adhoc

completed
2026-09-22T16:13:27.076738+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
226.6 s
total steps
247
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 noteThree upright bowls are arranged across the table. I will approach the leftmost teal bowl, then stack it with the others.
move_to
left_x0.3900left_y-0.1700left_z0.1600left_gripper1.0000right_x0.2950right_y0.0000right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7952, 0.6064, -0.3759, -0.02, -0.0296, 0.9996, -0.0174, 0.7933, 0.6033, -0.3786, -0.017, -0.0326, 0.9985] state[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1816 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.6769, -1.5385, 9.812, 1.7753, -0.0806, 0.1245, -0.0513, -0.6769, -1.4154, 10.1402, 1.8681, -0.0855, 0.2222, -0.1685] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.17,"left_z":0.16,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.19},"note":"Three upright bowls are arranged across the table. I will approach the leftmost teal bowl, then stack it with the others."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe teal bowl is nearly aligned, slightly left of the jaw column in the wrist view. I will center the gripper and lower around the bowl’s sides.
move_to
left_x0.3900left_y-0.1500left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6209, 1.4845, 0.9005, -0.1421, -0.4965, -0.3809, 0.9996, -0.0227, 0.7986, 0.6083, -0.416, -0.017, -0.041, 0.9984] state[eef_state]: left_x=0.3791 left_y=-0.1633 left_z=0.1405 left_yaw=-0.0167 left_pitch=-0.0588 left_roll=0.0289 left_gripper=0.9996 right_x=0.2907 right_y=-0.0 right_z=0.1733 right_yaw=-0.0008 right_pitch=-0.0385 right_roll=-0.0062 right_gripper=0.9984 state[joint_eff]: [-0.294, -6.7897, 9.1009, 1.7851, -0.3199, 0.0659, -0.0513, -0.6906, -1.2923, 9.894, 1.6825, -0.1441, 0.0415, -0.0269] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.15,"left_z":0.045},"note":"The teal bowl is nearly aligned, slightly left of the jaw column in the wrist view. I will center the gripper and lower around the bowl’s sides."})
tool
executing move_to over 7 steps (0.7s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe open jaws are still toward the near edge of the teal bowl. I will advance a few centimetres to center them across its sides before closing.
move_to
left_x0.4350left_y-0.1400left_z0.0420
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5686, 1.697, 0.7002, 0.231, -0.4629, -0.3557, 0.9996, -0.0246, 0.7986, 0.6075, -0.4198, -0.017, -0.0452, 0.9984] state[eef_state]: left_x=0.3825 left_y=-0.1465 left_z=0.0428 left_yaw=-0.0024 left_pitch=-0.1051 left_roll=0.0519 left_gripper=0.9996 right_x=0.29 right_y=-0.0005 right_z=0.1721 right_yaw=-0.0005 right_pitch=-0.0431 right_roll=-0.0096 right_gripper=0.9984 state[joint_eff]: [0.4444, -6.9128, 4.9299, 1.6532, -0.1245, 0.1636, -0.0171, -0.2256, -1.2239, 7.0906, 1.707, -0.0366, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.14,"left_z":0.042},"note":"The open jaws are still toward the near edge of the teal bowl. I will advance a few centimetres to center them across its sides before closing."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe jaws now flank the teal bowl near its middle. I will close gently through the gripper controller to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4725, 1.8259, 0.8352, 0.2359, -0.4118, -0.3107, 0.9996, -0.0246, 0.8024, 0.6075, -0.4221, -0.0166, -0.0452, 0.9984] state[eef_state]: left_x=0.4257 left_y=-0.1342 left_z=0.0366 left_yaw=0.0285 left_pitch=-0.1148 left_roll=0.0511 left_gripper=0.9996 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0008 right_pitch=-0.0492 right_roll=-0.0096 right_gripper=0.9984 state[joint_eff]: [0.4034, -8.1983, 7.3641, 1.5067, 0.022, 0.1636, -0.0122, -0.1846, -1.5658, 7.1863, 1.6923, -0.0611, -0.0073, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws now flank the teal bowl near its middle. I will close gently through the gripper controller to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe gripper closed almost fully, so this was not a secure grasp; the bowl shifted sideways. I will reopen and lift to reassess its position rather than transport it.
move_to
left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4706, 1.8305, 0.8433, 0.2359, -0.4252, -0.3027, 0.0282, -0.0246, 0.8024, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984] state[eef_state]: left_x=0.4284 left_y=-0.1321 left_z=0.0382 left_yaw=0.0366 left_pitch=-0.1077 left_roll=0.0638 left_gripper=0.0282 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=0.0011 right_pitch=-0.0496 right_roll=-0.0124 right_gripper=0.9984 state[joint_eff]: [-0.4581, -8.7043, 4.8205, 1.453, 0.0366, -0.0904, 1.3504, -0.3624, -1.2786, 7.0085, 1.707, -0.0562, -0.0122, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.15,"left_gripper":1},"note":"The gripper closed almost fully, so this was not a secure grasp; the bowl shifted sideways. I will reopen and lift to reassess its position rather than transport it."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe teal bowl is visibly left of the gripper’s centerline after slipping sideways. I will shift left and lower to its upper wall for a centered retry.
move_to
left_y-0.0900left_z0.0650left_x0.4300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4713, 1.6432, 1.0573, -0.1917, -0.4198, -0.3145, 0.9951, -0.0246, 0.8036, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984] state[eef_state]: left_x=0.4276 left_y=-0.1331 left_z=0.1276 left_yaw=0.0395 left_pitch=-0.132 left_roll=0.0642 left_gripper=0.9951 right_x=0.2899 right_y=-0.0006 right_z=0.1703 right_yaw=0.0011 right_pitch=-0.0507 right_roll=-0.0124 right_gripper=0.9984 state[joint_eff]: [-0.1436, -10.2359, 8.7316, 1.5849, -0.2857, 0.0611, -0.105, -0.1573, -1.3744, 6.9949, 1.6777, -0.0317, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.09,"left_z":0.065,"left_x":0.43},"note":"The teal bowl is visibly left of the gripper’s centerline after slipping sideways. I will shift left and lower to its upper wall for a centered retry."})
tool
executing move_to over 5 steps (0.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe bowl is now centered laterally, but its near side remains ahead of the fingertips. I will advance slightly and lower before closing again.
move_to
left_x0.4650left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3538, 1.6989, 0.8513, 0.0212, -0.3523, -0.2504, 0.9958, -0.0246, 0.8043, 0.6075, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.417 left_y=-0.0852 left_z=0.0565 left_yaw=0.0717 left_pitch=-0.2004 left_roll=0.091 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1701 right_yaw=0.0013 right_pitch=-0.0515 right_roll=-0.0127 right_gripper=0.9984 state[joint_eff]: [0.3214, -7.1453, 6.3795, 1.8046, -0.1001, 0.0562, 0.0562, -0.1162, -1.3333, 7.0359, 1.6728, -0.022, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.465,"left_z":0.035},"note":"The bowl is now centered laterally, but its near side remains ahead of the fingertips. I will advance slightly and lower before closing again."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe jaws are aligned on opposite sides of the teal bowl. I will close and check the measured opening before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3134, 1.8908, 0.9649, 0.0666, -0.3355, -0.2317, 0.9958, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.45 left_y=-0.0809 left_z=0.0236 left_yaw=0.0912 left_pitch=-0.2365 left_roll=0.1064 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984 state[joint_eff]: [0.335, -9.8256, 8.1026, 1.536, -0.0073, 0.149, -0.0024, -0.1846, -1.347, 7.241, 1.663, -0.0513, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The jaws are aligned on opposite sides of the teal bowl. I will close and check the measured opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe gripper stopped at a small opening that may indicate a rim grasp. I will lift only a few centimetres to test whether the bowl follows.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3069, 1.9076, 0.9932, 0.0769, -0.3408, -0.2157, 0.0459, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.46 left_y=-0.0801 left_z=0.0281 left_yaw=0.0913 left_pitch=-0.2159 left_roll=0.1131 left_gripper=0.0459 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984 state[joint_eff]: [-0.3077, -9.8393, 7.2274, 1.4823, 0.0513, 0.0171, 1.1306, -0.1026, -1.265, 7.0359, 1.6581, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper stopped at a small opening that may indicate a rim grasp. I will lift only a few centimetres to test whether the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe teal bowl stayed fixed relative to the wrist during the lift, confirming a rim grasp. I will raise it clear and carry it toward the blue bowl, allowing for the bowl’s offset from the gripping rim.
move_to
left_x0.4350left_y-0.3500left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3065, 1.7962, 1.1088, -0.1734, -0.3397, -0.2249, 0.05, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.4581 left_y=-0.0795 left_z=0.0809 left_yaw=0.0979 left_pitch=-0.2371 left_roll=0.115 left_gripper=0.05 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984 state[joint_eff]: [0.0205, -11.2205, 8.4718, 1.4579, -0.1832, 0.0611, 1.033, -0.1162, -1.265, 7.0359, 1.6777, -0.0513, -0.0855, -0.0122] camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.435,"left_y":-0.35,"left_z":0.19},"note":"The teal bowl stayed fixed relative to the wrist during the lift, confirming a rim grasp. I will raise it clear and carry it toward the blue bowl, allowing for the bowl’s offset from the gripping rim."})
tool
executing move_to over 25 steps (2.5s)
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 carried bowl is above and slightly beyond the blue bowl in the overhead view. I will bring it toward the near side while lowering to align the two openings.
move_to
left_x0.3850left_y-0.3500left_z0.1200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.87, 2.45, 2.5782, -1.2129, -0.6296, -0.7635, 0.053, -0.0246, 0.8097, 0.6067, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.4421 left_y=-0.3571 left_z=0.1831 left_yaw=0.0761 left_pitch=-0.233 left_roll=0.0655 left_gripper=0.053 right_x=0.2902 right_y=-0.0006 right_z=0.1683 right_yaw=0.0013 right_pitch=-0.0576 right_roll=-0.0125 right_gripper=0.9984 state[joint_eff]: [-0.4855, -13.5453, 6.9265, 0.3346, -0.6471, -0.0415, 1.0281, -0.1573, -1.6615, 7.0222, 1.6923, -0.0708, -0.0757, -0.0122] 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_x":0.385,"left_y":-0.35,"left_z":0.12},"note":"The carried bowl is above and slightly beyond the blue bowl in the overhead view. I will bring it toward the near side while lowering to align the two openings."})
tool
executing move_to over 5 steps (0.5s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe blue bowl is visible just beyond and to the right of the carried bowl in the wrist view. I will shift the teal bowl slightly right and forward to center it over the blue bowl.
move_to
left_x0.4050left_y-0.3900left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9474, 2.2379, 1.8866, -0.9161, -0.638, -0.836, 0.0549, -0.0246, 0.812, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984] state[eef_state]: left_x=0.3786 left_y=-0.3402 left_z=0.0893 left_yaw=0.0869 left_pitch=-0.322 left_roll=0.1786 left_gripper=0.0549 right_x=0.2903 right_y=-0.0006 right_z=0.1677 right_yaw=0.0011 right_pitch=-0.0599 right_roll=-0.0122 right_gripper=0.9984 state[joint_eff]: [-0.3761, -17.4291, 7.4872, 1.326, -0.6325, -0.1148, 0.9988, -0.1983, -0.9368, 7.4051, 1.7265, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.405,"left_y":-0.39,"left_z":0.105},"note":"The blue bowl is visible just beyond and to the right of the carried bowl in the wrist view. I will shift the teal bowl slightly right and forward to center it over the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
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 teal bowl now covers the blue bowl’s opening. I will lower slowly until it seats inside, keeping hold of the rim.
move_to
left_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9558, 2.5553, 2.4771, -1.1599, -0.6281, -0.8642, 0.056, -0.0246, 0.8154, 0.6067, -0.4229, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.4098 left_y=-0.3941 left_z=0.0976 left_yaw=0.0813 left_pitch=-0.3127 left_roll=0.128 left_gripper=0.056 right_x=0.2904 right_y=-0.0006 right_z=0.1666 right_yaw=0.0013 right_pitch=-0.0637 right_roll=-0.0124 right_gripper=0.9984 state[joint_eff]: [-0.759, -15.0222, 7.0085, 0.0855, -0.5006, 0.0952, 0.9402, -0.2256, -1.5795, 6.9949, 1.6874, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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":0.06},"note":"The teal bowl now covers the blue bowl’s opening. I will lower slowly until it seats inside, keeping hold of the rim."})
tool
executing move_to over 3 steps (0.3s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteThe blue rim is visible evenly around the teal bowl, indicating it is nested. I will release the teal rim.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9558, 2.5504, 2.3135, -1.0794, -0.6239, -0.8619, 0.0563, -0.0246, 0.8154, 0.6067, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.4017 left_y=-0.3836 left_z=0.0536 left_yaw=0.1016 left_pitch=-0.3555 left_roll=0.1991 left_gripper=0.0563 right_x=0.2905 right_y=-0.0006 right_z=0.1667 right_yaw=0.0013 right_pitch=-0.0633 right_roll=-0.0124 right_gripper=0.9984 state[joint_eff]: [-0.0752, -15.7333, 7.3915, 0.779, -0.5104, -0.0366, 1.0085, -0.3214, -1.3744, 7.0222, 1.6923, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The blue rim is visible evenly around the teal bowl, indicating it is nested. I will release the teal rim."})
tool
executing move_to over 10 steps (1.0s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe rim has been released. I will lift straight away from the bowls so I can verify the stack without disturbing it.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9558, 2.55, 2.2871, -1.0798, -0.622, -0.8639, 0.9949, -0.0246, 0.8165, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984] state[eef_state]: left_x=0.3983 left_y=-0.3792 left_z=0.0456 left_yaw=0.1106 left_pitch=-0.3698 left_roll=0.2215 left_gripper=0.9949 right_x=0.2906 right_y=-0.0006 right_z=0.1664 right_yaw=0.0011 right_pitch=-0.0645 right_roll=-0.0121 right_gripper=0.9984 state[joint_eff]: [-0.335, -14.4752, 8.1573, 0.6667, -0.3932, -0.0073, -0.1099, -0.0615, -1.388, 7.1179, 1.663, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The rim has been released. I will lift straight away from the bowls so I can verify the stack without disturbing it."})
tool
executing move_to over 10 steps (1.0s)
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 teal bowl remains with the blue bowl after release. I will park the left arm and bring the right gripper above the remaining pink bowl.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.3900right_y0.1400right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9535, 2.6228, 2.7945, -1.5536, -0.6182, -0.8604, 0.9957, -0.0246, 0.8173, 0.6067, -0.4225, -0.0166, -0.049, 0.9984] state[eef_state]: left_x=0.3877 left_y=-0.3631 left_z=0.1338 left_yaw=0.1233 left_pitch=-0.3923 left_roll=0.2589 left_gripper=0.9957 right_x=0.2906 right_y=-0.0006 right_z=0.1662 right_yaw=0.0013 right_pitch=-0.0652 right_roll=-0.0123 right_gripper=0.9984 state[joint_eff]: [0.6906, -18.8923, 5.5863, 0.5739, -0.3785, 0.105, 0.0757, -0.212, -1.0325, 7.0222, 1.663, -0.0806, -0.0806, -0.0122] 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_x":0.295,"left_y":0,"left_z":0.2,"right_x":0.39,"right_y":0.14,"right_z":0.15},"note":"The teal bowl remains with the blue bowl after release. I will park the left arm and bring the right gripper above the remaining pink bowl."})
tool
executing move_to over 33 steps (3.3s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe first two bowls are visibly nested. I will grasp the pink bowl by its right-hand rim, using the same rim-holding approach that worked for the teal bowl.
move_to
right_x0.4150right_y0.0750right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2245, 1.1805, 1.1069, -0.9581, -0.3508, -0.139, 0.9958, 0.4999, 1.4502, 0.8742, -0.1963, 0.3721, 0.2562, 0.9984] state[eef_state]: left_x=0.2965 left_y=-0.0018 left_z=0.1956 left_yaw=0.1632 left_pitch=-0.4 left_roll=0.2507 left_gripper=0.9958 right_x=0.3753 right_y=0.1359 right_z=0.1274 right_yaw=0.0321 right_pitch=-0.1406 right_roll=-0.0483 right_gripper=0.9984 state[joint_eff]: [0.212, -4.5197, 6.4342, 1.2821, -0.232, 0.149, 0.0024, 0.253, -5.7231, 10.0718, 1.9219, 0.4029, 0.2271, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.075,"right_z":0.045},"note":"The first two bowls are visibly nested. I will grasp the pink bowl by its right-hand rim, using the same rim-holding approach that worked for the teal bowl."})
tool
executing move_to over 6 steps (0.6s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteOne jaw is inside the pink bowl and the other is outside its right rim. I will close to pinch that rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1805, 1.1065, -0.9611, -0.337, -0.1314, 0.9958, 0.2665, 1.6699, 0.7208, 0.1352, 0.2188, 0.1066, 0.9984] state[eef_state]: left_x=0.2957 left_y=-0.0043 left_z=0.1944 left_yaw=0.1466 left_pitch=-0.4086 left_roll=0.2449 left_gripper=0.9958 right_x=0.3991 right_y=0.0729 right_z=0.0343 right_yaw=0.0042 right_pitch=-0.2229 right_roll=-0.071 right_gripper=0.9984 state[joint_eff]: [-0.0889, -3.6034, 6.4205, 1.1844, -0.2955, -0.1001, -0.0122, -0.3077, -7.3094, 5.3402, 1.79, -0.0806, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One jaw is inside the pink bowl and the other is outside its right rim. I will close to pinch that rim."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe gripper opening is consistent with a thin rim grasp. I will lift the pink bowl a short distance and verify that it follows.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2649, 1.6726, 0.7109, 0.1581, 0.1883, 0.1162, 0.0431] state[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3989 right_y=0.0777 right_z=0.0328 right_yaw=0.0238 right_pitch=-0.2181 right_roll=-0.0395 right_gripper=0.0431 state[joint_eff]: [-0.0615, -3.535, 6.6393, 1.1893, -0.2027, -0.0415, -0.0073, 0.0889, -6.4068, 6.5299, 1.0183, 0.3394, -0.2662, 1.0476] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The gripper opening is consistent with a thin rim grasp. I will lift the pink bowl a short distance and verify that it follows."})
tool
executing move_to over 5 steps (0.5s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe pink bowl rose with the gripper and is secure. I will carry it above the two-bowl stack with enough height to clear the rims.
