdvcfM",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6754, 1.8217, 1.6222, -0.8593, -0.4427, -0.5774, 0.6464, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4008 left_y=-0.2195 left_z=0.1779 left_yaw=0.0369 left_pitch=-0.3388 left_roll=0.0534 left_gripper=0.6464 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -9.812, 9.1966, 1.1306, -0.3053, -0.0171, 0.0562, -0.0342, -1.4974, 6.9675, 1.5995, -0.0513, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e102c7dbde7b41bb4f0397ddd422d1ac002d159b61b6509ea9fb765c819270b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18ebc0c01569131166c6caca84ecee3bbbbb267b9234d21be469b711c04d1e97",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6da1c563f097d83f6f807fb308d2d3d920efb67fb3f66b401a2e55ed85ec7554",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 7.057 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6754, 1.8992, 1.2308, -0.4141, -0.4435, -0.5732, 0.6458, -0.0216, 0.8448, 0.6067, -0.4751, -0.0151, -0.0528, 0.9992]\nstate[eef_state]: left_x=0.3948 left_y=-0.2146 left_z=0.0545 left_yaw=0.0406 left_pitch=-0.3564 left_roll=0.0732 left_gripper=0.6458 right_x=0.2837 right_y=0.0001 right_z=0.1487 right_yaw=0.0057 right_pitch=-0.1381 right_roll=-0.0072 right_gripper=0.9992\nstate[joint_eff]: [0.1299, -9.265, 5.6547, 1.1013, -0.315, 0.0269, -0.1197, -0.1436, -1.4564, 6.9675, 1.619, -0.0269, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"left_gripper\":1,\"right_x\":0.395,\"right_y\":0.12,\"right_z\":0.115,\"right_gripper\":1},\"note\":\"The two-bowl stack is stable in the middle. I’ll park the left arm and bring the right gripper above the pink bowl’s right-hand rim.\"}",
  "call_id": "call_CSiIZEnMKjeG3xt0H3FNLKq9",
  "id": "fc_0a50595dba5abf77016ab2c0cb4eb487d087e2b792f6005b28",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CSiIZEnMKjeG3xt0H3FNLKq9",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0967, 1.0859, 1.0363, -0.8703, -0.1425, -0.12, 0.9952, 0.4149, 1.5005, 0.8364, -0.173, 0.284, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0002 left_z=0.1986 left_yaw=0.0846 left_pitch=-0.3382 left_roll=0.0472 left_gripper=0.9952 right_x=0.3772 right_y=0.1159 right_z=0.0937 right_yaw=0.0374 right_pitch=-0.2195 right_roll=-0.0404 right_gripper=0.9993\nstate[joint_eff]: [0.253, -3.4667, 6.4615, 1.4237, 0.0024, 0.1294, -0.486, 0.2256, -6.5846, 9.0188, 1.9365, 0.3883, 0.2662, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:061b2322dee9938ecb7f3b2201450598fe76bf9e26b6274b48cb20cdd35927d8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f21f60f1985a53e221f8575e83e35cdb0d630693af2ea692db8347c0ba3b2ca",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fac9530ce9c0994565a3ae80b25516cf29327eda3707797524bb42e425fba2a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 7.489 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]: [-0.6754, 1.8217, 1.6222, -0.8593, -0.4427, -0.5774, 0.6464, -0.0219, 0.8448, 0.6067, -0.4751, -0.0151, -0.0532, 0.9992]\nstate[eef_state]: left_x=0.4008 left_y=-0.2195 left_z=0.1779 left_yaw=0.0369 left_pitch=-0.3388 left_roll=0.0534 left_gripper=0.6464 right_x=0.2837 right_y=0.0 right_z=0.1487 right_yaw=0.0055 right_pitch=-0.1381 right_roll=-0.0075 right_gripper=0.9992\nstate[joint_eff]: [-0.3487, -9.812, 9.1966, 1.1306, -0.3053, -0.0171, 0.0562, -0.0342, -1.4974, 6.9675, 1.5995, -0.0513, -0.0513, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDWcG9lFanM77svIxAAqa1XyCdFuOONrHXMIvbdJNaKejFuHQLwxxfLN4FS64UipeMirgOWqJnXScDXFAgwmteeHwBomuZITj7VYatKJHz8zSU3_A7_39uzBPMBm_F836nLM3-nGf__vOh_xECSGSzFY7p-hjE2twDGgHmSmZ89gqOOJDwHLVg2K7Wm5P_OqVy0UsO2AJqopavpfVgzSwxrSg-c22gR4qUs1vmGA7Hhe-cQMvbM9uwh6UauRgqiRyBeM8GnQxwxGl0m-5o47XFJW6Qo5D-da3b3-kLN3re1ZjDroJIcyATDVtkAVyYNbxjxr3sYHlqYZ9xEqoQ2nYevbkLI-OySA5qn1kxaqDiVyXOzsUc4oFcdbDmiGGe5CL8pCu6VFVz7zuxWToXHEwBJ-kog0qYnXE7pMelGrc0QSRhUP-_eLdEd10wAADflN59WmdAV9timnWeMLEopG-HyK9kPK8sNl4nXKem6WLm6qCcLVBk5VhYS7eacyIMR5nOcgb38VhEKZA7gqqUafRCNIsZqV2SK1Hal9UPfVXsN-OutbNMvBXLDj7Q4-jakcPmJ2Ckvr4Y5Z1ScLJ709UOBDVdD4kQOCN0Dy7gdCl2WWnoyJd5CNvEmFPx_hxfcdzDkioFmBhic50ONsuA7PXtIeaihHgDFrLstiBsilWdY9XlFFHZw_8LEs64C26VjF06WkPy1w-rfJ4Ac8RbydIPL5BESFEjE5OHSppQh1JzA8Gp9Cm0Rrp4b0l1hDRhGIp_o7ORMzT0PP1cuvuvujHJ0hVE4I1y5_y0x5QYUQK9O04ZoZxKpCwE-HVmrkfAdk_RC2ELgc6Ibc3Ckw4cicRZe1N68LDjQwOPRdoezFH5ASC78X-GrFC5dUbQI4-96BFABz2zP1FgEnXCXpAs5XDF4jYPT2PaHlTyvATo3wOqpoaMwqzNNczezpBX8iV6GWokG1lUb0MaZvoIjyl7MHB9qz6bcf_uRsJjc-BD3qrNAvFBS90fOgUBX12YHDWfsptTkUAkN5p6k0LUTpwVDC7TohKMtwdxTksaXTppUR4b3u9b_o9E4sml4vEAcK7TDaQcbDXmWzc_dlNd-rBG78JD5R2pz6_bxSkQq9ZpbZUeIBXi7rchdYyds75UInpoSHitIgZ788Gl9mhmuLrOJAnuoMZX2QdbBY95GD-0FopmSbevb9J52M8a5fbWsATqlaTGoYLzdiBIDDsOBG-IWxGDQgkWEZeWwjvKR-DPawatDUdQAlWSengxK0bNLEOKhuLxUL_qVsgdHtKIvBWCFffukyk6c6mFIo7VX1pV3vncXGkpZahOBHYmX2okI0miXWwhkvHkAifca4LKKlQ5f77pt9t3mhvtmF3VlaTYYL4H63tVS3MV8ANg0yAxIu9P43h9gTLKh8QF6dt1hv93r0GxZxxM4rXJPz9RRIGuEjXTmvRTBMigaAMXh3p75xNT34VYfH1Ui6UEFSgcX_l_knDp94TGS0-Dqw7-3dGsBouhg3u6r9goPLf96F8mB4kGgvY_Lird2oBZXDoUcBx4_Pw-svrCDuzOl4487vb8g07kim-errlJdb_ULDIKcn2ztDnkp_L_Dmq2lGAHICD9P0tGzv2JowcXZtXRPCuVgGVKhcwM=",
  "id": "rs_0a50595dba5abf77016ab2c0d25f4487d0885a855a0e4fa1f1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.10,\"right_z\":0.055},\"note\":\"The pink bowl’s right rim is visible just to the right of the jaw column. I’ll move slightly forward and outward, then lower the fingers around that rim.\"}",
  "call_id": "call_hYiOZ4D0cbekGREcIiltE1VC",
  "id": "fc_0a50595dba5abf77016ab2c0d505f887d0b778fbe57ac1b09a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hYiOZ4D0cbekGREcIiltE1VC",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8864, -0.1314, -0.1127, 0.9953, 0.3199, 1.6985, 0.8429, -0.0586, 0.2325, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.291 left_y=-0.001 left_z=0.193 left_yaw=0.0734 left_pitch=-0.3647 left_roll=0.0472 left_gripper=0.9953 right_x=0.3983 right_y=0.0928 right_z=0.0367 right_yaw=0.0132 right_pitch=-0.3073 right_roll=-0.0713 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -3.2889, 7.1726, 1.4823, -0.2173, -0.0073, -0.0024, -0.1573, -8.5265, 8.212, 1.8926, -0.0171, -0.0024, -0.022]\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,$blob:b14939acef29a95bf5fd2dea3164a3a18b193b269dd824b87d3176608a1e82eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dee1f2c5be26d3cdcd6899c8e12dff5cdf583b4765ff03972386a7152c37f19d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c9c25316ac2cc890b962d2395371ec284844a17c8686dad090904abe8fc544a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 