move_to
right_x0.4050right_y0.2400right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2665, 1.5326, 0.8429, -0.1368, 0.1802, 0.1078, 0.0442] state[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3956 right_y=0.0789 right_z=0.087 right_yaw=0.0355 right_pitch=-0.2419 right_roll=-0.0452 right_gripper=0.0442 state[joint_eff]: [-0.0205, -3.4803, 6.5846, 1.1746, -0.188, -0.0415, -0.0122, -0.4855, -8.5812, 9.0872, 1.5849, 0.1294, 0.0415, 1.0281] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.405,"right_y":0.24,"right_z":0.19},"note":"The pink bowl rose with the gripper and is secure. I will carry it above the two-bowl stack with enough height to clear the rims."})
tool
executing move_to over 14 steps (1.4s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe pink bowl is slightly to the right of the stack. I will shift it left and lower partway, checking alignment before seating it.
move_to
right_x0.4150right_y0.2800right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.6849, 1.7779, 1.5116, -0.6849, 0.416, 0.4095, 0.0479] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.3999 right_y=0.2391 right_z=0.1753 right_yaw=0.0787 right_pitch=-0.2735 right_roll=-0.0591 right_gripper=0.0479 state[joint_eff]: [-0.0479, -3.7265, 6.4752, 1.16, -0.1587, -0.0269, -0.0122, 0.1162, -9.1692, 8.8274, 1.2625, 0.442, 0.1734, 0.7497] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.28,"right_z":0.115},"note":"The pink bowl is slightly to the right of the stack. I will shift it left and lower partway, checking alignment before seating it."})
tool
executing move_to over 4 steps (0.4s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe lower bowls’ rim is visible around the pink bowl, and their centers appear aligned. I will lower the pink bowl into the stack.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.1314, 0.9958, 0.7326, 1.9446, 1.5051, -0.5861, 0.4332, 0.4385, 0.0508] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1469 left_pitch=-0.4141 left_roll=0.2465 left_gripper=0.9958 right_x=0.4064 right_y=0.2707 right_z=0.111 right_yaw=0.0836 right_pitch=-0.3241 right_roll=-0.0973 right_gripper=0.0508 state[joint_eff]: [-0.1573, -3.5214, 6.4068, 1.1941, -0.2125, -0.0659, -0.0122, 0.1709, -11.7402, 6.8171, 1.3651, 0.2662, 0.1197, 0.652] 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_z":0.07},"note":"The lower bowls’ rim is visible around the pink bowl, and their centers appear aligned. I will lower the pink bowl into the stack."})
tool
executing move_to over 3 steps (0.3s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe descent stopped above the requested height, consistent with the pink bowl resting on the stack. I will release its rim without pressing farther.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4929, -0.5484, 0.4301, 0.4458, 0.0529] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4067 right_y=0.2774 right_z=0.0957 right_yaw=0.0891 right_pitch=-0.3308 right_roll=-0.0947 right_gripper=0.0529 state[joint_eff]: [-0.0752, -3.5897, 6.3932, 1.16, -0.2418, -0.0317, -0.0122, -0.4991, -12.4513, 7.5282, 1.4676, 0.3248, 0.0904, 0.652] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The descent stopped above the requested height, consistent with the pink bowl resting on the stack. I will release its rim without pressing farther."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe pink bowl remains supported after release. I will lift the open gripper clear before withdrawing the arm.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4921, -0.5495, 0.4278, 0.4408, 0.9954] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4062 right_y=0.2775 right_z=0.0952 right_yaw=0.0932 right_pitch=-0.3338 right_roll=-0.0975 right_gripper=0.9954 state[joint_eff]: [0.0205, -3.3026, 6.6393, 1.1844, -0.1832, -0.0415, -0.0122, -0.3761, -10.8239, 6.6803, 1.1941, 0.2027, 0.0562, -0.1197] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The pink bowl remains supported after release. I will lift the open gripper clear before withdrawing the arm."})
tool
executing move_to over 7 steps (0.7s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
assistant
agent noteThe pink bowl stayed on the stack as the gripper lifted. I will park the right arm to expose the completed stack for a final check.
move_to
right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7422, 1.9694, 1.8351, -0.9146, 0.4114, 0.4267, 0.9964] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4057 right_y=0.281 right_z=0.181 right_yaw=0.1113 right_pitch=-0.3546 right_roll=-0.1038 right_gripper=0.9964 state[joint_eff]: [-0.1436, -3.5624, 6.4342, 1.1697, -0.1685, -0.0317, -0.0122, -0.3761, -11.3162, 8.4855, 1.3602, 0.3346, 0.0904, 0.0904] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The pink bowl stayed on the stack as the gripper lifted. I will park the right arm to expose the completed stack for a final check."})
tool
executing move_to over 24 steps (2.4s)
step 246
assistant
agent noteStacked all three bowls together, with the pink bowl on top, and parked both arms clear.
done
hindsightThese bowls were reliably lifted by pinching a single rim; a secure rim grasp settled near 0.045–0.055 gripper opening, only slightly above the empty threshold. Verify such grasps with a short lift. The bowl center is offset from the grasp point, so align the bowls themselves rather than the tool centers when nesting. Final seating can stop the descent several centimetres above the requested height.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2256, 1.1843, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, -0.0093, 1.1076, 1.05, -0.8719, 0.0147, -0.1719, 0.9966] state[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.193 left_yaw=0.1467 left_pitch=-0.4145 left_roll=0.2469 left_gripper=0.9958 right_x=0.2977 right_y=-0.0018 right_z=0.1964 right_yaw=0.0606 right_pitch=-0.3662 right_roll=-0.1095 right_gripper=0.9966 state[joint_eff]: [-0.0889, -3.6444, 6.4205, 1.1404, -0.1783, -0.0464, -0.0122, -0.212, -3.7675, 6.4889, 1.4872, -0.188, 0.0024, -0.0024] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together, with the pink bowl on top, and parked both arms clear.","hindsight":"These bowls were reliably lifted by pinching a single rim; a secure rim grasp settled near 0.045–0.055 gripper opening, only slightly above the empty threshold. Verify such grasps with a short lift. The bowl center is offset from the grasp point, so align the bowls themselves rather than the tool centers when nesting. Final seating can stop the descent several centimetres above the requested height."})
tool
done: Stacked all three bowls together, with the pink bowl on top, and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.307 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6064, -0.3759, -0.02, -0.0296, 0.9996, -0.0174, 0.7933, 0.6033, -0.3786, -0.017, -0.0326, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1816 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.5385, 9.812, 1.7753, -0.0806, 0.1245, -0.0513, -0.6769, -1.4154, 10.1402, 1.8681, -0.0855, 0.2222, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d58950b44292cfdbdd89f83b283c70041a82365a8a181f030ea1ca01c8507ab6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6787e3033442cdbe82897fb4217bb95ff5ae76d4b95dccc208dd24fdd545d358",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cdc6b93195e22a73eb481680cbd6ee804eef9513c1f80777811a2ba6f4518643",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.842 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsqk96ZHZnfjyB_fhhrYoAHEIOnDAyOPq66Fbv1bG88Cz4S7t9TXcfUyeX276YSAoeHHeNurYVHwDHROuQTfWD8TAV0MBM-sV13KJCCHboLkQv_OYM51DlxmcELoH6S9SZA1CGr-WLJgpwpXZtulItzTz_hR1XSaxk9jELxx2wlFUaOG_sHB4NTBJ15E1X1iobc7CLxL0arj38DexIzShjo7UOswbk-PMBLrVW75BdYWb6oXoe91KWMabR7ZM6d5yAQx1nmnGT71JnhD1heORYupQ3oY561NPSiT_sSD0I4TRxGqDG9GikiWY1kWrwWPDYnO0kuKQdGy9ACWsiWUZHAr_Y6-95fZrdnOZzjfiBZ2QSH2rstxOJEl3ZOvv9VBDzjAdxp6REgRDzBgiU6nWiWA0F0jVyOFAyc4KRZcKUS-nZWo2EIBR3XUKrlf_LkbwYtp0rw2g2wbZUUL4EFPyVIa7D9lAHkzx-uNHgH3fabpbYU7UdOAYE6UcZxXg1skvcihMB7r_SC673LXCkqDoqkSzvYD52-Hs8ZpP4Z_NIQTL4RFRYjPKVi2iun4xSFUVsaKOtkXEWDYoCIKNHmCEiyFmFA2KmRkoZgJ1GEJhlycRCUH9sJQZaWFzIv_JkG3CW8iSKNkoODBkJUHMddbAtolWVGmjCXuHYwnVJMQHJZlEAs2yZDsYZqBiZ-lK6BWnIORlq1tRbJAuc2GYckJ_SLOcPy9fCk4CwnUd49fxeJC3HYRBlK-e5BLkXaDjbG2jAuFQw9pftJKOcAFhNuenjkWSADLQ11o8bG56i0lF001RXzfubwT-v_E8LgKV57Er30llEhTkl6yR5SGGzcTWC9CA8aaPFu7tsHVjfmdZyaL8u0DEnj33HywmxfEjVOX0xWLpMFsxPRnEOy5o6YfFaOCdOhulhAE3YJwAHjOMtctp65zVz8eiXzzEIykPTAs__mH4htS-xWFnrEMWv2YtBrNDZtcHhijm1SszDSWhnHLyyGZNLfk3pPfKyojENL_OAexyW7CV36-1ZeY9Wea9uQkNq-ENo8mK6GCvxFYR75TnW_OKfWMFSPtxKRmgtcDJp_n668QcVaqkqA86VTV86-H8dhYcTOINathr6jfx6-wNy-kU9JwPNcmMVU_z1QNUSm9eTSwqmX-bsU3Y9z9mVIpRWLYCLHhBXFQk5gmrR2obz3jvit7DDabkEMKLRVDcOa3tijcmqZKOAwdG4P7aJkRrZz2kc4XP3zDHkpdDqyfIUPRZs1mOjo6bb2MFV6R1rEqh_4sKCp5aQ5HBpYmxpmCt-FYaKT_Td9E_1ByCu4F1WupKCvZfpTIMEo6BSTsFD8sbu5w6IH2PHQakw5fFrVC0bs1GjrKN5PdNGKZ-lrlnZeXw3PsTSI6ysPiV33wEInyjoEx9zsxzHJa9GkIeKn43-Y3L9nMriExNAALE4UD_ZRgzhrLObt4m8IelFzK2TZkELWlKkLF6v95PvwN4zMY6HdGZa7dEsM-VhvWDBf8SXItsQeDejz7ZdksIYrhrpQBBSavJNfv1TxJvGy4JncVWeFfNzk-fAYwTJm_SGMAFcSKSxyFdmjacwAuwy29oe7ny73KySFU7zM-3gmuuLVBTyw==",
  "id": "rs_0c5da44179e6b53e016ab2a936487087d09a2a8d392b6ec9c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.17,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.19},\"note\":\"Three upright bowls are arranged across the table. I will approach the leftmost teal bowl, then stack it with the others.\"}",
  "call_id": "call_t6NzlTF2mdOKlYRTragcE6GB",
  "id": "fc_0c5da44179e6b53e016ab2a93b491887d0b5d941eaa466acc5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t6NzlTF2mdOKlYRTragcE6GB",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6209, 1.4845, 0.9005, -0.1421, -0.4965, -0.3809, 0.9996, -0.0227, 0.7986, 0.6083, -0.416, -0.017, -0.041, 0.9984]\nstate[eef_state]: left_x=0.3791 left_y=-0.1633 left_z=0.1405 left_yaw=-0.0167 left_pitch=-0.0588 left_roll=0.0289 left_gripper=0.9996 right_x=0.2907 right_y=-0.0 right_z=0.1733 right_yaw=-0.0008 right_pitch=-0.0385 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -6.7897, 9.1009, 1.7851, -0.3199, 0.0659, -0.0513, -0.6906, -1.2923, 9.894, 1.6825, -0.1441, 0.0415, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69a987e058fd9b7dbcbc0797225fe7486c276b9a2486c0b68adbf075dcfc406e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20589a4c45ca0975220e0eed0c3560bc424dfe29006be5dd402c427e38d37ba5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d40370004e439129453799dfd13c76fc2025990639648ce2fa88f9f07162e28",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 10.63 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7952, 0.6064, -0.3759, -0.02, -0.0296, 0.9996, -0.0174, 0.7933, 0.6033, -0.3786, -0.017, -0.0326, 0.9985]\nstate[eef_state]: left_x=0.2957 left_y=0.0012 left_z=0.1816 left_yaw=0.0002 left_pitch=0.0004 left_roll=-0.0003 left_gripper=0.9996 right_x=0.2948 right_y=0.0015 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.6769, -1.5385, 9.812, 1.7753, -0.0806, 0.1245, -0.0513, -0.6769, -1.4154, 10.1402, 1.8681, -0.0855, 0.2222, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlGucCEu089D1eCvHp1AUoYftLNBS3ds2Skifzvyqpzqy4U7oZ0gFLcRD13Izqg1cGJEU560wHk-LvQVpesvNL_zA-brxJ3HIWjzm0zf4JSjVnc4ZoSANef-2FU6FXhkndA-pglhzkGProxzM0RIkjRNwTTlYijfnKIWvdXMJ6oVEdoY7_2Pz9CN-ByK0CzJ8pVIW7QJq5sfwDvB_fKiKpjTJCYBRMcg2sjdVN_QITyk9OEeIgnMbeWHR_0bi4ZbIOpCg8CubHkNnvvRAWCCBFfe0Vr-V4j5chuvDtpD2vpxEwugi6Kwtb1nXkLLldROp6JGIOHzUWJRcnqGew5VgOBL5Yiz7izZaJUa2VCVtsTvuynIOObN58hJEOv3kd5eWfGFjpo8mpKvNjilfWmvR4NkjvKFDNCIknV0KWN4TI2f8rOFARxL_UWY5msqyu8LpevGibA8YLngMShdl9jUrfxPthoYgkJdmMqlGIVmHw2J7_8AeSAksSXNHgp4ZPTQqTyU59C6A6bt4hozBpPw19etCgYU2XVrtt996mtiT3XIdiH47Haa1W6jucjmd1XGjs8m3JYCb94NgS0OV2-gbLUHDKMYBgEIhWNrl6_40zbccgzOXU02FQkL_acPYt0pY5Ew76gZ0Pta289qeKSLG8BTaLkhvqjqq7KzRBKUqW8-knkD4uJJqCuidoLLBdABwh51LA6gtJiDthYkuCHzqkbs5n6HE010CZdf7UUsQd2OvyFCOH11f2nLuhxdiVzLpkMgMwS0PCSSwjT9rL0nxLMaD6_zYzfe1of9BJK_dqiLR9wNzjZPedbc8CF6mcTVMkaKCQUp0s6cENKtpj794myOsQjiIOnAkHmzIldOtN4iK7iGijQpIE_E5jnxNt0xppRAhKmOD_A8ci8_vZBcqzHewK8tepST_d4YB12gFp8tTfxQBQo7XWZ4FvvoIEp0R7LGVnDe5zn4kTd6q2N6_Cd-3fRJXjDCQvtMG4Nfb-UciBrHF6jMjDg0FmFIkr0_svUeULGBlbQuE7OJ6MqsdUU1Clm7n1SMVvYfw40z1fz4YxKgGkJOXDU6v6fwKRhzTRlt5629ouJ456lIbQg0jBAyi8tTw6Z6fIrGDKwOEP0NoDBRPIPlGxLm-Rv7yBNzAIAxlIPCLuCwRGK9gtufTTiPQcNb49hB-bxNYGJPDuEOy2bGv8iLUnpjRCaVprwF9jptjZME9EUGL8YnsqhW6KrXw4LIbgPhVMosmx4HHhUTWCVO3Yz6VJdef0NYRUqaVTzBk8GjrzNcF1RkfWu2M0W0zpVZtUzdwyl2UO93PclMa-24_Sxovgl9IraZr7Za8jjSuQBCVDaWVsfL-wlTUvKgD61uYeNboAbfdcIcmz5nT0oEY2TeJG0mt8CPegftD3_U53ImIfA6SE0x3tc7JddBcoLpsLgsmX00W0hzC1cFfU8M_6xcz3Y85vYSf6WnFaXR3SMMe26RGKiZxic8lBYK1hVlXdBdyP_KCfImYFWlZiy2llNMkH4Di4Jy6Vd8o-2hdvSEr3J2ON5JCooyDxILzrLayOJsUGdmIlWvWl-DqKWKZfpxq_Kz1HfQ8ulVvj3rMG_5MWc2scRhrIO-L4WZ0WpNqTnj5lI2ju2iXqtcOD_k9s56P1l64RouzF8sRj7",
  "id": "rs_0c5da44179e6b53e016ab2a94118dc87d0b46b36bfaca21f06",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.15,\"left_z\":0.045},\"note\":\"The teal bowl is nearly aligned, slightly left of the jaw column in the wrist view. I will center the gripper and lower around the bowl’s sides.\"}",
  "call_id": "call_edxpC3Uy0YgYHbCci7Z2LCar",
  "id": "fc_0c5da44179e6b53e016ab2a944ebe087d09eea6748340fa2c8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_edxpC3Uy0YgYHbCci7Z2LCar",
  "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]: [-0.5686, 1.697, 0.7002, 0.231, -0.4629, -0.3557, 0.9996, -0.0246, 0.7986, 0.6075, -0.4198, -0.017, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.3825 left_y=-0.1465 left_z=0.0428 left_yaw=-0.0024 left_pitch=-0.1051 left_roll=0.0519 left_gripper=0.9996 right_x=0.29 right_y=-0.0005 right_z=0.1721 right_yaw=-0.0005 right_pitch=-0.0431 right_roll=-0.0096 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -6.9128, 4.9299, 1.6532, -0.1245, 0.1636, -0.0171, -0.2256, -1.2239, 7.0906, 1.707, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e351e9d7108970baceac62fc9e9dad09749904410676d257ed7dc5b37fd89c4e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7717a7257440eb583c8544996eb5667f7cd986fe6595917a78225881dac3f1d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70754e1a02e989c5138ed794fc08dd63ec0e74ef2ea2cfdf84065d25855a4f90",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.558 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]: [-0.6209, 1.4845, 0.9005, -0.1421, -0.4965, -0.3809, 0.9996, -0.0227, 0.7986, 0.6083, -0.416, -0.017, -0.041, 0.9984]\nstate[eef_state]: left_x=0.3791 left_y=-0.1633 left_z=0.1405 left_yaw=-0.0167 left_pitch=-0.0588 left_roll=0.0289 left_gripper=0.9996 right_x=0.2907 right_y=-0.0 right_z=0.1733 right_yaw=-0.0008 right_pitch=-0.0385 right_roll=-0.0062 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -6.7897, 9.1009, 1.7851, -0.3199, 0.0659, -0.0513, -0.6906, -1.2923, 9.894, 1.6825, -0.1441, 0.0415, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlR3183PJpcCGsg8DFRRNKYn_WV2-nbpz89TM0ZpdAJEN_gql44sCZDhBlu1SRqOSqr6j8cJ8j-DHt0qRhtknGrAouYJguiurpfkt7FTfDnTZvWBSXtCqdTcALpTWOsbwphJQTNhRxvpatSunw0tdO584dkDkeET-kqLpgRbZ9vEVPmp0-t--fbXvB3zlDBDVvs55sfwqjUGly0-w-4w6g2fXJHYWs-FNdMM9SdYcYOBDYeAwCgDmpP3CEuFbmZPXdCdSdLDHpey1PXNyW-JRS4goycaDt8OKXasfavtltft-nfIEgRqweXbTsrrDmAfJVHZLKGeFUmYLzh2YsZc_1jeX3Tgfc74sV6bY8L3AzZO3iJvyRKhcxQlIva7pXOkEl6KZ4vpnx5dKlOIl1PxDZHfaEz5ak1sbL-LILBaJrbuuvW2-taHHtxuUXgaiNzz0ROOMilk7fZmssdFY1X9-Q5qaygq9nCXkEVUSZmmzFJ6xWkSMgeRe4YtsZdG2nh15z7xQNV6Ui_sYN7W_fKhK_PpkYzX5Qc_i2cDIp0r-WVVwk34eHwSvkCmGtfBwjNE19AbGhUopdXDzLez51Y06yZCGmtBGo8fhL21FnLbvSYEgBTfr5vxV5jcMeTMxMhTE-Eyoh1YwPj1ShOZ8DWAkAJkcoqmovT2RpM51iz2EP8oKqapr3cAYra-USX8DOWWweR-ahkY3vbQjjk9reIg6EC5YnSqi6h3oyqkjzRcjeByO2nE6tXJFnX-YKuRFC2LECCeGkSvb6HoM_TT6fQVLkTRu1KE9c3loQQ70zKEGoyuiUYk2bNprbZgZu6P1HhoiPw9QXMEgUxReK3oFlwfTnbyM1xSzqGeYTAx06kG7ToHV8TJQnnRkkobfio5PBNflM9krcswmyXHkc40de5SrsCqkitbKvsu8-krPUFEyE5cJlvjorUZV7JeJa7fm-iYvcTFNqIzgacngX6OedYHr_sh3Qbb4EI_xD9Bj5XRKd4O44nxP3vBqywS4u8lNLkctPwfGF1eUCWQEA84U06BfxUHmA8kVH6q0G3tVnbcVPh2W-u66LIu5M3uEBbhax4i44jzq5rhbUG_A4sqvDc4rkofyruVvdivpscPd_0cHADT3Q6LY9Cju0kRL1KvIRfnI6ZNyEdt6Apub6K48vhlfUOXSuENcnN8R5O3lRG5qW44tnh2ZhUkBjX1O6pkhfJc_a1SHipKIB8d_NczF_QAqHgcvkt9ZAUfCsl4nLaAQKf3Rxn_9V_s2EGz7zOloOQPnz2rtXfzD8j1L-lTYQT6bQZK-vUL0yga1ByH0LIFlk_InKfawcHpzM4nk1vwaFKWGvILW7APmBNqO61R3_0BgEELt-lI2BzDyQVY9ZF8Zp9Dl20DuJQRLmEEraauA75MADWy-syt8O8eSeaBVc7voG7JVHLAjFuTeOix65-rmviiwf0g6BV_RqbURRrmL_zl9iEp4a0sZnP0-wl1HdBhEbe3GJjQrHMpgEXNWWXOwzrL6wyqiRxzb7PW5rwfvs6xNGx7K87Vsu-DfzLVOHw6P342VkFMB_xbjQnis9H90kdzOT6Ez6vx20cMak2fqNBXI7n2ixBLcfhtGmYd3oEAQar6QFNDLYq9ynUAkhktFQIv7tW8LldTWcKN_qRQ4gSpnQ0PwZ-utdgbdUUZ59I4IBTLrona1Q4ETrn_AcSbAdoy3oX4dMDyBeaEmOHPs4ES1ufA9iK1aHoopSFpoPaeeFYwIS_yuZTxLn4BU-PwUvLuKWIeVywmJ7ec-s4nHfkVDPRqsUBeMtVcQHZe6_NsxeL7iNgXhgtqwEZLkYRAnVn618GizaeETpB2zs66EnYWGrA",
  "id": "rs_0c5da44179e6b53e016ab2a94a156c87d0a7fa843d86f2b417",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.14,\"left_z\":0.042},\"note\":\"The open jaws are still toward the near edge of the teal bowl. I will advance a few centimetres to center them across its sides before closing.\"}",
  "call_id": "call_oOLPUquYKTMnpX92EDtj1W7N",
  "id": "fc_0c5da44179e6b53e016ab2a94fb65887d0a7816071cfa0a1b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oOLPUquYKTMnpX92EDtj1W7N",
  "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]: [-0.4725, 1.8259, 0.8352, 0.2359, -0.4118, -0.3107, 0.9996, -0.0246, 0.8024, 0.6075, -0.4221, -0.0166, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.4257 left_y=-0.1342 left_z=0.0366 left_yaw=0.0285 left_pitch=-0.1148 left_roll=0.0511 left_gripper=0.9996 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0008 right_pitch=-0.0492 right_roll=-0.0096 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.1983, 7.3641, 1.5067, 0.022, 0.1636, -0.0122, -0.1846, -1.5658, 7.1863, 1.6923, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07e58c78b0def7d9f5e382cf948c53152e65b53eb34cec29040201b629e22897",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6513231689847b9a70a6ef9aeff1b3e53d449cac163db7df70b4a06a9b340d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8e38c89c399851a9202312a726f2dd12c79e93680bf246d3418bcf4c5357bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.343 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]: [-0.5686, 1.697, 0.7002, 0.231, -0.4629, -0.3557, 0.9996, -0.0246, 0.7986, 0.6075, -0.4198, -0.017, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.3825 left_y=-0.1465 left_z=0.0428 left_yaw=-0.0024 left_pitch=-0.1051 left_roll=0.0519 left_gripper=0.9996 right_x=0.29 right_y=-0.0005 right_z=0.1721 right_yaw=-0.0005 right_pitch=-0.0431 right_roll=-0.0096 right_gripper=0.9984\nstate[joint_eff]: [0.4444, -6.9128, 4.9299, 1.6532, -0.1245, 0.1636, -0.0171, -0.2256, -1.2239, 7.0906, 1.707, -0.0366, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws now flank the teal bowl near its middle. I will close gently through the gripper controller to secure it.\"}",
  "call_id": "call_J9hp4fKAobqkxaHWU9cm17Il",
  "id": "fc_0c5da44179e6b53e016ab2a954bc4887d087edcc8441b0c7d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J9hp4fKAobqkxaHWU9cm17Il",
  "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]: [-0.4706, 1.8305, 0.8433, 0.2359, -0.4252, -0.3027, 0.0282, -0.0246, 0.8024, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.4284 left_y=-0.1321 left_z=0.0382 left_yaw=0.0366 left_pitch=-0.1077 left_roll=0.0638 left_gripper=0.0282 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=0.0011 right_pitch=-0.0496 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -8.7043, 4.8205, 1.453, 0.0366, -0.0904, 1.3504, -0.3624, -1.2786, 7.0085, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9bf2cf3caa69196c9a89aad50d64e9a7bfa02a7ce9a6ed02241263b2d3b26ba7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:12ab43c41c5817c311ca92d5006c83ebb948ceba3d7be787d7701ea674d08a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71a0890b1bbaa55f6a12d0430dc2c3e859e4b1abd0d4d4820cd4c6e385ac58e2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 8.164 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]: [-0.4725, 1.8259, 0.8352, 0.2359, -0.4118, -0.3107, 0.9996, -0.0246, 0.8024, 0.6075, -0.4221, -0.0166, -0.0452, 0.9984]\nstate[eef_state]: left_x=0.4257 left_y=-0.1342 left_z=0.0366 left_yaw=0.0285 left_pitch=-0.1148 left_roll=0.0511 left_gripper=0.9996 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=-0.0008 right_pitch=-0.0492 right_roll=-0.0096 right_gripper=0.9984\nstate[joint_eff]: [0.4034, -8.1983, 7.3641, 1.5067, 0.022, 0.1636, -0.0122, -0.1846, -1.5658, 7.1863, 1.6923, -0.0611, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlf7s9J97D0ZsbXLVTFZRpKMbudF1sQqXSM3uiZja0vYsO26WFyEkkbjA72RuS5oHoUieX53t45NSrw6D7bAKp4LJ5bThZl2mfpbSU7hH-qZeZy4KDyUz10sQz71CNLTBgysJRRCTRmfQeCQHTyZ-bz41v1euP6qH-W1LzTykiaFTY5pTYPrrbxXzfh3QGVaBrD3eQN1zmohrGxxABt07aC4Hqw0rmXXkjHizUUDOsA0IItbnNFZzv-oxzS_vdQhwz0vNYnOkLr8OR7Akv2Orj5zYb3f_8yUoKEEw7IMfMb975Gb8ikiv-H7S3oIzJXEAfJdzG6dIq49q91mAY-H3agrzWx8d1VM1MSsXA6q2tNP6pxxUkwHBonOjwgsvSyaJ14ha5kO14gh4vIL_Q1Hlk3YAVGSakwXt_60B7ap2I0kck3BxwxUtqGhIORxTN8SOOufyG6lnxE9enrvVVzsHab9PmCqdhuopTHNzfTW-4WO2K3mfJb-EjLNfFgHWQAh4ZfmSETJrLtUlq57t3Zf9wMw5-54YdDJEKQco4-24-CFnMz3iZbKLL02CXZzcWN16KnuhHOznOChOllWQqXH8O__tE6snp_nHdDELg5OWfcfHcqpelW7LloiRZQiuqhaTOxR6WzAnCJC6pjafBu5mbB3qX4_JbYPayoJpNRzIQkjnLSQkYHp9A6FQDRTBsAIo8AOlk158YxzU_eSeRRHOVYmOc8tgp_GudiJmG6F56ydmsN1AGnZMdFEjyi7MPx6N0vjMS_OU7F_UPOJniNh2ATLhFjb9yxFu1WPJ317s2hmJPTwgHTYDcLjs-80lfTc9efoqiwTPrPExUrf0XD_imMAAEJw_0O493pBrbavhN4UiRgbsDMn1L0i4beYs9HDt2FRg_CR9ix7n72jPN2_sOoq_USTB_a4nWAn06LgEhWEVhvqbEvqZ71nIvpE5mEkzbkIwS99NIEpIauidlGvQXeUcdn84OUPE-uZ68pKrQjsWWVb9uS_ULrIAOe9ZwHYm5Q_NNMdR8-OWNaCoLdFoMUcD6criwv5SW--URf2bAKLd77WY_qhOFzPqoolEa55ihCp-TlLs6Dlse6BQSehh_mwsMpxVS8ayR3JipqDvGAFBHYup6TLOMLSINvjR6mZRT7rS7sFPJc6K26Pl2_q-DjSQyD-eqcTK9uZGu5c7UfCiionFqztQCIG4hf4w2aCcR8v34QjTYM0oRjCHSvkhhm0Q9rnyGGrpOmhUUj__DN1CoKy5CwQ1xae2yqul968BkvXGS3E7RLvjZvS-RbACdk_w==",
  "id": "rs_0c5da44179e6b53e016ab2a95c507087d094225368e3855b8f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.15,\"left_gripper\":1},\"note\":\"The gripper closed almost fully, so this was not a secure grasp; the bowl shifted sideways. I will reopen and lift to reassess its position rather than transport it.\"}",
  "call_id": "call_uY36uwRQhMxaZ9U9MLAjrieM",
  "id": "fc_0c5da44179e6b53e016ab2a95d14ac87d0a8cce137e9397f14",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uY36uwRQhMxaZ9U9MLAjrieM",