3.615 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0967, 1.0859, 1.0363, -0.8703, -0.1425, -0.12, 0.9952, 0.4149, 1.5005, 0.8364, -0.173, 0.284, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0002 left_z=0.1986 left_yaw=0.0846 left_pitch=-0.3382 left_roll=0.0472 left_gripper=0.9952 right_x=0.3772 right_y=0.1159 right_z=0.0937 right_yaw=0.0374 right_pitch=-0.2195 right_roll=-0.0404 right_gripper=0.9993\nstate[joint_eff]: [0.253, -3.4667, 6.4615, 1.4237, 0.0024, 0.1294, -0.486, 0.2256, -6.5846, 9.0188, 1.9365, 0.3883, 0.2662, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDeYGCtT9Gz9peqSbjxNAmzwwn-bN820g4j87fQbevHxnCgAip9GAj29WzZL_6HAs-3O44m3qnAXqmaJ2aCwFEJHyTFvus_yM82gFBLv9q54a1mopjdLPxg4qOLC9-3B6e-bqedAYmdssBxOTB3K2hzY3Ya32V8G_Swikti4Biaurz7HnH-Cvr93v7CzeeGtSNg2XRIKj82LFEjU7GWNLnahWTbWblz2MThyB6jv7ZQXz5xslzvYINRlLi6UOK7ToH1CmrNfpCP-fCtUIkp99P4WhURColkuvPtaDY6NTDDvKwWCA7PVK11DH1xdGM-mjxzp6ih9QT5UzDlPTsou8zVCCvzpUX63ZnnqOaMF4IhnzfIWMePKMcKyHscIiCuAAcnrW0KzNy_6yx8XBHe-ohZ2IBc1_HWQy84ratKGmsSlnkqzmIQzkDTn9ia2pQdfsKetnmNgq3vmKzQBlHRhioSAKgDdO9fqUhpTeZ_BsZ_7EBlR44i71cOr4rDVQ7SDwOYfo9pe6LVtkqEJynOU5p9leI1x8K76uGP3tkVdev7PPhxwEQ6lGPV1_xHPrz6Gz8Exc6i50UnTlyPzyRXXPQq61QY7AHcS23u2DIG75h1n-NY9RxMUXDbXnHTaA24inPPiN33ZDBLuC5zJRNnz9jMHFpKbObqYAut9xab_oelRutRX-tswgYybHmmxJyYisfw7mgdIMHR7FJZzu_DEXIcG7PBMVXqKbWgcluYHiVeSyb9DSt3IdIpaaTnD57lujZbK0wvgQk0-EZPRVRyI0S1Gj3FVGE7WcjJMZIK9sZH9KSPR5zKc_SCHarqive6ckAi5UarmT73GbY_oAZXEaOvbznpnmwwJYpzYCWR7iBbVvuCqA1SZ_iC5m9SFvSlqV8jukt8YZEvbAayKNyMXQE37IOAiXxXpsqp5pjfhcdWXdJsqKnjRCYsvEWAP-BYFo90SMVHusdMvyc7nuwLVShnMDCL58-UJUa2B-Jn6vs6XDjw4_V7DkxEpHLbndXSu3EEWCvYl0uwweWBEqkZb2ETUL4wiV6Cn1iW4rFsXrr-2zgjBWKJUtUMyQWC5O3EVebk4Z84wV7GYyh-wIXis1Hk80niO6MZTTWY1ggKOK4YfcmhAqfG4gwbSzVEEDf8uEHVcAUr8VxOczElRboDGU_RGAYLnPJhqjNeHoAt53bvTgfC6x4HHPiW858NiPw1X6yi9phEqkKQg_vZL75Ndcukdw==",
  "id": "rs_0a50595dba5abf77016ab2c0dc0dc487d0a1af597b07dce398",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right rim now passes between the fingertips, with one finger inside the pink bowl. I’ll close gently on the rim.\"}",
  "call_id": "call_nJJafpliDnfH5nT3Y4HBRUKB",
  "id": "fc_0a50595dba5abf77016ab2c0dce2c487d0aa13a42c6a5fe3db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nJJafpliDnfH5nT3Y4HBRUKB",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8871, -0.1307, -0.12, 0.9953, 0.3138, 1.7123, 0.8474, 0.0021, 0.1944, 0.1383, 0.0215]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1929 left_yaw=0.0769 left_pitch=-0.3654 left_roll=0.0421 left_gripper=0.9953 right_x=0.4091 right_y=0.1006 right_z=0.0411 right_yaw=0.0521 right_pitch=-0.2666 right_roll=-0.0365 right_gripper=0.0215\nstate[joint_eff]: [-0.1162, -2.7556, 6.5573, 1.3114, -0.0708, -0.0024, -0.0171, 0.0342, -7.9248, 7.5145, 1.3309, 0.3736, -0.0952, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bedefcf8fde74ab8b3916cb406c8a67e94138efaaac59b86d33de188d3444dda",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c7557e06437f81cbb1b3fe9e89fb6f51ac8c18b60421e230d67e551f159974",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b20e9e28f935ac3e9929ea1e238e1ffe251c1ba3f170ac89a33b5add7d8da459",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 6.021 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8864, -0.1314, -0.1127, 0.9953, 0.3199, 1.6985, 0.8429, -0.0586, 0.2325, 0.1528, 0.9992]\nstate[eef_state]: left_x=0.291 left_y=-0.001 left_z=0.193 left_yaw=0.0734 left_pitch=-0.3647 left_roll=0.0472 left_gripper=0.9953 right_x=0.3983 right_y=0.0928 right_z=0.0367 right_yaw=0.0132 right_pitch=-0.3073 right_roll=-0.0713 right_gripper=0.9992\nstate[joint_eff]: [-0.1162, -3.2889, 7.1726, 1.4823, -0.2173, -0.0073, -0.0024, -0.1573, -8.5265, 8.212, 1.8926, -0.0171, -0.0024, -0.022]\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\":0.12},\"note\":\"The thin pink rim is visibly pinched between the jaws. I’ll lift vertically to check that it is secure before moving toward the stack.\"}",
  "call_id": "call_mqXNCunknp1lbzWDT1LWjcwM",
  "id": "fc_0a50595dba5abf77016ab2c0e15d1887d08219e05e53adae5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mqXNCunknp1lbzWDT1LWjcwM",
  "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]: [-0.0956, 1.0904, 1.0317, -0.8867, -0.1307, -0.1204, 0.9953, 0.3141, 1.6085, 0.997, -0.2977, 0.1928, 0.1303, 0.0235]\nstate[eef_state]: left_x=0.2909 left_y=-0.0012 left_z=0.1929 left_yaw=0.0771 left_pitch=-0.365 left_roll=0.0418 left_gripper=0.9953 right_x=0.4037 right_y=0.0993 right_z=0.0923 right_yaw=0.0547 right_pitch=-0.3121 right_roll=-0.0532 right_gripper=0.0235\nstate[joint_eff]: [-0.1026, -2.988, 6.612, 1.3211, -0.1148, -0.0611, -0.0122, -0.0615, -9.9761, 9.2376, 1.5263, 0.0659, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79d6e10e26e9422e4617ca3033a397c2c48654cb4fc01d4c7786a3ceb9bea95d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c51fa9dea1552835cdaf77ad34035bde54daa845de0238ae04ef0bcb613fc79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a0b814086ccac26d0c460f4628a8f18fc1317aa6cddafa1639e997b32f11395",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /responses · status 200 · 5.464 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8871, -0.1307, -0.12, 0.9953, 0.3138, 1.7123, 0.8474, 0.0021, 0.1944, 0.1383, 0.0215]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1929 left_yaw=0.0769 left_pitch=-0.3654 left_roll=0.0421 left_gripper=0.9953 right_x=0.4091 right_y=0.1006 right_z=0.0411 right_yaw=0.0521 right_pitch=-0.2666 right_roll=-0.0365 right_gripper=0.0215\nstate[joint_eff]: [-0.1162, -2.7556, 6.5573, 1.3114, -0.0708, -0.0024, -0.0171, 0.0342, -7.9248, 7.5145, 1.3309, 0.3736, -0.0952, 0.8523]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDplx5STPNq4EiYkaeiOhs_JExbGRdDZnLwlZsPflULp4joKcrzskRBM1vttocC0wNBOoQZC6ss50q3GbAqTyOSgGm42DHasBrCFK0TR2ytUuOX3I-GtvME990aC-GrSP7Amv_Ntzi1jVv7fi1E-P2fpvmOZqW_mP5_gDXM6xfJdMSWpBZUmzpRrfA46aUXcOm1ltwPsOeUJCUTEbInJR3Lx-DQC0JFN7HbztLPIwduv4rXomeuE4zwsFIGoZL8bRx0QBF84oPsHabz8cN5DervqLAk4rcuD04tMYTyNNSaYmXvvp78v44B9WvvVc1reRNtlRHJ8AvCNXetQ-eskmViInEmsCUj39z_m6c0vs15c9GWteqdcNPhsC3WdZ8a3_4ebN70a5jYIzcc1EU1S1FmlaYGXU_r3nSBlsp3-BrS34VoEueu115ePeyfY01S_Fi5aZq13v6a7NcZgPVhL5MSBq4eZYG1bjlkvLn8UBV5llRaUq1xwUEQz8IBCSZxqeWA5v7q9gFexfd9Q3kCS2I3I6oVUcYCGr-3_irlZLI-FQYX-o7Mmh8Z9uaHn4EdtJFRMv5cVdmPb_rBL915puF0pJ-lzzM1vyaiRaX-2jdSTz6dvMB955tzLy5wwJucmJYuENWe5xSO02szpqpST6svyNVXskxroREq5a5sjKyY0OJlhEZNbfvV3MhXqYnRU3Xa6LxgQ9oIV3duYdmbFU3yjsQjKaEvSpsLU_KSlLkOS1DbJdxaOI75USVR04tRvQkE6LTI2aKatjwKMOSjyEx-STFll88t7tglclrrr34uK70WQao_n9Ybrm96ggTFry7GVagndYoYBiWyYi_Q-HHqwW0aRLrZrFkqKTwGH9CeOAv8ork0foGWf884i-cpLL5p4RVmZrVKA8iUE_CceDFyJr6juGAlphmcrtxJPlZl7o7pIu2ZTRHhtEjOdfAOB8vg1DoZCws4dCbHhxlZQROJwrDmSySYZeAZm2lz1z4gCmwP7ICNs5iPmMhRkxjp6j0dlQQ0wNhsh42-Ne6gRu5Ou_38O3hHEbcy1UUB6wbOiyTwuVn8i0rJjpQ6t5c1IMpcTxkjo3O5MHxVpJCi5hwbeilLZBkMgq4fiUWhijRoYpLVZi3y1PzNFOXIeygiNXjqtsVXwxzaVX0X6W4DOJOVB3UGJWt7ku5VcRDzS9ty2uST7xgGP-fuxnk-QNwZSp1HSrOz75QR_-_etGQjvu89gUYBiiJ43QBnIF5RTkLg3PpEwxMkLYRS_NWliGSH9KdZl8nxurtJD8i2B7hg-myTCOMQbeJ5a0ZskVDjrNZ1ZE9oucWNlaYFFQalY8gAV1cHvYCMjB7385Cf-cuffppTqkYEXWS7qldv1WOAjzqJb19Bc9fqkaNiFomxAvNAFmwm2ZI14wcJKnzgbGTqZ8bh9R9UFKm4RY4Dpr1QkWP7zBTrp5g35Gli15aNgORswuPJdeUyCpVkd3aT1LGFg7uGg0daR2RvXvp6XAKin24L4ZFVLq0gw7h9UEdMCxVn5mbm",
  "id": "rs_0a50595dba5abf77016ab2c0e57b3087d091a32ce680ea0771",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.245,\"right_z\":0.2},\"note\":\"The pink bowl lifted with the gripper. I’ll carry it leftward above the two-bowl stack, keeping its base well above the top rim.\"}",
  "call_id": "call_DhkgP5S2dhyk3WzkQAWJ0CJf",
  "id": "fc_0a50595dba5abf77016ab2c0e7b69c87d0b0870923faa2cba3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DhkgP5S2dhyk3WzkQAWJ0CJf",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0912, 1.0317, -0.8879, -0.1307, -0.12, 0.9953, 0.6384, 1.9152, 1.771, -0.8619, 0.3561, 0.3702, 0.0261]\nstate[eef_state]: left_x=0.2907 left_y=-0.0011 left_z=0.1926 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9953 right_x=0.4251 right_y=0.2432 right_z=0.1857 right_yaw=0.0923 right_pitch=-0.3407 right_roll=-0.0659 right_gripper=0.0261\nstate[joint_eff]: [-0.0205, -2.7829, 6.5709, 1.3455, -0.1245, -0.0366, -0.0122, 0.212, -9.7983, 9.1009, 1.2967, 0.2711, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:760e5f17a53ee06144503d3bd2c14bda509c1ecc639b2f7cad52e6badc5d74c8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6ec5ea1cacdcbe41b7d5047e9d35903cdae3ae8548f7cf7ab6d12b9996a0c196",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df23de7d6c9416298dc4b0c7e18ca75c673d3cd330a575caa7b9c77140425cb3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 3.535 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0904, 1.0317, -0.8867, -0.1307, -0.1204, 0.9953, 0.3141, 1.6085, 0.997, -0.2977, 0.1928, 0.1303, 0.0235]\nstate[eef_state]: left_x=0.2909 left_y=-0.0012 left_z=0.1929 left_yaw=0.0771 left_pitch=-0.365 left_roll=0.0418 left_gripper=0.9953 right_x=0.4037 right_y=0.0993 right_z=0.0923 right_yaw=0.0547 right_pitch=-0.3121 right_roll=-0.0532 right_gripper=0.0235\nstate[joint_eff]: [-0.1026, -2.988, 6.612, 1.3211, -0.1148, -0.0611, -0.0122, -0.0615, -9.9761, 9.2376, 1.5263, 0.0659, 0.0513, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssDvLnDqmcjBb3OJ5L0rWhLudZEsQjNR7hlB703N6iIcGhFvNQzlSg8SJsr5MpnmpqC6Gn3zNDmUOXFOmi356_um-T61QGTfN7aWnx2S3MBWjarGIKjkAuXa7o8C4-3yV918Zi22slKxNdZzw7lTakS_oFoJjzKhg7LWunDs6ypq7WR7PCiZ6PlGAVb05jH4nE6relpH-3QdhFA6KOsNBa-8mPzq4KCOaOnaB7LJs91wsS__QWxriJRXdpno21JAUSe9UjuobbawnDavuc0oQAQcY2jBsWINAR7A8UDeIwOgRzWRmsHuosbADLn4WW7sicP0tnrK-NkPGq_3gXFG7NNsG0DE0V5wG97fUqkGmZJKrM1GapIz7iarYFRV8SwoXwxaL3fjBe3yNYWBtyVGsEkKmQZ9yG4dNOWlfeJq5zHgYHA2VvQ2oo8J8Br-6eVBpqqxB3AmPXF-xNVDSMJyGnRqYt8UOf9sYeAaxIds_egCPsRR2yW5ST