  "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]: [-0.4713, 1.6432, 1.0573, -0.1917, -0.4198, -0.3145, 0.9951, -0.0246, 0.8036, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.4276 left_y=-0.1331 left_z=0.1276 left_yaw=0.0395 left_pitch=-0.132 left_roll=0.0642 left_gripper=0.9951 right_x=0.2899 right_y=-0.0006 right_z=0.1703 right_yaw=0.0011 right_pitch=-0.0507 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -10.2359, 8.7316, 1.5849, -0.2857, 0.0611, -0.105, -0.1573, -1.3744, 6.9949, 1.6777, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06bb1e22848f9093c078baec82b3915221015348b29c5bf7ff66a98178d78344",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7585f100ebeacaf018b92c75696e183988ffa80bbf1200e85f5b6cab72c0a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6078a9798e2715337ecb6c510bf51af719a1cbf0a9ce68cb2a1638fa7232f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 7.733 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]: [-0.4706, 1.8305, 0.8433, 0.2359, -0.4252, -0.3027, 0.0282, -0.0246, 0.8024, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.4284 left_y=-0.1321 left_z=0.0382 left_yaw=0.0366 left_pitch=-0.1077 left_roll=0.0638 left_gripper=0.0282 right_x=0.2899 right_y=-0.0006 right_z=0.1706 right_yaw=0.0011 right_pitch=-0.0496 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.4581, -8.7043, 4.8205, 1.453, 0.0366, -0.0904, 1.3504, -0.3624, -1.2786, 7.0085, 1.707, -0.0562, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlov8DGbgs141kkIsiD7Rcm3DARPT0E_CMvBPwNbh3cgRZPvNw6QLyVbtPB96JtI4fLSg31oVRPJyUmO1jVMZkIH-SlbIJSN-hEomsPvUwIDP0hnpHMWmTWZQdtx6Vqy4srVF3TGRg0Y9AHcvi6d3Uf-OYOf6j7NjOv8BbBdyx6HNsMtM6zbe5ReiRtQikX40QTStzUOgqbCkqUhT_tz_luLm1JPr7j9x-rOE0wTgmIaTwe6kzuj1KqaZXkYIMR3LKcfy3gXml3uIKG6e8vDY_RC-Q2oAn8sfwiH1vGl0pmBkRNg8pRq0yd2N06vmPy5qGCG2MRq-EktZg31HmkXLnPBxYBxJdZi6SbPNdJ4NaAN383YgNUW4-n8Cz81hanMVCsPesx4hTOFkdtiW0S-t3SHRGqjQ_eEwmMcnUGalp5yTCXBEoxMFSDu1eTZQIR0fzGO6Yw-wl-q5GwX1E8mguAErjlHC_TvfS3ZQ3-hZHwuJ0EHWTDWJ9t8r1hHnPe_ymGca5SAu1zEkFrn748TYRHWX2b6JRz2V_rbzJb6b5FTTs6F5gE_uZlrU8-oP8PyPNa4bQu0gPELgowLdMDtZdBGNmkKwFFwiJOQkRImQJdmvFdVl_ShytwQCCMGC0mdSQngEhz4faIDmVnDCrVjjQnCLIRKGapnFe52j8eVeSPjaKD75lcc08LdKX1il5sUSQjq9dacOujPXSciSX6A9CyOVpb9lP376gfX11v0U44gePy0GuaOHx7pky6SizB9w1uVp7jmpYReI-h9nDqtnuX3Inl-HZL_pODJVDcl-ezYXEg8-k5HroYQ5qM1bpYzAGm_EAkU9cT3qlMEZHNWO2MA_-vCwzJACMRTFaW12BUwMcot9CnqymduWvtCF1pqE8Z0p11JNIqez1k4WEcOpSUxAx5joe3Afjk6SlQaazjuAeNnYIB1cpJ62N8MBfawvrucpmrqxSj-bZGRTCs_2AfLdEwHIjz9VDhuLjZNFREXyWSoSrpdyVY_z9yfccY1fpSAY4tmlG3Bzk7T08HVybm_lX-v3f_MKNlNhkRq6MHBdnBa4CbiIlsx6bYagB1x1OL1o755OGfPVOTAFbxmDAR0dFLTD1HBPM0XcnglWvd0sOUdSYIJEh3ULBoEXS7Amm1rug2lHFjB-Kuk0ybsfiHr3dfxNDzu7gH7lEx9Fi7y1DGADDe7uPctm-eY9nkakGw91fC5e89adw2jE4GeYMfiN9vf5nP7JtjNccEa5GH2XMpYOcy-A16V1MM_titCFBVZSLuScAhFzwS057laF3A6R1Yy0bRqR1QH115O9nPT_MdO_sRVBqce5d1mCum2-MudD0Df-r_7AEsQaP_SZWQGYN1pTfUNfzd8r7kComho5OphBCewGeXCL-1S6G0JXPMIb9nfdGkTqaTQI1HHoN8FXleuQbPIJn2fCCn4EzC40YdxEowEaqcon_-EIhcgLr37XVFs5TqwdZ3My_8drB9hBxFkWKFd_aLwyLRYxK_mt7Tu-26gIIM4In7kIReyXJpi3Ea7ZceN7rr8070RZjHCUErN5LbHwsRB7g2MGumzIpJgsGLWR8sAgV3leP2PSYjqA9CZpIf--OuufrrwwwmttME6pP6zKjpPZFSkUkPfkXgLfpb9I-1lzE9mFNEuDQFvQ3BuC2w7pp6uDieN-EKQ52iy-QUm4DqlTQ7q2KXT4yZcaVyDe6M0HkBsQHKhCfS",
  "id": "rs_0c5da44179e6b53e016ab2a962cd3087d0bf55f7bbb022d183",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.09,\"left_z\":0.065,\"left_x\":0.43},\"note\":\"The teal bowl is visibly left of the gripper’s centerline after slipping sideways. I will shift left and lower to its upper wall for a centered retry.\"}",
  "call_id": "call_C6ucgYchAhyWOHFQQhQALxOZ",
  "id": "fc_0c5da44179e6b53e016ab2a965fc7887d093ae8186a730f8cd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C6ucgYchAhyWOHFQQhQALxOZ",
  "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]: [-0.3538, 1.6989, 0.8513, 0.0212, -0.3523, -0.2504, 0.9958, -0.0246, 0.8043, 0.6075, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=-0.0852 left_z=0.0565 left_yaw=0.0717 left_pitch=-0.2004 left_roll=0.091 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1701 right_yaw=0.0013 right_pitch=-0.0515 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -7.1453, 6.3795, 1.8046, -0.1001, 0.0562, 0.0562, -0.1162, -1.3333, 7.0359, 1.6728, -0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2532c69eb713c71da073cbbacd976fa33e7e596bccd4bbb06124ef1a66cfb6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5aec9530f0f46597a393c6dca6e5b5e69a550adf16388a796bbc3af80d077a9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c4b23c308e72dc7dbb552fd8f70fe07231172c78fb41d194496171bee90e2cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.42 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4713, 1.6432, 1.0573, -0.1917, -0.4198, -0.3145, 0.9951, -0.0246, 0.8036, 0.6075, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.4276 left_y=-0.1331 left_z=0.1276 left_yaw=0.0395 left_pitch=-0.132 left_roll=0.0642 left_gripper=0.9951 right_x=0.2899 right_y=-0.0006 right_z=0.1703 right_yaw=0.0011 right_pitch=-0.0507 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.1436, -10.2359, 8.7316, 1.5849, -0.2857, 0.0611, -0.105, -0.1573, -1.3744, 6.9949, 1.6777, -0.0317, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqlw_Tgu3Rn1ZxuLxz04osGicBFahlJkAns4dUP9EM3XR6lDykfXdXVKXLGvhi6xX8-DOgGqgOXua8Ra57kHrB7AN1fiUIdfejz0etv2XMPU1hA_X-J3qR-hvabHhXO06pOfFgcCqfzjioR1DHPFAGwTpiaVqieQBvI4VpMDgH-Ze7AwVVOpif8ik7NZX3duprPau-yzDwMh1QqrsRDWGxhDIoADn0upCemAMiiPX9COMYcMbbR7rxrlZb9GocjHR4Z1fTzOQ5gwhZplTQmQ4ZxOmcEicsbA_D1W4_yC8aV7GkxW6KUfdVa0qTVZPb-F92vkPY9JGJi7BaBX6eOcVM2YQWMHtHZ-LAMGofLT9atXHlVUU3wen-HFjMVE45G-o-nA7xBhbqRXeiVMAM_d3iP7WyRQl_M0i1vSwjfNfRgkYHUPnwCqw4X6Hj7uTwwvHZJTf0JMTrtJ6KzPrbj3jfW_BufwDCMM8o4UKlH2uPP1vsqrH2DjbHvKxkySGc9kXN0RCV3EC3k8Eyr4hXVocP7KdRQt0cTs-Nw3RVtUc9UsTRIKvQ_1Fgc8b0m-gtEoBizBqafElOb8pEIRBn-pArfPa3_ab6hxannf5MYb7i0jFW48sMUJqDIl4Jq5ev2ss5GAtwAq7p1wm3mZ8HMIkZhs99v_hjfhcAkFh0-UBWjfPtAs1NOime8AX4Yt0zKPRxDic3Bi99e7zRvM6MTSp5638yduRBo_MSjSh2LtZOnq_QDdhQGCKP3krlpPeFddl88PttRA9iFl1QFgzxGM_YnkrVI8-0KbznLcbYVGG0xPSrsaHbA9jjRo9YliGXO7tvOUae73jj6yO2KMp8DFeiCa-d9SaXcqkEXVE6I_G_3XWXje-1bFnf2dnNp01Pdl1fn9nbrdIvwyaSOwREYTWgQHQP7sc8oV17Q7Rg9-miSGn5PPSbqODjY3idNkmSqhBoY_EfWUhndL6lS4ivJmINx7sudliCZq3KVNNV39AnME6_Qta2-PPDkfOnsPLmyTIkEISFns1BiJ14rxekQYsf1co2A8gUKxSQDjBpWUC8PvI1wWgGAWM011tpH7mA8Mx9Rl0KVAci_m9upzg0lE6vIicW8Y4QpiXYbid6LrSSDdjbez4aOKaGOp0lM-Ln76kunLy0hiAKDCrr_mRNajyJ6f5DTevAo1Wha8IWFMNsuyl3dWMgdkavDN2X4DB8pPAEblFvTfBn5_POd3qi4GqpSLbaXJJiF0YqAaue3FufLk8xvEzDWFaD8o2HdnDS4-uGt-SqVXz2rDa2PITaUbyS3e_MvS6CbCb0oXn0Q1Aa_C6_Ce9Yec2wQ8fukVmFm6uq1ecHsF54fAz6Td8eFhOPphWDMIPrQfUEIiAkpGQ4jIfOuiCBh8Iy2xzLh3UzrvF3edhh1qlsPXaC-ntBI5PYsZ8HFLbWIblEgPNH5g-Bxt4N8xLGCxrNXHqahtm3rKrvj41S6vmo64wa9k_y996xntEexmn-GApOJFKKft7b0Kdm1lZfKSQXiS-A9iI9-aBbEGPpZ6lbx3cLNRRBxxnrO5iRl48KZmcu-_ovl-QUWBqQvi0RIHLMy7lkMqo45xdC5GSbtEJ_9mBB3aPzFKLdnmbuXTyPNA3ksuOkeLYGOI7-kErq8tXMkpsVH7UO94JAO8247TaYoeX5FsYchpnXS8HcjdUbY__wwV_LnQ535iY9DcEYAM9m2r8oH5p-vmh3TTfKEpsqQn7VMZTTn4i5Fcc726AQv-gnVP-xUaWQZuTQKrEAFNjDhuwN1PG9lCgIR1rqh4sQZeXXrMwqXpyDo2LQ==",
  "id": "rs_0c5da44179e6b53e016ab2a96b35b887d08c9e420b289b388e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.465,\"left_z\":0.035},\"note\":\"The bowl is now centered laterally, but its near side remains ahead of the fingertips. I will advance slightly and lower before closing again.\"}",
  "call_id": "call_SWoBV54pBTldx16VCAz7hKqV",
  "id": "fc_0c5da44179e6b53e016ab2a96ebf3c87d0b58ed7ed92043b31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SWoBV54pBTldx16VCAz7hKqV",
  "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]: [-0.3134, 1.8908, 0.9649, 0.0666, -0.3355, -0.2317, 0.9958, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.45 left_y=-0.0809 left_z=0.0236 left_yaw=0.0912 left_pitch=-0.2365 left_roll=0.1064 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.8256, 8.1026, 1.536, -0.0073, 0.149, -0.0024, -0.1846, -1.347, 7.241, 1.663, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fbbd97968724bac5986bdceb772bb0c3b3bc4b8b494bd2d67cc017a20aadcec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:618de5cec0416615d908a19fa608a9680dbafba5e4a458435c32b982b844dbfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc276b03b1081fb7dc6845fe3ed2e23ef72c6b49266ed478ecafec7810ba8e40",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 4.5 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3538, 1.6989, 0.8513, 0.0212, -0.3523, -0.2504, 0.9958, -0.0246, 0.8043, 0.6075, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.417 left_y=-0.0852 left_z=0.0565 left_yaw=0.0717 left_pitch=-0.2004 left_roll=0.091 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1701 right_yaw=0.0013 right_pitch=-0.0515 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.3214, -7.1453, 6.3795, 1.8046, -0.1001, 0.0562, 0.0562, -0.1162, -1.3333, 7.0359, 1.6728, -0.022, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The jaws are aligned on opposite sides of the teal bowl. I will close and check the measured opening before lifting.\"}",
  "call_id": "call_XTO8FaztGAkPVY2h5HUfA0ei",
  "id": "fc_0c5da44179e6b53e016ab2a975ab1087d0ad5fb2cc8a228ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XTO8FaztGAkPVY2h5HUfA0ei",
  "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]: [-0.3069, 1.9076, 0.9932, 0.0769, -0.3408, -0.2157, 0.0459, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.0801 left_z=0.0281 left_yaw=0.0913 left_pitch=-0.2159 left_roll=0.1131 left_gripper=0.0459 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -9.8393, 7.2274, 1.4823, 0.0513, 0.0171, 1.1306, -0.1026, -1.265, 7.0359, 1.6581, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49586e37f41529aff2ba1b95fb6852c89a84be7f1e47cde1deb7ef265f287468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:837a2d0f9a39b6c38a667c20d6bc3d101d39fbf040ce4db6ee6815d8163cce94",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b752647d3d3c9200b35dce92b7d150678c855c8118e26a79127e78a670342366",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 16.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3134, 1.8908, 0.9649, 0.0666, -0.3355, -0.2317, 0.9958, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.45 left_y=-0.0809 left_z=0.0236 left_yaw=0.0912 left_pitch=-0.2365 left_roll=0.1064 left_gripper=0.9958 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.335, -9.8256, 8.1026, 1.536, -0.0073, 0.149, -0.0024, -0.1846, -1.347, 7.241, 1.663, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsql8jSqAoLHPdv4wp3BGUTfJzhKDVTvx7JS8T6Xjl6pQEtH9URk6PnVoAQHM-DSg6PDj9Dex3dYexBK3aluJs3qXAXmWSi1W7WB5pFK47vzC6xn6u_2Z9DC23oCjtdgvFVlZNfNl3zWvoc9jGuYpMcQFGQtblcik5cQL3RUtvdZkFRY4y6cbiKBMvGFfhJMGKy95QxQoghU8dZhu71HaKMYDryxrUZbXlXDdT6yrOgma6KMKf5nDLgL1NUuhfnFwcBtgiQPxYmr76U6HUxmWI7DtH4ZpgnyOu75F3Nh4KncFeuc5x-0UHV-IAachBinD_vbVdHyigCx4KrY6IXNjQ44E983xNjQTb0ih_VsrGl4QlgT7HPygqltLeXhb-5F4O0BnfAhoIabiAbREq1bzvkupb4M6NJzBWAEkaeeJ_O1BF8C5-EuhsGk4C-z2m7Smy8rfj3MbGHZJKpvnm6x2XB7G13PLxYxEpXxiXQ3I5zYvtb5mqIBDhTw99X8Kfeqs777slBsVx15AwQML1ru05fk6qRWwtY2Y1j3AhnprYQP_gZ6m0IJqGsSMfdeXszDHeyt7stkszVCUCloKpqZqfId2GOqogyXuAeNHZxp1zAAweD8lQ5U-kP7PYxDqt-thJuseXVq71LfKdCuzGNWio_1LdrccvSGp_nZfsdIhaTLlZ73_LOW1Ez7BaEOBXE2SUGgfZ76rEGoKSApfbpkm-AERtqf9zydf4y85sr-Hk3NVw-zSUhHEqvScUGOIEH1mhMWx4noWhhKiSvw9vmtWadoe4JyFq3qnxaJrjwHMAoZoXNTWxe6OUNqmVGcNhY6ZiEE7u29IP-ZJ9N6OE8E5-FqnwnkjewOTEnhJhXK8EqaJXFmF9OqbQ_VEZs4X1_xGf6o6cQh1erBj-3cy2xWL-RxPYR2jzkUPuR2_DCrgLfBIax_CHe98SKxVXTWNIlG059E76zL8KRRzS5y581WBPmOnsEk-5GcJaU82PCeeFDEYJ1rXL-d5CVQA5V8vCzf8folrakVFF4DDPWTP_318z4xCWYTpw9haF5YObqvgcmRD-xF0be9zLM6cYbSftNHXEywtDsoXSvE19c7Fd3qmbotZvS2EUvE8NSvN8GcsXQgI25_jdnzqa_odwhJhBNwFUvoJoj7W8mcXfCSvPLAycxqD9KAVCITOMH68dDwzrebjz9TsBHRg0CGvyAIQbOj7iBhrw2mxT-DdVTLeDWHRQLU6YY-93vWyrIm3oVo_ovX8B7qe1X6Far9u6MJugN-1qOZi-d_JFg-OeWL2bHJRxJFbYQ==",
  "id": "rs_0c5da44179e6b53e016ab2a979e1e487d0873802f60ddde173",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper stopped at a small opening that may indicate a rim grasp. I will lift only a few centimetres to test whether the bowl follows.\"}",
  "call_id": "call_Sg1oHkDHBGYV7uTtM7PS52Uc",
  "id": "fc_0c5da44179e6b53e016ab2a97ab84487d08d7adcb448e27195",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Sg1oHkDHBGYV7uTtM7PS52Uc",
  "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]: [-0.3065, 1.7962, 1.1088, -0.1734, -0.3397, -0.2249, 0.05, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4581 left_y=-0.0795 left_z=0.0809 left_yaw=0.0979 left_pitch=-0.2371 left_roll=0.115 left_gripper=0.05 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -11.2205, 8.4718, 1.4579, -0.1832, 0.0611, 1.033, -0.1162, -1.265, 7.0359, 1.6777, -0.0513, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e09c28a6c780a29def9a4a296af5d3a8755cb20f4749060a03dd5059918c26f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1c5127cf70edc246fa43cacc514286aac451eef5f341957d638dfa590b82287",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b756f9d5a2b1b14ec904b5378fd03e0425b7a39e029b5731614692f8ad504b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 12.14 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]: [-0.3069, 1.9076, 0.9932, 0.0769, -0.3408, -0.2157, 0.0459, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.46 left_y=-0.0801 left_z=0.0281 left_yaw=0.0913 left_pitch=-0.2159 left_roll=0.1131 left_gripper=0.0459 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -9.8393, 7.2274, 1.4823, 0.0513, 0.0171, 1.1306, -0.1026, -1.265, 7.0359, 1.6581, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqmNcFP2fv67sB12570CQOr0aLEvilC4IkitSlGiHiK5p_0snJzHfJT-cfVVOSRGJ0SODIkcv49Z_BbsAdH-i2Crb1MD35-T4ED0eFNhPfL9QSAF-qSdWnTbe411LKYvLCOo-Et3HhkjQ90s9n8mBAC7XBQ2MDVQaOY44SHUr9pklUx5eJ8yNkPjN5YmeGLpu1Gp7WY0Vd-sK9E4ayDK9Mj8QywFddRNaHz-JHo5UbMNSZNU3F-Pah8gyxignlE4FzqvhdX4s0MYBWNuEDe0_B0lqrzXedXnlMwPOprMWyA3CmxQ0ffNaah4jJVzKMmKY8gDEuyTUpv0PF42wYSNAE6YesiWrMVVndfoPODXqvI33Ip4IqCeK_IyZRpHzlIPvWzcVkIq-6okaMRb6TDbm5yJF7JsX24ZT5oXi3dSFzSWOUZoEMmezOjRg5vXDdi8eVmZG4oEw5TQ7OBVrbiL_0vFzeFohtFLelaW-3L8dGNBxul2TCCqDorqlRQAf4XdWP85fMm9RHO18bVCivuw7DbdRo7CCAU1dP0jQB1QsalVmOiprNFedo-yEo_ZmfsO8NntMcSHQOuz9XGv0r3hBFFM2BTrKZgg2kAhjxnnX_dqbudHaCeyjkJfjXLqSUaC_2dLKREY2CmHnSkyUkiAuyTmIxnHOgK0rYpkW2ywKeHEubccm8EJZvIzIr2pu6upS043hp8FLocxTTJjjEIjE_xXG9NwCRcfxL35CwvRRpzQLanly46M5BUk63q6ScdesRKAS2_tfEHgssf5rw9gPej5ZoT8VxcKahxA3C1p1Lwn4Y00xX3GnCSc9yjdotdNoWzFo5oNd_sAmg7kz_UhfOoLMNQ6CQaiFjvFxCPgYdOzEZelPtGOyQ1sDk1nk4m1k14oDd84vTtmSOfxs4pmBUaxynQBgAAgTMUCCg3XEbOduwbFKu4PgVmmcVQ5o3yxkqNRt_EgCygzQyQzOBS2mLwLTkONHPOHQK1AWCXU_kNNf-GL_iNmm2GHzgImrw0ccGXwGRLQ41L3T9GJHyi_lhtZwmgu_LElMJ6atS6IPhzX_1uHD_dggsuDIz8s4cYcp63P1_sU1ZYVIwb8BZXDCEHeDJoTdbB9XVTf23LxvBt13SwCnmlzhYKndx9FdlcxkDfJdNTyB1vWjKWU4uo7JHcXCf9-S-KzSUZ8uryo-Ft7uumLY8wFd_E1Gb-gS2ytsdW8HwD9f-VJ3XW7PkFLzorFQ2dSHTlwcvQmtf6XQiDoqT0aTj3LZTobBowt0QrOJu8uDDESeGbQui2mrC12fimRCSqXzqmv6hjVSbAW9EkYx-hE5bF4uulQe7g0dt3pQFewov59Kkvvkr_M-fKzIfAaaND9ZrL41ln-mMyksXH-U1eUaoSCjNuIjfS0Jw8sB-YFFMRBp4wYAuhnP4-TsRk0LMjiJdtaO1ufzLXbe-k8FVCsi44BQ2enaglzTBxsYixfnh-cJLUyL_nxUN04S-sAh0eYE65d6ibpia-dCpc1AAmPbS8xU3Q02uBLkr4Z6AdZ6TanoSBlRsd1rqaaaf8JQpztyVKu_hLmgVaTdJG4AKOa0yARQXKV_x1zBXmQZGFzwak7h_nmaItqk9MbuEPShO6PMsSAEBx2UHn-j3S3CA_AKf0va6VZGwlVrN0znSYT06gMNuP4dy6VUUT4fCYj0DIxjvlVJGe-ajfJ2iCAIg_dSDVMrDgmHrgk3YpgxiB0aEc90LvjHJ9brmuDE6gHFZi2Qt5kD6kvGpcMIWUph3xhRT0srTyR0H1m9bFfD1M1UVXAFCvVknVIQa7voLLvpZcjE1kvokPXVAM_DJVYAvFx0JayifYxoYJylkaBr2oqfaurc5AK-TzlJAAvwBVUXrNOCGWpnxX4DCAkFO9nBqwm900kzSVaVvj3YHzdsHbMrCnTkL1q_FWjsiIiC3NkhmEu8Y04qbbXz4LQ9_jGIjRkhKskOn8Zm4tF5EZw2MZ4wD5_VkdivA9LySPCA6T8J5PozhL3pQHyMOPK3JCQVzLrKLRBrWqs0FAmdkZcd8QT9gsktWP-DUBfhFGgIFX_5-59FzcVTF7CilaRy0PbZwGssRstZSmuQ1HiNlX9fxoByq2YYwOldp4rw24Qvz5XBhgAk89BXrn_wpN9YXx5pAjiLBkvV4EoNcpXQDA-u8Uy",
  "id": "rs_0c5da44179e6b53e016ab2a982f5cc87d0a19d5a0abde705e8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.35,\"left_z\":0.19},\"note\":\"The teal bowl stayed fixed relative to the wrist during the lift, confirming a rim grasp. I will raise it clear and carry it toward the blue bowl, allowing for the bowl’s offset from the gripping rim.\"}",
  "call_id": "call_2cht62iVfGIPxXQvSJZ94uPG",
  "id": "fc_0c5da44179e6b53e016ab2a98b5e0087d0b9288fc5127b2d86",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2cht62iVfGIPxXQvSJZ94uPG",
  "output": "executing move_to over 25 steps (2.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.87, 2.45, 2.5782, -1.2129, -0.6296, -0.7635, 0.053, -0.0246, 0.8097, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4421 left_y=-0.3571 left_z=0.1831 left_yaw=0.0761 left_pitch=-0.233 left_roll=0.0655 left_gripper=0.053 right_x=0.2902 right_y=-0.0006 right_z=0.1683 right_yaw=0.0013 right_pitch=-0.0576 right_roll=-0.0125 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -13.5453, 6.9265, 0.3346, -0.6471, -0.0415, 1.0281, -0.1573, -1.6615, 7.0222, 1.6923, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:02555a4597f90b2c2578b54d0bc123cba4c0ca05ea04cef54e6eb7056c58734e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15380bded2a0646e466305146599603373a361199c7bf672b8607b7bc5ce21e3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d767e2cafc76a3e9273f3dd9819c8990aa074a20a6c9986087717e541c2dbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 9.611 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]: [-0.3065, 1.7962, 1.1088, -0.1734, -0.3397, -0.2249, 0.05, -0.0246, 0.8051, 0.6071, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4581 left_y=-0.0795 left_z=0.0809 left_yaw=0.0979 left_pitch=-0.2371 left_roll=0.115 left_gripper=0.05 right_x=0.29 right_y=-0.0006 right_z=0.1697 right_yaw=0.0013 right_pitch=-0.0527 right_roll=-0.0127 right_gripper=0.9984\nstate[joint_eff]: [0.0205, -11.2205, 8.4718, 1.4579, -0.1832, 0.0611, 1.033, -0.1162, -1.265, 7.0359, 1.6777, -0.0513, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqmbyyb4jLZWBfTdnuUsWPx84ciq0JDA6onYi98_AH8RUISmpYUVcA_UTZMMz0mjHlvMesqmHDKP1FEp7YTe8WPNFYEJIX1Mpk2sOUjt-L3KZOg1WsrdSf2h4NWa4hVA5UJTVX647gQdoQ9QQbUkYbeN-wKy-sAHo6tkf7G5KROvx71UrReS1Dk-9C6fncLRVxUhatX0UjAr9H38iMBAPFdPyzfm74w5WVaTlBD1WOSOJa2laRQzfFTnaut3xoXcb7vtFV_906gyXSabgtYnRcwTYRsOWuwUH_ZIEnZrneZUzDz_zkPfw_KwFOxW2ZhovxTNgg4BpQ-qBZM3nKfFECh5lwHDq2cF7N0ezvjQVs8aAK9oQ8hVZg5f4Gzy5QcyAv3sCPn285PBoVh4FDEQ-nOw11J5TCMXB50MhPOqeog2lMpD8h7HTpexfs0qYBWxOzqR-37cMMzEZ0Wrd-ANNq-uPsPzJG-Cf0x8iCz8fVMch_fJ2eonWYnr5bKZC-3Pg571yeTDstomFCWk5XbWgLP0F323pl6ovHE6600LyYJC3IgSxJmk8oyDwSKsvi7xX3Gk5fNEuNwCxnr5-DLIjqKFZEbk-yXSOtUCvw56ttXuGAup4CEY-4bmY9DYeoN2tauWreMMCsKSZmxH4o-VvjU0lI79WMzvm2_95H6DlAUvq6ckUKGzbLOJjH-EEc8MtZOx6yp9cTV_baYKyeGrgWC1hi0K1Yic-8HUCfJW4P7pOfWZCXXeINE7vBeeOLe_3NisZeD5_75xEV9M548yWZaGnOjT189KfNH1-ckG6iRXCJxzfYy0jXNpLIwZbEqG-LgK_TJ6RZ1UJ_kiyFPVRNLCMTp2q_7oDrZtAU6UwghJI6mfZAkkKerncHLuF8Wc3WbEojXzFGqcvwd-JtS8dMAF0IdkpeYKLLBRc10OyZTXw0KNGkWjCKsW3mJijP3-U7KSxTKKMsPO1flo1m9_Qo4j0cD2D1K0UxtxsVbCbkVaTBOP1_nPuM3RkCbLpU31B2_VTnpz3k9ivkES7UdDsyiYwiFHO0T-zCkQrn3fpaw_2dFWdU_yZCV3OHwldyAXA4y0PBKw_4rbgu_MJ9KGo8xP8kA2BuZY06rgIAc49KIYuR87_iPfp1n2fS57cMSjFAUZ0ZX9f2nHv3RHAPBcJwVDCv6S1ySSw8iTtndSv-SJC6m8yd4eKMcCBxv0D9GGZiFkVmw5RsDrJ-MwBfmBpmbnx4WphI7YRiaVF8-lUrMLl7GnBjmmEH7bLpGR1fl_DE7932xfulYnE5RW5nwc2l_N8AdJVCzDFmohJKgSY33ig7cqZsV7o7gGQQyltL83o9nn2FWpTV6f5ruvtDgxYlvjH6kxo0iDnPGDqr_VeihlzuWSnx0q6unFes79ZyA8CvZbByPrslC9m9KS3knKVDmD4qlcIlsbA_6ggB4T96y49VpoXlLNOovo6wl4xkRDJ9kQiwezIUoDlR09V90fa9GpYJ63RBLqkaRuash1FrlUONTBVBlQOmr9B_RErL_sUnX8EIV2yLLodYEIfsNbsk8IxHFd-TXz2TDMczJaLiQGJiAUsotkH--uGXVfRxYYnVBvP-rfjuzQeMj_q0ysxU17zqBsp4T2arb9qlNVPqKbat-d3sNjrWYEHrE45PM13oKohC5dxpeIOFDHtqoyYh3VxWS-CV6z6-sw7kBxwPiYPEzCklrewqTInY0t_KswWSRGUHsJcSWizr-D1GXfqYY7b2n5Ygqly58xD61J4XaVnwE=",
  "id": "rs_0c5da44179e6b53e016ab2a994dcb487d0ac9610b1bab42fdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.35,\"left_z\":0.12},\"note\":\"The carried bowl is above and slightly beyond the blue bowl in the overhead view. I will bring it toward the near side while lowering to align the two openings.\"}",
  "call_id": "call_dfmV7Pdu0ZOSBIUpO65tHRXb",
  "id": "fc_0c5da44179e6b53e016ab2a9998f3c87d0931cef858d8bce4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dfmV7Pdu0ZOSBIUpO65tHRXb",
  "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]: [-0.9474, 2.2379, 1.8866, -0.9161, -0.638, -0.836, 0.0549, -0.0246, 0.812, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3786 left_y=-0.3402 left_z=0.0893 left_yaw=0.0869 left_pitch=-0.322 left_roll=0.1786 left_gripper=0.0549 right_x=0.2903 right_y=-0.0006 right_z=0.1677 right_yaw=0.0011 right_pitch=-0.0599 right_roll=-0.0122 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -17.4291, 7.4872, 1.326, -0.6325, -0.1148, 0.9988, -0.1983, -0.9368, 7.4051, 1.7265, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69f6899c53bbb64a1e466aeb2ede3957bbb46489582ac7e995bb66c419958ef3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f4dbd27d8825d52f83090d597542f7b1c602858cf099ec62db7db7a1fd8def0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d565063acc11db59c14e324cf77916ff667eacf0993f1fc467bf239ecb5afd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.426 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]: [-0.87, 2.45, 2.5782, -1.2129, -0.6296, -0.7635, 0.053, -0.0246, 0.8097, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4421 left_y=-0.3571 left_z=0.1831 left_yaw=0.0761 left_pitch=-0.233 left_roll=0.0655 left_gripper=0.053 right_x=0.2902 right_y=-0.0006 right_z=0.1683 right_yaw=0.0013 right_pitch=-0.0576 right_roll=-0.0125 right_gripper=0.9984\nstate[joint_eff]: [-0.4855, -13.5453, 6.9265, 0.3346, -0.6471, -0.0415, 1.0281, -0.1573, -1.6615, 7.0222, 1.6923, -0.0708, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqml9m8qwZW1Am-H7b3_LtYzLUfn30yamzI_SybtBa3tquoTqe85vLMW0OaOWGrm4KtVfUwDLvkkGAxMsQxoHsICc6znMk7QO_mkMgU6CzbveWFzsDprmJXLh9lrAmZRngEw06NvG-pUIVcF0tLfqKJvSWavPkskBEqGgwAHSnTxJ6U4fgkbPXhlwL1xro4jRlJtDvOFg8y0Zu54p7lXXQPtSbykOH3o39e-QDhp8bBW-sablMR8vubiP3k5cVhohw1TPcr_re8GQTIyvuFJQviO_V6fashcITIv_cr3yxY2pUPIIgvHoNZJG1TgAVKC8J2pHt7mT0zAR2VWscU8EAAz-BArqIhz3-cbLRPwQQER6CJg2qzk4qemTPrCj_SUBHrGPdeWnD80lvQ3p4FAi2fVjStQiR8ui0NJg84sGfJQXt2dxqhMr7fNzfxox9VZi0-RU7njMpi3GNQzEHxBOazJU-SsGtqoVF02WhbmRc2quC4nyILmSTKXqdlspyAII7iLVoGGq5becThqKlAfekJN5FNIpKcv82Qb9g9Ve8GaTM952quU8IZFeIliMNiTyKZPkl1nxivnZ3llkJw0E1aZLAtFWDK6ZBwk7P7OMzKwC9IpCwcHEeS8XL3-BY-H0OlvEfy1f_etou4SfmEy01d848jQwrr8EksDGnfQ6R7D7Ujnn-mb3GSAxJmn8cdWBCAz1iNCGdg5rgLj7_1pTtM7k2D9MLzivNRK7JEhtNT_CWqfmA5tMlq0HyPC6AefqTUr_ibluM22no_ie-2t14IxamepoiQ-W7wXyxLAo8PHtB53wD1ZRlqJZBK4cN2DXp8cJ6s1hZ-TD9aWIa_Tf6jJVei038EthGv1CH1CbmqkRaNjVQU6s2r5TuG9I3wsHefQoUDCELVt-9BehazE7tTkqUcc-YU29v950X-Q2YyX7lZZIYiLjlZyIXKGqfkEyE6e9s9Cs9lox20IAwuGdM8Ccos3HRxVtFhthndV9ANkS3en0PBIKNwkPSDsZDV2aNGx3ge8lE2MHP7laD2uj3hVSHkT9NOE_1X0xbPE4BwS0tljmkitfEuGXm84WodDUltLDL3gYOL2kWAhZRRj2LMlbsi3EQ5zdREKsNQci_7zDS8thOZ1Do4fbgnz09IGwBH8t7kwzoFib1T8n2_Ar2SsdryvXjDoZZT98kV_Njvq4fMAjGZX_ZBhD7Ro4SXiDlISq9yX3SiI7En9ZYX_4XwWYcyuODv6Z_VFlrA9973xd8mEjGg--gelt4WwX4X6J4YE01lXUtE8ommz9ybxBc_wyHWQrniU5WTg1q_Vtc4f4XbbsXZbmv04Ra7gr_CqIA8AyFUuNbNXqQWQDEh1UAN9jloxZPqBTIW_3oT6Haez7hvq4-1TeaYBltPZCoQD4huhvFce2Xp5S0qCddkNBmxOl9x7xiHu3Tq2RKHoDDlTthty4vznlvl-GyogibXb0jydHU7IwqoU7jF_OwqFYuoM2iyxHrqIVsKjMpIAFTt5UQQ3MFrJBlJ7yXM7ORaGieFrXxqPCx8YKuy5638CZi2QkJSzF1-fbTLJXLtl7OB1XeGZfrtCD4QjFxyzmOAGXnkDj03GnBRS2GGwfs_VPfCklAQqrlO6mNo2mIrIbJHQe7u3KZY20rOmdxHtMuqfjGWdt-bFgTye6HNDFO6b7Kfqg8w7HMue09Y4Sda6a9p6cT85X4iwplzqwmjjAYRozO63QaHfVBsHbzPg53srYm0ItF1Y1IVSiB3k85vAFaleGW4xUe0g5Jglo2oyfAMf1ZpcHaNpbffXuzQH5LdA1Mw05P76au1rDnu0_6dn5q43udA=",
  "id": "rs_0c5da44179e6b53e016ab2a99f08e887d08ac87f1e21c378f8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.405,\"left_y\":-0.39,\"left_z\":0.105},\"note\":\"The blue bowl is visible just beyond and to the right of the carried bowl in the wrist view. I will shift the teal bowl slightly right and forward to center it over the blue bowl.\"}",