9iBhOM6lkA4JgqXwbpxhT44T56H4TufZcgEw-XR-SRJufWf7th0JhMvz2V6BjPVk6PhvF61PyosSlKPp7OtdQ4hXA5uZgFOnPvMeZWjMxzTDV3Nn9v2N_zw7IJKFCf4MN3yFFVezRvBoaDiBHSyjY5Jyw7773_SP6biZdjV8y9MqlKvJZCqhNn1La_oqMPDuD5yYz-dae1mxkmJe-8-qggJuVVGFzx4KSyXfyhdxbaHK_l6UGn7xcrs_GolX1kMaTUNlCmUY6dHW9SMQ_DQ_cRC4V3T1BAmYBDvmzr7sgvBNUsHwpUTC2rbjiYAm4zyzrl4eXwGS33b97UWWrqNb5NnIg00AACP3Jcf9HSKZ5XTMD0uEatLFQtSTz8S13pLoXGdcsYKnlbIDUprfn5XvRnUc1SKdMiU6EHxrY7i0uU767m5GGsinkiImpfm2IDIzv1S38Qs6y9SfUZDEPrG2JA8yvBe-RV8K16jghfXwNVXSVwfjD7LqNrgziWXS85zk90GBaMKq0rLP_L5TbgBQAr8_MBiAWwWBjIK1ONnxeXyp_Rr8YCClwny6S4NlDYsePYv6YY_s2J1rD7M1eyQcenM57lo0SsQ4S47efupuP2ZFBoLUf4nLL_3HVuu18bi-TkIR0V2lFk178yKTEimTn78tyUrMvU4MbLyFqzXyinmbsk6OM1PCJEFZjby_QYVd3arGSCiCl9Q7ZkVlZLJkaekxY-HLVqTfgEaUa4Ja-rtEOy021xV68OIamJxInoGQ2JKKK3qe74tWsWe9mSuBYDZT5gUJvoz4fhNCOdB9dpprq994gRqQ3WYHcFgnyke9rzfQ7mj4F6QF7UUW0Kk5KslwFBd6LTethyezxcw0pmHdGLBUqdNKVShSo=",
  "id": "rs_0a50595dba5abf77016ab2c0ecc55887d080a7e5bd7d3562e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.26,\"right_z\":0.105},\"note\":\"The pink bowl is just to the right of the stack. I’ll shift it slightly left and lower it over the turquoise bowl’s opening.\"}",
  "call_id": "call_PL9ObiJf4nieSbCm6P7t9vAt",
  "id": "fc_0a50595dba5abf77016ab2c0ee26c487d092fb9c4536bce9b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PL9ObiJf4nieSbCm6P7t9vAt",
  "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]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.12, 0.9952, 0.6662, 1.964, 1.5433, -0.6556, 0.3588, 0.3862, 0.0263]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9952 right_x=0.4143 right_y=0.2513 right_z=0.1034 right_yaw=0.0943 right_pitch=-0.3983 right_roll=-0.0979 right_gripper=0.0263\nstate[joint_eff]: [-0.1709, -2.8239, 6.5436, 1.3553, -0.1001, -0.0415, -0.0122, 0.3077, -9.265, 6.9128, 1.3455, 0.2711, 0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bbac2457aa54a4d0f101626149ef91d7b6e0c7d0fcc5b75b01db749a07002f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16808eca755104e57f73952cba93247f7f8e355262737aa4c2b31951f7c8f090",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:642d3d864855325662c1c18291be8eae0d38cd315c3d606f29007fec0eda8e82",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 3.252 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0912, 1.0317, -0.8879, -0.1307, -0.12, 0.9953, 0.6384, 1.9152, 1.771, -0.8619, 0.3561, 0.3702, 0.0261]\nstate[eef_state]: left_x=0.2907 left_y=-0.0011 left_z=0.1926 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9953 right_x=0.4251 right_y=0.2432 right_z=0.1857 right_yaw=0.0923 right_pitch=-0.3407 right_roll=-0.0659 right_gripper=0.0261\nstate[joint_eff]: [-0.0205, -2.7829, 6.5709, 1.3455, -0.1245, -0.0366, -0.0122, 0.212, -9.7983, 9.1009, 1.2967, 0.2711, 0.1441, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.065},\"note\":\"The pink bowl is centered over the stack. I’ll lower it slowly until its base nests into the turquoise bowl.\"}",
  "call_id": "call_oxRdc6mowgDKv9b6BgRZPb3O",
  "id": "fc_0a50595dba5abf77016ab2c0f29be087d0b9dc53c551171d81",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oxRdc6mowgDKv9b6BgRZPb3O",