  "call_id": "call_FzssqKTgqywgPf27PfJJxxpR",
  "id": "fc_0c5da44179e6b53e016ab2a9a4261487d0b97d6c149acc0505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FzssqKTgqywgPf27PfJJxxpR",
  "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]: [-0.9558, 2.5553, 2.4771, -1.1599, -0.6281, -0.8642, 0.056, -0.0246, 0.8154, 0.6067, -0.4229, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.3941 left_z=0.0976 left_yaw=0.0813 left_pitch=-0.3127 left_roll=0.128 left_gripper=0.056 right_x=0.2904 right_y=-0.0006 right_z=0.1666 right_yaw=0.0013 right_pitch=-0.0637 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.759, -15.0222, 7.0085, 0.0855, -0.5006, 0.0952, 0.9402, -0.2256, -1.5795, 6.9949, 1.6874, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:050dead82e643f85a33625a17517e58d3c45b06c1c5805487ee50477b163aba9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70fe4f1968a870ce72039dd8374911643668f1e8aa77034349f084f4e1db17e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b28f18360729db2ae00d998f3da92fa817b70b1d01c408c5b0a0681fab2be825",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.153 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]: [-0.9474, 2.2379, 1.8866, -0.9161, -0.638, -0.836, 0.0549, -0.0246, 0.812, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3786 left_y=-0.3402 left_z=0.0893 left_yaw=0.0869 left_pitch=-0.322 left_roll=0.1786 left_gripper=0.0549 right_x=0.2903 right_y=-0.0006 right_z=0.1677 right_yaw=0.0011 right_pitch=-0.0599 right_roll=-0.0122 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -17.4291, 7.4872, 1.326, -0.6325, -0.1148, 0.9988, -0.1983, -0.9368, 7.4051, 1.7265, -0.0513, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqmrJpacxQGD7LUbp7w85yqEpU4slY0UWX1Kcvnb2NYiDimhkXTrrLXjxjc2CKF1u-1RTs7sRwLdJODTbbNFyQOjBYIRg1V2byse0pDwVTS0SNlnLsR3svuc4U_k08r4PGctquBlGp53u92PjfuATNeiZB0ALH39mTV2d8ZUBlT6ioW69xFbRIst8ov0BBncUIP_wbwOmAOl5YrtY8Dj0JTY47Jn-zHdoqx35OM7PaJRGAmqka0fN833AjAMIThnBS8gf_vunS5zP5XUvTeZSglfTeSgm1tdXcTogTjqOFx4VCSxaUE2juEDP99CweRgGat7ZRD_Px36EE4ODRe8FRUuhyiLwlG9xL_aqgQV0JVPpOpFhdCjpAZLkcpM8Om1SyKLE8B3DiAMU_6M-3SbcSFEerVaPKpVo2hrIciEK0DwHH9iFpBL-9rN_iw3y1md4uC5f1SclfJ-gi_X_lvvOL13Q2Rt6AmbpmOq_YroBXqHzpCE0kmk9QcJUqk1nE_Xh91EJ7oFaFXUcCLWC-9_kbaNfmtGVfLvl4p5aexsis1oncPx-13zKdyK9UXBqvWZzwoQIg5QJDQZNpeVcFoweIs6XIjXLUoeSI5ZnoeqKpZT9OdhgIn5YBHdU5Q8EOvU5rveeHduJUeSfhCZn4GniyPFD-r4KHOBcUjXPBxSXJNnKqyac32mEL_vKWlZ-BxBbtMczqqL8Yo7Ao_mh0Yszi_sbFNLkn5vU9Ouq69srR28cDyHuuKGtd0JFdtZKR7VHMnh2N-3JSVHFI-QOkbMeLFie_PS-7yTIjY2UoiNEK2S6Yw7E3TD0oK5e2ZQjXgLMN7uTF9BB6uHVd6fcAPrKIujf8YQzfExrL58Kw2dcqVKGMjRUfLVKweVzU8P1ebsoQ4NSYeBS4gHaR_g_J92qR3z0doNHGtBPWFeGImk5wNxHrUJIh981El5iCjWqRWC0qBltaGnYb-klzSUXVWymrikTEux0Uf4FBIzkJ4bE-mNwvJ8sBMULe5gRfNU1jJa2Gk1dWc6ru6F-zBKBy_6M5j-2ULe4xToHM6xfO3T4cOOURrAt8Gbeu-V2xVNJLkOlknCkeUKTnvseqSjg6kUVESX9rY28LssZQabY_ziEGCwDuK-CXNqoKPvstR_iMBl6AoketNqTIHyA_LKuIR_w54AihqLe9lKtbTCajgIBpicRySsLg2ELa_WLnu9qBY7TeuI8mDgnCV7b2YwPPnoxKtg3JMkrGnkvq6snzzVf_5wVLXEfCCsYgLTL69ZFSbqEvAM5v9Tiu2M95ItVhnQTS0mRS_-K6W5-ho6X7CXAOwAKgU11W7t7VZ24-AA_LxT3SZ5vSOXl1ylA9QrMAapopMfWzzHCfK2Z1nQkXQpYSaAoKhp2kYENWUCgMWdup_T6Yj1",
  "id": "rs_0c5da44179e6b53e016ab2a9a8726087d0862c5074549bf4a0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.06},\"note\":\"The teal bowl now covers the blue bowl’s opening. I will lower slowly until it seats inside, keeping hold of the rim.\"}",
  "call_id": "call_pMoTexkWj9m583PtWYR2kapP",
  "id": "fc_0c5da44179e6b53e016ab2a9aa50a087d0a408b6d1a0f0940e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pMoTexkWj9m583PtWYR2kapP",
  "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]: [-0.9558, 2.5504, 2.3135, -1.0794, -0.6239, -0.8619, 0.0563, -0.0246, 0.8154, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4017 left_y=-0.3836 left_z=0.0536 left_yaw=0.1016 left_pitch=-0.3555 left_roll=0.1991 left_gripper=0.0563 right_x=0.2905 right_y=-0.0006 right_z=0.1667 right_yaw=0.0013 right_pitch=-0.0633 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -15.7333, 7.3915, 0.779, -0.5104, -0.0366, 1.0085, -0.3214, -1.3744, 7.0222, 1.6923, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e92d1bfc1a0e7044f1a476046762acdfe1b0add047423ca06b399d07008311a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e868c28e0d3aa5973b456bc3dce1bf7a2d12c908179ed03514f93fa9cdc9919b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f1248160564bec38ee598318e6f443da09b937056623ab03295131895927839",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.61 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]: [-0.9558, 2.5553, 2.4771, -1.1599, -0.6281, -0.8642, 0.056, -0.0246, 0.8154, 0.6067, -0.4229, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4098 left_y=-0.3941 left_z=0.0976 left_yaw=0.0813 left_pitch=-0.3127 left_roll=0.128 left_gripper=0.056 right_x=0.2904 right_y=-0.0006 right_z=0.1666 right_yaw=0.0013 right_pitch=-0.0637 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.759, -15.0222, 7.0085, 0.0855, -0.5006, 0.0952, 0.9402, -0.2256, -1.5795, 6.9949, 1.6874, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqmwan79JOMUYAVpSpqsI6fjwB8gHoQRPJ8y4vSpBBWhixOOhPrgoY0RdN_p9FmzoLpvkbu4GQ6nxTPTQnVoL-uL9u1H5sKwm_a4r8z83-MKQTsOn1vlPJbma_oANL8NLy12QZm7ye2v0aAljG3xXzwaw5LH5c0T27OBtCBbEmauMJq-IdyZzWM2_yMFPgflBhSQuQaEFPx1xHKtZ9pJVjIoe1YifpP7yjb9LdqjcHV6mk0xzWNcCg1qLGu0BxNcjKYH1TMnxxwlzjEqtGRUT0RuYQm2_VQ4kTJ43dOEQyafSlksJEc1dA6Qi1yl2NKBl_Jk4ZOfKd7tcmA3GrVT0tMX9IgbCCZPZTYauZRwItdMmHmGKKzLjKbfh18erKlo9F7KRYZLqXBo-bfZIiAtQoICwhc6ULmAnr3lIaCsGNMs0SYLfU-5pAoaf8wfSTqPT8b27h6eiGLA4PvthTxkKsqmRHs0ZRMks8HnpyKeIuSPLs-0eANq1_cYG5B9T4Y_O9l687jkj3dtrhhL11pnwwJhGp86aVC3QzRKhUjMWrobhJb6cqBojs7139NPFbIchzYzodQZ3jOZi6jetKp-2XNkUDwTG-M596XOH3MRrBiSfpe-XW590Cd5PoFIbS2riYrxnxZGDErti1Z5qd9kQlDSaBrWUi08EL6_K3RaOxyEOPDiU8wqwQGfxpUuMN_z-tvqLq9b_8TdLEJU5IAHaGFptxyl0RSJLNovEhQYHmjXjlwnaOZ-TTsowEJqL5uErfWoSRzLZIBcMAx4JW-z8rhjsKGVMQZ3o50JN8LFY9_K5QqaO3pu0yKGWIsDH0GwJDYU1oOy4gTDl6JFB440nsK8wBEuCgL-n25-0veVvlIEVUqR61cPGvzEXRFpFC7MoPHni3lqnlfStqXyGs7irjcJCWedBpuKFMzxSCMiXG1yXbCGmf3n-G_5qZcrmhzjQ-43XlT0yva452v_UX2z8DcKBhY7waC3x-B8SA414B_B2mEQyUIiYpvArAz2cYY-OhGR653yPZ8MbfbtPUex1T_5O4fTUMa06E1rlfgF63nRcPJxt9UTDvBsQ2VEkxdFWgoee_9M7P1hxR3qd4rr4krXoeoyUTI1nzxv21z1SublWwFyfgs85LqPejETHptrVjc2ap7HcYhdjxnGZEUb-bquq0gR9PhtUQTwOAngT5fBsFy5PUFdrxYF9hcW8UVB19Yo229CZq7pun4m4FvoXnFW4A==",
  "id": "rs_0c5da44179e6b53e016ab2a9ae4afc87d0b39ccc7bf5a9a6fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The blue rim is visible evenly around the teal bowl, indicating it is nested. I will release the teal rim.\"}",
  "call_id": "call_SB5EA4CSLWyAsB369tlXuzzA",
  "id": "fc_0c5da44179e6b53e016ab2a9af081087d0aeaeff2b7eadb2ac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SB5EA4CSLWyAsB369tlXuzzA",
  "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]: [-0.9558, 2.55, 2.2871, -1.0798, -0.622, -0.8639, 0.9949, -0.0246, 0.8165, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3983 left_y=-0.3792 left_z=0.0456 left_yaw=0.1106 left_pitch=-0.3698 left_roll=0.2215 left_gripper=0.9949 right_x=0.2906 right_y=-0.0006 right_z=0.1664 right_yaw=0.0011 right_pitch=-0.0645 right_roll=-0.0121 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.4752, 8.1573, 0.6667, -0.3932, -0.0073, -0.1099, -0.0615, -1.388, 7.1179, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18778f66c89eb8a56b3144bfb181318e7c59833fe5ae90002a977919717180fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e235819cd1387329c7d3afb4a9fd42afddfa3a0ff02ce926157d533db8e746de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d778efe00006966ae8a44f3099451427490b08307fd7d5c74c44c1956520feb2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 5.741 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9558, 2.5504, 2.3135, -1.0794, -0.6239, -0.8619, 0.0563, -0.0246, 0.8154, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.4017 left_y=-0.3836 left_z=0.0536 left_yaw=0.1016 left_pitch=-0.3555 left_roll=0.1991 left_gripper=0.0563 right_x=0.2905 right_y=-0.0006 right_z=0.1667 right_yaw=0.0013 right_pitch=-0.0633 right_roll=-0.0124 right_gripper=0.9984\nstate[joint_eff]: [-0.0752, -15.7333, 7.3915, 0.779, -0.5104, -0.0366, 1.0085, -0.3214, -1.3744, 7.0222, 1.6923, -0.0415, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqm22mWQwg7yeWsY8yx5E9p43F5cghiZHU-m50DBmMT_yc2lZL1BFsvUItPdm99_gjxxdaRe6t6RaiEN9h4Q6sfpbauCG7zXyMpL7Azts9UkADxKdRkgy5tnX4BPzNFJH0R3v6qg27SO_4qX7ypm4e3XqyL5nqFPvzLqFYZy7r4W8ueeAwSTZcZ5mcQY7rdYgP-i1LFwcPSwm2aqemXvv9Uca9bHG3kVHGD8PZRGaPON6CR7bSRFXtoOEcQD-Vv-Qui2uw2OpTgJ66qe6LcPNLoIH6esBai9C4EK1C217dj5tAZ9nzlMgwFTrMFAHSu5NVgU-om8bqTjEqm3TVrOrcPoAI7ZIUi_NR8Dab1JE-1ocEkZ2kQytu1hDxh3JHxzLsbTLm90yChjKr9lpgWagnhV8uHe97ZtuXXT5kNZgDa50Ph6cNFkqiVyDAIkRGe_Ctete2QB0z6RLDbG-MCtCihll1p1X-8TBAZpP__ivPrZ50v8yLT0PttKWbav1B1PsKvWvQdhhQIeK5kHWApzYKKJ2_cRw-ewoZu5GOLR_HrbeKXguBXUQfHcXn9A7UwPEh1oZsICJIQGjt-i2UeV0N8vIA887Q7791YHHtdJ4EA6X5029Ye9LyGjLvzEIUzcZRPesTQEssE6Kks0reOthXKWsJCJne_5nEfIEgf4_dCtt2NFrbzGWsT50LaOWUcJUPCo0S0hs6gmLiawHZFOxYpqsi25nerwOebYL52mzfy4rtYGs1TTQkbEEqFS6YpSpEPFTaOeQqDNrkIKgXcGPP5Fs0oR_Aly9s4RR4SgtKkeJlElbyGtc9tEOT4kImtAi3RCuCr8bAdBSjUXcD1EO_qDMMkpcnJLb86B--YT6kcdaUd1VBOCZPsx-U82VZCc0tJdiMACo5oyn5VXo0-J0Y-pw1s6Oa0mfsq6K-8AXK6LbZLz61HRf3nUr6tFi6Aq6ZNgCn8IWGcaL541b4x-mZtUmkv3JK_zyo7vtWzoR583WfwzgTkVpsPToU6iPvL1-VKmXJWUZwkfZaB-PiaTwiEIh6TlfZzOn4K78ZBw8ORSYUMCItpziPm97_mVFYtZFKEFMQnbnvYSzPU7CnkrF-wfXSszg98S8O8pj7zWea_NjUI0KN6h8mUZnoB6A8HsA6x4-QvIy2qxFTtfl3nZbxZIVvLbHG5xHD16mJ6k505A_PwNTr5dGeVAkwUCAWA7-e4wCi_YoTKPbU-s3btMQi_XGRglicEjiujw83W6K0mOjDSzw6FKsOkY50fhN1yfYhPH",
  "id": "rs_0c5da44179e6b53e016ab2a9b4905c87d088e0323cdc213de0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The rim has been released. I will lift straight away from the bowls so I can verify the stack without disturbing it.\"}",
  "call_id": "call_NqjrSHQFuuxRIo6LVAm0q7ad",
  "id": "fc_0c5da44179e6b53e016ab2a9b50c9087d0aa5a45415e0dc53f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NqjrSHQFuuxRIo6LVAm0q7ad",
  "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]: [-0.9535, 2.6228, 2.7945, -1.5536, -0.6182, -0.8604, 0.9957, -0.0246, 0.8173, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3877 left_y=-0.3631 left_z=0.1338 left_yaw=0.1233 left_pitch=-0.3923 left_roll=0.2589 left_gripper=0.9957 right_x=0.2906 right_y=-0.0006 right_z=0.1662 right_yaw=0.0013 right_pitch=-0.0652 right_roll=-0.0123 right_gripper=0.9984\nstate[joint_eff]: [0.6906, -18.8923, 5.5863, 0.5739, -0.3785, 0.105, 0.0757, -0.212, -1.0325, 7.0222, 1.663, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d770d879bdcf6af53e1ce7ae049b6b322ea33c836a92d445d57ec1f4ed65289",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46cfd667c32af5d06ac04de9856b014348158d1ec07242eb3365ca51de7f5440",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14a633c427ff308113c003751df6657c39ed216e0904078a141f8f50a9e04af0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 9.026 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9558, 2.55, 2.2871, -1.0798, -0.622, -0.8639, 0.9949, -0.0246, 0.8165, 0.6067, -0.4225, -0.0166, -0.0486, 0.9984]\nstate[eef_state]: left_x=0.3983 left_y=-0.3792 left_z=0.0456 left_yaw=0.1106 left_pitch=-0.3698 left_roll=0.2215 left_gripper=0.9949 right_x=0.2906 right_y=-0.0006 right_z=0.1664 right_yaw=0.0011 right_pitch=-0.0645 right_roll=-0.0121 right_gripper=0.9984\nstate[joint_eff]: [-0.335, -14.4752, 8.1573, 0.6667, -0.3932, -0.0073, -0.1099, -0.0615, -1.388, 7.1179, 1.663, -0.0415, -0.0513, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqm9XVkZOkp5gE8CPl2LhGzgikgXycq2I_JdF7YJZb-98MSBS9fAUunEb8S6IW0aT1ccf4oUZrfZ6xiE6mWber73IDQhVJhZaVTMkztO3Qef0aEY-Z5gKHgQ_WvS8HoIOykVbVXvACNdIehnA2I2IGPzbOWi5er7GH6CBdy6v0XS62ZyeP7gQ6TRbVkBaXSG72A9cx2trZ6UxqXOsaRpSEGdWHntX5ktYwe2HE3iw28iLCNQa6NubCLtbhXy3z15pu8cPf9iNQrvtLkXXKm0ar6UGpLeaoM13LhzbKQJJXUQmKxojrjZ2PZRRrCu-WoBfyHJFOsWGyGDY-L8qB7EhcZIS7oFk7idmGSJFL0LNFixhhA39UV4ppmTWrxCXhjMpfFE3tBnzdwEXEQUZAuoAbusTjBAJto58dPi_qkGTDy_2IcKO9ZqbGZutC3c7H01i32kWzdDmR4yE3bxPjpgNSHeRY8AAChkRl_wvzw5sdfriL9Hb8duBNSd6xbYLbiD048VR7QAFaTJPoKXZ_43rTrgKa3joZBBOacBsbl9KlSl6nV5ycegPrNyiMbE118QgSWyNMKRgxr58KwsmSpsXt1wFtQv6qRCdKHF_yANvmGkVJOQy0FgmfQ1XRPwDQ2-nlbkNXaMWcGqubUJN69jKlMA9SiBqgVGRhb4-0-blHpdPlKM8h5CV0LIblxmz0FHbkgKQQbmMGuuXJDBDdqXXNgc5UuM2cx9avDCiyIFjXbWG1WeyOJWf9WdXi6wWHQduhaeE8TCV4YYZBR4bsXIoCEmeXIAFTYco374Y4mThFn6aoGDRyg9bHlZKHfBLzOULXSgxbXiLhHWewZPBCF5B-h7SnSbTHQgZ8tPhOLDc7Ib0h2BLR1FfkbiP6M9BUJ373_LdtNHqlydpo_n9Fm7TwkDHsqGW8mEBdqZuOqNe-gds43il00uI5vLpycsRtZ2GBnrZ4GOeY9BtWSVdD9l5Ymr1U4sZx7Zvhi8VrRC89xvJV7yTVu08Rd8IYVRc13s0XiJpYNWqwawHez4MUdhpZTJW6P1fgXZjO5awvCan6hnUSHjR97LtA5WoPkd7mv3d3PTVpDKRoKaJQUqNMCSvDpYb5oWXXfqsRTty2jnEGDILFbk6LmcGQykV1WfnWy0WSBzGxVmGo2UAg0rYenjIHD03cjgK-8zi5de6KZjA1OZ3NhvElHmhW-6Be749Dqb82vWLUwrXPApoMUN4WOu3dA2AC3pERnbKb1vERkPCDdFPerK-E11rVlsEMnCKZCvOiQ7zEsrEe6PSLX5WYcMHtUqOJODgJ8zEL_VYF9mrFs9GctAH95lt5kCjznqyMn6S4907Dnxz1pCPLDr5E8m_sOKJfInqdmZOKqvE5Zg1V_iyeofK_So0KhxXEpNbXNtVrG2",
  "id": "rs_0c5da44179e6b53e016ab2a9ba043487d0bd8b547ee3c0f4c2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.39,\"right_y\":0.14,\"right_z\":0.15},\"note\":\"The teal bowl remains with the blue bowl after release. I will park the left arm and bring the right gripper above the remaining pink bowl.\"}",
  "call_id": "call_621hYs2jGtfxpSHEwY4PnshB",
  "id": "fc_0c5da44179e6b53e016ab2a9bb3d9087d0acdc8271b6185ea6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_621hYs2jGtfxpSHEwY4PnshB",
  "output": "executing move_to over 33 steps (3.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2245, 1.1805, 1.1069, -0.9581, -0.3508, -0.139, 0.9958, 0.4999, 1.4502, 0.8742, -0.1963, 0.3721, 0.2562, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=-0.0018 left_z=0.1956 left_yaw=0.1632 left_pitch=-0.4 left_roll=0.2507 left_gripper=0.9958 right_x=0.3753 right_y=0.1359 right_z=0.1274 right_yaw=0.0321 right_pitch=-0.1406 right_roll=-0.0483 right_gripper=0.9984\nstate[joint_eff]: [0.212, -4.5197, 6.4342, 1.2821, -0.232, 0.149, 0.0024, 0.253, -5.7231, 10.0718, 1.9219, 0.4029, 0.2271, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b48c04bd6504be64f46d0a72d37ab6d3eed2416453f608f35f5c1301f9efc4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6addd278c129df00e9f8feb5540bedd257867c24aafc31d67587fc7f1bbd9064",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a0bab904f6c942e9e007ed0189e2ee5154e7b31933e433d2759caeb69fd71766",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 4.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9535, 2.6228, 2.7945, -1.5536, -0.6182, -0.8604, 0.9957, -0.0246, 0.8173, 0.6067, -0.4225, -0.0166, -0.049, 0.9984]\nstate[eef_state]: left_x=0.3877 left_y=-0.3631 left_z=0.1338 left_yaw=0.1233 left_pitch=-0.3923 left_roll=0.2589 left_gripper=0.9957 right_x=0.2906 right_y=-0.0006 right_z=0.1662 right_yaw=0.0013 right_pitch=-0.0652 right_roll=-0.0123 right_gripper=0.9984\nstate[joint_eff]: [0.6906, -18.8923, 5.5863, 0.5739, -0.3785, 0.105, 0.0757, -0.212, -1.0325, 7.0222, 1.663, -0.0806, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqnJCp9E2AUjnUN49E1_yKKCc_gSrxHNsITVTBLJn-guEV6O0RzOr7RtSFw0aW_V4ng9qe3llR9S-mrnT-kgsV1RU-psDrUGnIzi6d0-COlWZn87IJi6P1TVQgkuRWl3ECKUIj65lbgDBy1CAiBg83vEjFlPCiguW_lPjrxz8Uj0xIqDQVRXQLfvhjBHp-wVeUPWlgoO-6QsKoSw4U0PMjiV19FAScp0pR2j_A7EKJY9gvOdsLfUOfP3P8aLSq4wf94vNJwrIZkzQpvi5MjT90okNS_HrCGmEZMkJte_w6zRJOF8IAErqH0iimsyhw0QITCpqNwSn_n6C1-3DzLuxb0O8sh_NpV_NFvAgR153gnAeLKWswCOkVNokFhJCW8YkM2zh6GDq3vmK_5Uv9hnwc3CxY8Wq1ge5k25f_y6ooaI9ozWZPibE6Z3PY3hoXB96sXOhJv_dMOlF9LI7zd5zIrjRtjzATx3QRBePSvuPUEYwqNS6lkRQztw4uhUc6SWBLAjbP2nMlX4RegfHcM72aC293i52cRoB6Iirs4YcX2Tnp1nVczlGzWRZM9qnAYLoUyMhEGCY_fiiIqRrXCMr_Frk22Qf-bOihYCKqAx1MV5fNAD9fyjox6VexSwTXcsZXXYSfTTjD1ldUM9vD0zVyCGScaGfOiBpSHOyht-AbulGUJHyaeETtBGM_7uvSenhVbrAaStz1Jfk4wNB_BoLVwZdjrkqYQ9e5_UZntlQU-nMBPSDql7h8ZSHub9_GUNDUgexoxI8Bxke8rIYRep1VgSiXwxcbjNMqjDGuNzyku3Z2tqL7S0VOPPUX0AgU429dhtuHDJhoS2jTDEH8PtT1_sksPc5V8KZQqVqct6rlee6AKSvdQnuYe41Muyp75eM8wWuHxTq0TP3EiGGrnOtbPoVUSN4lQmRV6RGlS_rmslZbc7YuWgpFCg5WpxNMWuiG8gDrPN61kd13QzqXYaniDiN873ULiyU_3hEBSMBKORwDAfOIQecThXjNvwc5xSI4mdinkNUBdGVB5Ih4hcQSvz02RIUIvguXCdlWkjeqfgHk8FMYtfcaca_G2RzJvgALHwI2PTKvHq32xWLUmTMzhkoL15n1x4dMScLZs1OEblrjhhxoy4OIAG4D8682ZiavCwENalnGeJsOrfTf25P4CZs9YaE7yEWIM_hwbT-Cag6llU8wq-nPeaHm2tMB5BXfpnXyi9sNyDMw57IQmReKsGJ5RpXkZefS2BDCr8Q-IR352sf4jrKThxAns35GLjsfQ7g4o-2uPMEMmu3Uasiu33O8yGJD_GYf2U6j5s8zImW2pLaZCpLVk9zTAIuIzk0hiuXTl7pfZbvYnL1Vcpi197mkhGL2_3dBG19dJqVROUVh5tJ1vXpVMUdVubtcYsVRsbRi-4kqWVlXRW_hDoQQ_VJmnGAGW5HsKWq65OlmdAVl534yP0ytR8tx8x4cUKyU0pbXNr9kob31ccNgCx3cfLesa8uxqgAWuZ04c9WlIAi2lcurAXe_uskhkr36O7pY9O4-CWCxDSis4svaSrXwTkvvjfPclhir5joeu7NQdUOnOhJMlN4Ve6xdWonwX_XavrZV7jkhgnMLuLSaonsCj08Rnrwcll-Bt_6BjqFKC4J1yO0N9JNiOFHB8nQ9O7i6ykNs1agqJoCdDhB4fgV48-2Q3CgwBa5OtggL06Xm2CgxVG5imWiKvhFjzuRMQB-if7DHBOmigcx2bY7XcWmb1rST5WzSP9fQA24jv1i0RmQUxSQemN-wzgZhz6lhXlTouPgifvMK7YSo3TWnbLlAofnOT6eQ6iunM3Ughp7NumogTC4e4XcoRJLyI-Kp9lnEm8s4kZ_f2pgi4VKtbkjZe8e9lgvpiNPoqv7US2y9ikW3tKzcd8Er1M_Elvx_uddW58WVku0iki1OT8UKch089Xpg==",
  "id": "rs_0c5da44179e6b53e016ab2a9c2f70c87d0ba3bf8cbd42ad282",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.075,\"right_z\":0.045},\"note\":\"The first two bowls are visibly nested. I will grasp the pink bowl by its right-hand rim, using the same rim-holding approach that worked for the teal bowl.\"}",
  "call_id": "call_j7Oh0lsc11UoQVzV23ZCSDZU",
  "id": "fc_0c5da44179e6b53e016ab2a9c8143487d0902acb394b5f2f8a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j7Oh0lsc11UoQVzV23ZCSDZU",
  "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]: [-0.2256, 1.1805, 1.1065, -0.9611, -0.337, -0.1314, 0.9958, 0.2665, 1.6699, 0.7208, 0.1352, 0.2188, 0.1066, 0.9984]\nstate[eef_state]: left_x=0.2957 left_y=-0.0043 left_z=0.1944 left_yaw=0.1466 left_pitch=-0.4086 left_roll=0.2449 left_gripper=0.9958 right_x=0.3991 right_y=0.0729 right_z=0.0343 right_yaw=0.0042 right_pitch=-0.2229 right_roll=-0.071 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.6034, 6.4205, 1.1844, -0.2955, -0.1001, -0.0122, -0.3077, -7.3094, 5.3402, 1.79, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03e97ae79f5d2c7afc5dea795354319487250c3b5cfb770ac179827db2529c9b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f7afac26ee7b5128d4dcae5250a596c43f140a84ca98aa3db55e15f3122582d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:891aa3c73c6177dd5ccbb8fb825474e4481a72c98664e8154a1c2acd6c2d0211",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 4.671 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2245, 1.1805, 1.1069, -0.9581, -0.3508, -0.139, 0.9958, 0.4999, 1.4502, 0.8742, -0.1963, 0.3721, 0.2562, 0.9984]\nstate[eef_state]: left_x=0.2965 left_y=-0.0018 left_z=0.1956 left_yaw=0.1632 left_pitch=-0.4 left_roll=0.2507 left_gripper=0.9958 right_x=0.3753 right_y=0.1359 right_z=0.1274 right_yaw=0.0321 right_pitch=-0.1406 right_roll=-0.0483 right_gripper=0.9984\nstate[joint_eff]: [0.212, -4.5197, 6.4342, 1.2821, -0.232, 0.149, 0.0024, 0.253, -5.7231, 10.0718, 1.9219, 0.4029, 0.2271, -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": "gAAAAABqsqnO-HKo9Oh_6O444WsEggFTfFrZrJ8vtYVG7ar8c3vnsznl5qXblkDZ78simtYq9iPCSus2642Ohv6lsh-D6kiN9fwL4yc1rYhqfqt5I0DaOqRqTAH3-9ZR6r4Jxiw9N4GO5K2wD2H_YtC5MvFq54aJmB_SF2ASgsiWsxQbAM0EF2JJRQW9BDsJYQNRS-tWTtRGy6BJQyYUok_NTwblCDgZS0_sFfhBmpTA9k_R2OcQjk4stbiKy2Ygb-scIpkrvguIiqneyWXUqIM8yIj2wFH7HlM80ggZ_pQd7xj0t66zIa11KMyizKuU6jKCOK1qfaquOod4X7W3vasvUS4-xCKelOBWeRlpAAhfy8hFla9rgLhE81f5lpO0wsilHQYWa5rHgS7Jsy8-Co69lqQ64SyuMrq1lE5Uj6m0vna9eOF1FLjcGqv7UOcGN8MAyBRBtKaVmZ8hmWzd_ETrvoxLis0C3wTo9rdccZKDB0oyVQSQC45c2LylFvcOG7CGbjfnvfiPwebXaAltC0nFz1DQ5TQ0-SrJBffPNpCsLkiEnCFeZXdX_6yTNfLhpT9bCbZOEVZQNQkz8L5orbef6NHL6cCvy3mSWERNIfUORLdiWHzRODhhOUnngHJxDbEY-2LQJ4o-bhGbfgmZguVwpQw0xWKaofT4ZoHhTWfk0WDHIoyRlWeEmiAbO69sbIfihEiyFyoTndNiuIat_ZdFoGtpcM898eHTQ5hrByVP4ZGxuUXFlaI7PUbjJuFW3FVLf0RnyvXUKUQ_BnoxOfRYnVuprkuD27Vqgi3eFXrd7cCARnuOk3qauZ8MKjy9okhoSXNtVhYsVnre9L48WGbm4zCRRpyiu_lepH6h3f04wWJ4J-2GF0tnpvCCWMoQf7AOexihm_1wXBcBemk4iOLhY4PObKdPmhnSFURbS-5keErh_hFPJ3cdrD7-6nLHpfIk4q5Pi3UmO0A2WywPNNI5wRCQZOdz2hhseApauDS3-lypIe-Ts_hsTx64lY89wxfPr7s26Vx1CEdeibCik66E2_cTe5V9EBX9JvRpdhVTvsjCOfq7bRnln1NP9RHuZ_J6ck8T9TtYo2sp28yNxNz7p4WDzP417CtiJzb_JYjxAj9KNXoI7Cn3sXw_G2U6H7Fg5TJigEkMYP9QRzIW9wi17gsGw1bB5krm6DGARm-cFGaRcR7aptE3vw8MhOS5xCzaIHBoLdvOxTnsj17gkTph8QTIXoknw6HDvzxnuRYe3qeYaxH-OmOraelhNQUKczG_z7XGgaWEpJsOXneQ5os7s2bEC75ky3rKXwNfUhTtfgznJX7_Oeo6gRRrrrM0MatyYHL6g6pN",
  "id": "rs_0c5da44179e6b53e016ab2a9cc6fac87d09e308f08cdb95375",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One jaw is inside the pink bowl and the other is outside its right rim. I will close to pinch that rim.\"}",
  "call_id": "call_LQMTXx3CFT8eoaXJ8TMccyFA",
  "id": "fc_0c5da44179e6b53e016ab2a9cd884c87d08c7518bfd0075e2a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LQMTXx3CFT8eoaXJ8TMccyFA",
  "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]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2649, 1.6726, 0.7109, 0.1581, 0.1883, 0.1162, 0.0431]\nstate[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3989 right_y=0.0777 right_z=0.0328 right_yaw=0.0238 right_pitch=-0.2181 right_roll=-0.0395 right_gripper=0.0431\nstate[joint_eff]: [-0.0615, -3.535, 6.6393, 1.1893, -0.2027, -0.0415, -0.0073, 0.0889, -6.4068, 6.5299, 1.0183, 0.3394, -0.2662, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d118a4d2109472dbf3ae8b0365bb6907d58dbd13bad7d4c560d480e0a20d0e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b88bcf2b4a881dc4f89a7d066e4950a3276beb85cfc09c5acf80eec83d9c6a66",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d647fa84235e9e3817fa6d677c2f219b7f2764e8104b878181a3398dcf83ad83",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 12.15 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1805, 1.1065, -0.9611, -0.337, -0.1314, 0.9958, 0.2665, 1.6699, 0.7208, 0.1352, 0.2188, 0.1066, 0.9984]\nstate[eef_state]: left_x=0.2957 left_y=-0.0043 left_z=0.1944 left_yaw=0.1466 left_pitch=-0.4086 left_roll=0.2449 left_gripper=0.9958 right_x=0.3991 right_y=0.0729 right_z=0.0343 right_yaw=0.0042 right_pitch=-0.2229 right_roll=-0.071 right_gripper=0.9984\nstate[joint_eff]: [-0.0889, -3.6034, 6.4205, 1.1844, -0.2955, -0.1001, -0.0122, -0.3077, -7.3094, 5.3402, 1.79, -0.0806, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The gripper opening is consistent with a thin rim grasp. I will lift the pink bowl a short distance and verify that it follows.\"}",
  "call_id": "call_qFyzVdtsz7mEfsU2dGFIVCuR",
  "id": "fc_0c5da44179e6b53e016ab2a9d277fc87d0a4da6e806e86cc31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qFyzVdtsz7mEfsU2dGFIVCuR",