  "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]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.1204, 0.9952, 0.6674, 1.9747, 1.4582, -0.5426, 0.3592, 0.3862, 0.0271]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.0772 left_pitch=-0.3669 left_roll=0.0421 left_gripper=0.9952 right_x=0.4145 right_y=0.2522 right_z=0.0808 right_yaw=0.099 right_pitch=-0.3836 right_roll=-0.0881 right_gripper=0.0271\nstate[joint_eff]: [-0.1026, -2.947, 6.5846, 1.2967, -0.105, -0.0708, -0.0073, -0.3077, -8.0479, 5.6547, 0.8718, 0.105, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ff8acf40e7563b3b93804d89578a25db51b4c31bd576df2e573ceebd5caf3e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:783606f7c8e929b5805b3bdb67434b49d9cd563a0987b92ca5f9185affe8a536",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2bf46315eb8f02357eb4d85b7618578251dd1b993eb3234a8b9bf61c73fad616",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 4.496 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.12, 0.9952, 0.6662, 1.964, 1.5433, -0.6556, 0.3588, 0.3862, 0.0263]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.077 left_pitch=-0.3669 left_roll=0.0424 left_gripper=0.9952 right_x=0.4143 right_y=0.2513 right_z=0.1034 right_yaw=0.0943 right_pitch=-0.3983 right_roll=-0.0979 right_gripper=0.0263\nstate[joint_eff]: [-0.1709, -2.8239, 6.5436, 1.3553, -0.1001, -0.0415, -0.0122, 0.3077, -9.265, 6.9128, 1.3455, 0.2711, 0.0952, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The pink bowl has contacted the stack and is supported at the nesting height. I’ll open the fingers to release it.\"}",
  "call_id": "call_tO4DlTyZ9utx4odc4p5nWdAK",
  "id": "fc_0a50595dba5abf77016ab2c0f6888887d0bf1a4de6e1ec6afd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tO4DlTyZ9utx4odc4p5nWdAK",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0924, 1.0317, -0.8871, -0.1303, -0.1204, 0.9953, 0.6674, 1.9957, 1.4395, -0.522, 0.355, 0.382, 0.646]\nstate[eef_state]: left_x=0.291 left_y=-0.0012 left_z=0.1924 left_yaw=0.0769 left_pitch=-0.3673 left_roll=0.0419 left_gripper=0.9953 right_x=0.4128 right_y=0.2517 right_z=0.0666 right_yaw=0.1005 right_pitch=-0.4019 right_roll=-0.0985 right_gripper=0.646\nstate[joint_eff]: [-0.1983, -2.8513, 6.5573, 1.3455, -0.0952, -0.0464, -0.0073, -0.1299, -9.9761, 6.188, 1.1697, 0.2076, -0.0366, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51449f8b4f69d70eebc234d4e9b7b9c26e9d13d8186bdcc0b526491e1cf38b6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d7ab1c220a523bc0d27c88b00b06abacde2672eaeaba3e8ed65d357915b3a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:980bf878e762348ccc18b981bbbac8935303011d035e3030fd9eca64f028e68f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 3.562 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0916, 1.0317, -0.8875, -0.1307, -0.1204, 0.9952, 0.6674, 1.9747, 1.4582, -0.5426, 0.3592, 0.3862, 0.0271]\nstate[eef_state]: left_x=0.2908 left_y=-0.0012 left_z=0.1925 left_yaw=0.0772 left_pitch=-0.3669 left_roll=0.0421 left_gripper=0.9952 right_x=0.4145 right_y=0.2522 right_z=0.0808 right_yaw=0.099 right_pitch=-0.3836 right_roll=-0.0881 right_gripper=0.0271\nstate[joint_eff]: [-0.1026, -2.947, 6.5846, 1.2967, -0.105, -0.0708, -0.0073, -0.3077, -8.0479, 5.6547, 0.8718, 0.105, 0.0024, 1.0379]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The pink bowl remains on the stack after release. I’ll lift the fingers straight up so they clear the rims without disturbing the bowls.\"}",
  "call_id": "call_jBCvnMIk71MMWdXHm8lKPtmf",
  "id": "fc_0a50595dba5abf77016ab2c0fae9a087d09ea4b01d6287fddf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jBCvnMIk71MMWdXHm8lKPtmf",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0924, 1.0298, -0.8875, -0.1307, -0.12, 0.9953, 0.6674, 1.9736, 1.9259, -1.0374, 0.3443, 0.3702, 0.6467]\nstate[eef_state]: left_x=0.2906 left_y=-0.0011 left_z=0.1916 left_yaw=0.0772 left_pitch=-0.3695 left_roll=0.0429 left_gripper=0.9953 right_x=0.4128 right_y=0.2539 right_z=0.1942 right_yaw=0.1144 right_pitch=-0.4134 right_roll=-0.1009 right_gripper=0.6467\nstate[joint_eff]: [-0.1846, -2.988, 6.6803, 1.3993, -0.1392, -0.0659, -0.0171, -0.294, -9.8256, 9.1009, 1.2576, 0.3297, 0.0904, 0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:842effb878246c4754cb864350293b3aa323fd06e2c7681c7e2c4a750461567a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a61909d7ffb658cd3aa2ebf4f688cc3c1ae1784cb340b1f130e64a00079daac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1314b8731e98a6efe3d859cdca9587ec18a2093f00a1731c71b4bba51e61268",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.684 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0924, 1.0317, -0.8871, -0.1303, -0.1204, 0.9953, 0.6674, 1.9957, 1.4395, -0.522, 0.355, 0.382, 0.646]\nstate[eef_state]: left_x=0.291 left_y=-0.0012 left_z=0.1924 left_yaw=0.0769 left_pitch=-0.3673 left_roll=0.0419 left_gripper=0.9953 right_x=0.4128 right_y=0.2517 right_z=0.0666 right_yaw=0.1005 right_pitch=-0.4019 right_roll=-0.0985 right_gripper=0.646\nstate[joint_eff]: [-0.1983, -2.8513, 6.5573, 1.3455, -0.0952, -0.0464, -0.0073, -0.1299, -9.9761, 6.188, 1.1697, 0.2076, -0.0366, -0.1099]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"All three bowls appear nested, with pink on top and the turquoise and purple rims beneath it. I’ll park the right arm to leave the stack clear and verify it is stable.\"}",
  "call_id": "call_TDLmMNJ3i7U9o4n3J6LsuoaF",
  "id": "fc_0a50595dba5abf77016ab2c10019a087d083cd452734037204",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TDLmMNJ3i7U9o4n3J6LsuoaF",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0956, 1.0931, 1.029, -0.8871, -0.1287, -0.1204, 0.9953, -0.0032, 1.1515, 1.1149, -0.9592, 0.0174, -0.1787, 0.9984]\nstate[eef_state]: left_x=0.2906 left_y=-0.0015 left_z=0.1911 left_yaw=0.0758 left_pitch=-0.3709 left_roll=0.0412 left_gripper=0.9953 right_x=0.2937 right_y=-0.0004 right_z=0.1972 right_yaw=0.0714 right_pitch=-0.4258 right_roll=-0.1036 right_gripper=0.9984\nstate[joint_eff]: [-0.0479, -2.7966, 6.653, 1.3846, -0.1636, -0.0562, -0.0122, -0.1026, -4.2872, 5.8735, 1.4286, -0.1001, -0.0122, -0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1464ce68c34d77325a186eb334183eb5216c51e38b5c10d06a8eb09c00caa27b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed065a6f496cf6110e82e65aee338f1aeba4ea32e0c2c84b06fe2edff7dd143b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fa564ee2407aa720084f094b9d1d2b1f646f9e53f3475dbeccb1b4765f6b15f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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