  "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]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2665, 1.5326, 0.8429, -0.1368, 0.1802, 0.1078, 0.0442]\nstate[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3956 right_y=0.0789 right_z=0.087 right_yaw=0.0355 right_pitch=-0.2419 right_roll=-0.0452 right_gripper=0.0442\nstate[joint_eff]: [-0.0205, -3.4803, 6.5846, 1.1746, -0.188, -0.0415, -0.0122, -0.4855, -8.5812, 9.0872, 1.5849, 0.1294, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:73f6622003da82fb659aa9b88d8b57a365c1adf68a53c1fff08bf8940908de7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dfcfbed9e32cfaa2563b6bd0f349e9a6dff1708c941e3dfb92be3bc4eede455",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192a76a459629b1ef77ab3f46b8bbb13170dc997506b033256e66513f199bcf9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /responses · status 200 · 10.08 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2649, 1.6726, 0.7109, 0.1581, 0.1883, 0.1162, 0.0431]\nstate[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3989 right_y=0.0777 right_z=0.0328 right_yaw=0.0238 right_pitch=-0.2181 right_roll=-0.0395 right_gripper=0.0431\nstate[joint_eff]: [-0.0615, -3.535, 6.6393, 1.1893, -0.2027, -0.0415, -0.0073, 0.0889, -6.4068, 6.5299, 1.0183, 0.3394, -0.2662, 1.0476]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqngRr-DE0GaACMFpNA3Wmh8no-OlHHtDuJcOcufa30o9aiM9Vwoin0hMHRvuGIB0HMnj-HhkThJAYfBnlDaI5SsUhium4SJXMkcPNpgkChecJ3JQW8z1CJSEVpRMGRUbqoAmGJZAez40ovjomm1QgXPLRvn7ZJrGCnvOclsSWUlrfZYp2Qjb1CZ9AmX8gJtY8HKAtKbu0YfbaprGhvc5QMA2yJwA1-lkMATcBtr_I45lyf79hUxgdeR1LzC04849mUJud59qKi09ngRQz4TXRclVH_HGrzNgs0yepM-ubZ8YmN2tIS3tpdeCKL7rQV8PkLoIItv5msnN1eivq37QQkCvVzL-5C5iyDd_w65654aWRHIoJm3sxdb-_60vTEllbga97fQYjk2UHVl2NMuHAMljmWq_XoG34HgSEVw3e8EYaf80x-HuspifSfEDxlWY8i5wqEK4AMKFw-f3dBFiwXaLKyMzPe59iSG_QvRRCDWGbyQ6-QnAkiMaOSz3gwt9e8jF4GYdIR16Dd1MXnkkaaJ_oiAYO1W8f9nO-YBcbZLseTMYY2ULitD4qN0eHPvmXxuW3Cxr17_ZRYrIpWa8NDRMmSigVKv-7JlZaK4qfi1R_UawKME02DvodKtlGDvEU3jvJEgm1qsfwMMLfIblyjBB0absHrhBwb8ZOZvy9N9P9sEi1WV5patv2HD-Loymnh3JyOFMiESk9YLpKZYnDk91SmbswQxdjaVoXtnk-yttmkqEBUZ--T1ZIBm0v8A0kz4_r04HNgalvCVSXX6ogo-puiwdwmCqhQHF2ROwvMAwKYz_RGEyuLqTmNy37LHeLfDksQdsQFpUIsrdp8q21_KHjEA0E62SX_1t7WtYh1MGEMPdYKHlIJh6UV5G6Ba7DIx6QiF4lb2pB9uQlb3V4pA4k8H5XfWM4FgVH0tb6nZqZvyv-InIkop45j146r87CEoW0oHktHDW-YbKyWRIXQIZjpwRFILtA2dd8lKmrm1O11b1cRb1yOsv1q0gDGfhIGyMKavl2zUYT66y-V4Q-avkrxgwLSdoozN_KNbC69vghDYZpqX85L_RNlgNvDdhRofHp-bBI48FPO_Oau4dxZsAgTS2Ai4BmrTFO6g-HcW27HdOcKbNMmXkUiZdd1YFqWIBRspIk7ft9sUonhyDURbOwHNgz60M7mFaoYUtxkAPBrYRfRsa-DwCL0N0PW9bMIWnBictpbzkG6ziraMDlDV20hOvXgBq_Eh6-8iwiC8Q-PTc393VfjmT96bhx5QLgP9c9QqG7YmSzNgxfqxEbs0gWPbXbNm9nWgzyCNaWi0UYP7nwrv_7yJRsH9h8H1YoXI_X8pjae1yJSqPOrz42_3XhpM5T03eP9v4cjm5xeboPOUKdRnZXo5lbH8rcBbJ10ONQbBMh4Qrl06UjCIFkvDlynDTXfuFeB9olN5cigSTArwh0809EdCtNxniG0gxByww3mxvduivLQBZklUwQHdrlUEO7KqojCyB_vU7CvtutJ8FAuPHUMxH1zxbV6_KTLfvX9s-YJA5aC2GCbKIJzKcijihXHHGYMhl6lRuhLlLCxLzZW8OyniTuO4O0xhJ74xoKp_HVtpUaYCyQMNWi9A2OdKPCqEg9o9G6COq_e9Ro9iJQSf3zJN2BxJQtI_l1IKq82YTkaDo_HSO5WV0cwuLmymy2rmzKu1Wamw9bCIZSnuUNuiF6c0RVHfL9chY5VFLVYA10TmKbGrIVjzLE_QBsZgPlQ8c7k5iGYBnvPHca727t9AgGzsirwKOilgV0Ja3M6VFQyaH9Twg6e415bxGGdi65IV-0rcb6hWvTq79uFfFZC4sVBe6o6c2GGhIBpMcgAWwKpAMaCWgJ6xI8KWFwl0lSirP26RNmwpkN-Fvt1HhmzEr_wVwwgBc4o-1RpQwF5iuL-f0E1CX--rZnkglmbOBKrTtj1e9etv0wjCF7UEiQBJKh66GKz2a_4Xqkqfy58VjSGcyWDHLXr51FA79i0yPVQbkjGEunmVmM1gBxECSfrRy21DnEntZJLHgjxDOpF0ecUqaHxcPwCTwJWV3_MoLamsT9vw_gIwepwUV0RcAmppREBeqHjY84GcxitheRGLns1y6WrFmTQCwHgRICIPKRpjH4f5cMpi-VFrBlYGHSqMWAMzB9B_sENmx4-_TsnhaaEOQUlUqvTEytWJRLAeqvs9Sl5Mp9MgoAZQ6GSvdIXn9Aa_QYCuSDjKRuZTG-ooFIagjsBQXO4NOKHQpaxXwUlvMmWZRnXwZgOw3XrPqAHkvt4b3VFJpagxWujDIBFGK1yyEmjmAHl4PKXgTbM-VMz0Zbi7PwVqEQZJuVpz5hR0chby8iv1bQY-Vn6bgonMfgEuBnsA8k4Iha8-JeIk366cFJsgqc_9QwJNHPPrwlnlmujsbmfpxxBYAEllap-EDZ_6n7oY1raY8E57pKAIgndWyT2cCy36RfkAOSM=",
  "id": "rs_0c5da44179e6b53e016ab2a9d7bca487d0a8b8b89177164479",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.405,\"right_y\":0.24,\"right_z\":0.19},\"note\":\"The pink bowl rose with the gripper and is secure. I will carry it above the two-bowl stack with enough height to clear the rims.\"}",
  "call_id": "call_5pgw76D10csmQ3UEsFxc0auP",
  "id": "fc_0c5da44179e6b53e016ab2a9df37c487d0839dd13efebf705d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5pgw76D10csmQ3UEsFxc0auP",
  "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]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.6849, 1.7779, 1.5116, -0.6849, 0.416, 0.4095, 0.0479]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.3999 right_y=0.2391 right_z=0.1753 right_yaw=0.0787 right_pitch=-0.2735 right_roll=-0.0591 right_gripper=0.0479\nstate[joint_eff]: [-0.0479, -3.7265, 6.4752, 1.16, -0.1587, -0.0269, -0.0122, 0.1162, -9.1692, 8.8274, 1.2625, 0.442, 0.1734, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:829a2c0f4521c502fdf0079cea884fe40c1d2175b9630a8f2e16c01ceb23d714",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbf56f426d336f37fe0df2950460ba5000f8d0ec1f92a3d07b71f888a47a311",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98ad3406f3002cf0ff28482d190fa226328ac30d028a44d74b485476f1abfdbc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /responses · status 200 · 5.589 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.182, 1.1065, -0.9615, -0.3363, -0.1314, 0.9958, 0.2665, 1.5326, 0.8429, -0.1368, 0.1802, 0.1078, 0.0442]\nstate[eef_state]: left_x=0.2957 left_y=-0.0044 left_z=0.1939 left_yaw=0.1463 left_pitch=-0.4106 left_roll=0.245 left_gripper=0.9958 right_x=0.3956 right_y=0.0789 right_z=0.087 right_yaw=0.0355 right_pitch=-0.2419 right_roll=-0.0452 right_gripper=0.0442\nstate[joint_eff]: [-0.0205, -3.4803, 6.5846, 1.1746, -0.188, -0.0415, -0.0122, -0.4855, -8.5812, 9.0872, 1.5849, 0.1294, 0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqnsWVEw0a8irz-jsv2EE8MnW4rJ4eIpWDc_npMzYP7u4ebCUVRW-rEiF_mdbCe9e_JIR3KfxE1tYGFtW4I26Go9nge5jcOItlvmA6cxLwM8U3At-dQN5zBzdW5kr1crCiGFpTjEyKzfimaqF1RGNAVqfIp0C4mLkESHUwHUsUdD4o_8iVRZNDyjMOZ5Cmeq5e_e0MjgKhArflcYe50qWpY-tG4qpHXO3LqlyoL0raKdqcr54TpifyzZ1tKZQZGeBAiws9N3JVzK6rsnIpXEmu5wJlGnmghM0Ez8w_1aWfxGC9q0Fp8VaFZ1S-mllvL-m_EELs7v0Cnt4La7pSoUxaxeczpRn05_3NG6Ru_fNpARAUrCW2TmWsfTQ3XV5FheW07qDZyjI7aBFipwBlS01L9I-TyPmuripuXYzmE-U_FLLIlPtOcv4RTF7pKqVVy1gQtj9LJnFSWKAz5_sUYJMYzeN0XiukcpNX2FgTntehDSYXIakSKN63XAQzaKqSBuY97ZO1IZD0ncrA79jR3aSWOMkaWNdUlhLuDByIt9LtA8lyPYIWuH7zo7QJ9OOeOBFK5IzL0Wvhm8PL-UWvEEfwWTShBT9RewXw0JBuksYn_wf0iWnITGpD2APIFOzUer0Ed4g6dD13OnXCdb_cMk7wZdrm7AUAbHX4AIKhclADw-0aBK3PsnFI94E3EXfPiy8ePLhboaBQrXrAyN0OlFfR0JdZDoZ-55-tv5twDE8jV8CRVLmpV5EJTaczcClVsXyUUpWC0_8X5F-d5VM9lCSQeDGnWG5xWgBV1WxwTevNXdsmovyXSaE8qFsgjN05G5i6boCIhdM0HDVnE290-VWvACasz5nKfjxSosR1X8RqqDK6CskXkSx4l6trgt66W6U4QrdD4tLR9p2wDyAyG00KK9eDgz1js4nNU2nz1SeGG2xOhUcZv6g5_PhXUlC9B3DVJB6E69egKuj_eDYqbA_WGblexRaCiGpL-OfCPYarJtiouF0eQwVAmG_ydS6srKlw7FhaARoc5M_yPYgWhgRLe7ocvbFLrbjluc4A8cUY6szG5BFZz6bcj1Nox3Ignp-CKS5qO10Cx8f9bZ1mFusIgqdBpT5wo0vwgw_ae3jfUiXNllK7FtaODcyYeSXBqW1R9UQMgKc7Swmup_mwox3-fsfm9O6ygF2SqhJuv3zwQyCr7sL6WffsCXFHqIhICiE4Y6JxWTkFdwLyON02eTGo6P41HIP6-RS1_L-_YeoPbhtKDdrkna4dO62C1rrhHleatN_2z_j1YK5Xow7oYA1mRFJSSJDp3xHtgSisSv78czKBJph1cRJ1x4Oud-q4WSMEu7bp9rTW7_wUlWakAFS0eVXcCER6Kfb9FfKRQjWIR94G8TztuP2292VlRI2HUEX11WtZjS4_LU-3dL1VmQeOr7KYNqmpaZDAOK4f-UY5tqkHEza56qPYWu3KrqXEWlVHrtiaVfcqIwx_6apupJH9s71fTNbsgetHObmLDd9vh7lCFFs-DFDT_OoMlcKWR9b9Zwl9qHWe28O_mNH9qK_2yerB1gjz6OPBknukQEu9cqgFUZsXWpCVvKMlzeD0iaSRGYGqfv7ikFzCbllv-8omBQZsX0S37RrhFcekPamBWDet0Y4qej2nwKiDPkXjXhlFNIEgHtC3Qs8tVYtrOWIVz7S3JmU0XnbBoiJeXsUSto2GHoBiOaBS50wynqgDhbrCtgn7QEIzQjcr0AxP8xVjaNtZV6V2Z8GzoMZm4l1-oEIghjxRGRoWMrl9bhRPnclIgdrQ_0_D1WO0K_Ppfd-xnO5wwcjmvOzrQXagNUtsPxcJ6ZN7grbIH2zmKfmYFsS6IXK3PIyuK1l-8FNG2tRXgx0vPDu0TNglZeLd28CeN0nlH70Y4AaeKXtgWqTbHiY48t9TQGPO2Q_b6_pL1tiK1CAOEAoPUEVuVpVPk2F5Gff0EDcNSuhX_Uq5rUeMgINEgcprNURdvnC3p9wgyw37LdCPJOBjRYXCwzPOaq4-5t2GANhEGUh100o-EBIHDTUA1p",
  "id": "rs_0c5da44179e6b53e016ab2a9e52bc087d0aa8ca1a8691bad7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.28,\"right_z\":0.115},\"note\":\"The pink bowl is slightly to the right of the stack. I will shift it left and lower partway, checking alignment before seating it.\"}",
  "call_id": "call_80GzNnRHUjHnY1KPo7PJF2MW",
  "id": "fc_0c5da44179e6b53e016ab2a9eac65887d0b1f9963f584130c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_80GzNnRHUjHnY1KPo7PJF2MW",
  "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]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.1314, 0.9958, 0.7326, 1.9446, 1.5051, -0.5861, 0.4332, 0.4385, 0.0508]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1469 left_pitch=-0.4141 left_roll=0.2465 left_gripper=0.9958 right_x=0.4064 right_y=0.2707 right_z=0.111 right_yaw=0.0836 right_pitch=-0.3241 right_roll=-0.0973 right_gripper=0.0508\nstate[joint_eff]: [-0.1573, -3.5214, 6.4068, 1.1941, -0.2125, -0.0659, -0.0122, 0.1709, -11.7402, 6.8171, 1.3651, 0.2662, 0.1197, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd279ecded2154fcb3bd9f3b68c6887aa98d120a777aa67c8cadf5a9b9ccfea1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36a1006004b2f6c71be4c0c4c20c54f2ac95b827fd8a615391f1d82bed3e78ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8dbe9db663569c94f0143dbed7dcc1ab7a9c3e386ef6059ca02b2efec483627f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 3.972 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.6849, 1.7779, 1.5116, -0.6849, 0.416, 0.4095, 0.0479]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.3999 right_y=0.2391 right_z=0.1753 right_yaw=0.0787 right_pitch=-0.2735 right_roll=-0.0591 right_gripper=0.0479\nstate[joint_eff]: [-0.0479, -3.7265, 6.4752, 1.16, -0.1587, -0.0269, -0.0122, 0.1162, -9.1692, 8.8274, 1.2625, 0.442, 0.1734, 0.7497]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqnycbFsmyUMOMQHTzFYyXcOR1-4ACiE2x6kJGalI6CJ_H65vxKrcsnqH-ctpVcUgBSF214vhAIpBb9_5RTXHUJpwL94nHA_CSigFtH1dRkPnqLSNjZsJxPjrkvoTQczXuYekMFBsIORkLZ39Nlh1dMCtQhDfl8OmNX5n_xPAmKOESV4u3jJbjJW4HBuE-hHjqSaQykK1r132TQqbBC-TWrcYaTUoat2f51dkwzlHGzjIpGOYsB0inMo4b0JoyOFC5SdfP4OG-8Dg1OtwF5Vxhl266WhIaWAS676SESAOn4sUKudyUwsS8tX9_tS8wZGw0KWZQHPhek0PzMHCrD1i7M3V4DYJeM49xoZqslxGgBAx9xIlE3EjijZDp6P6vr2Ial5MSPkxmLcrDRHVJgOwk0ERU5tgCJLO0CA8_n1SktXLARK5ZfXfKJ12LT0cL-wLvX_b1AwjYMiWbEkR6ZBUr8tCnmNq0s7HEaWw16tu1vJXn8iUOCy76BYmrAXCUCmb10MkppXK6MLrcjX7cqGoJw7t0zeGWGNALT1YUU3Ge7OlxYMe00A-5u76QJAk-Shcu3aY_SFG2muzAZdWrO7FHZXz0j0mP_wi7jKi23tb2Ae-jsrA8U2SP1mOaiEKcho7bqBRlT0IsCj3Si_p_k7OBRbMPhMhhxeyMlbSy91ifEqMgq-zVv5R6M37UZuAStA36ACIIlP1U-m6pTexNEx4iUnVSlSLWyKn0bI7kVE316qJ-ZEH1iQu9a4jX3R7RWkPXm0OejmDvRYrSJeOS9Kzx37fr_MXMie4roDUp1RQYz6X3mCx8pAf76pUFw0qa5W3Ou3j9p12pzb396PsmLYVL20DdkndE6zBjKm55LxQqrMDSlyfb_4LS628XuWnS0R-W9NzwO_Z1E__2ZY3Fy62brpY-Re9tSzjyO9yvuU9c816ZIsdwdCLjKDktvkCH_VL7lI9U4udpmgLr6jZpBcpY5j4PMB9HQNbYFWvCKU3v-pvDBFjjHL47qBKr0cg1jbg7zBVf-QA1tMrVBcYfmdBWYAbrvzkXia1gWHe0dZam5OVI-X0CgIBvS82nXVL_NSG5uGucOf0Gf6FOHX-RvLS72L7Wh4lWI-8aUAtbMjFrzF0gd4MqZrE21-7ExihOTvTsebG2S3a26ts9tTQt62RwskvRoPjgILJp995bnhxbTVaMFiPdsl_tFFUM0If7zF874m-wrCQWtU7LlR95GuTevAf7qUUsLxbnc-KVQXRId2QLatyiwqoqgdAX2HuVsemi0K5hsHwF6njV6PnNoY2xKeGQ==",
  "id": "rs_0c5da44179e6b53e016ab2a9ef877087d0bafae1d068cd6c80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The lower bowls’ rim is visible around the pink bowl, and their centers appear aligned. I will lower the pink bowl into the stack.\"}",
  "call_id": "call_qW5dRcClP7fePyJFdD69LQ7b",
  "id": "fc_0c5da44179e6b53e016ab2a9f09b3887d088eb730e65d81758",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qW5dRcClP7fePyJFdD69LQ7b",
  "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]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4929, -0.5484, 0.4301, 0.4458, 0.0529]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4067 right_y=0.2774 right_z=0.0957 right_yaw=0.0891 right_pitch=-0.3308 right_roll=-0.0947 right_gripper=0.0529\nstate[joint_eff]: [-0.0752, -3.5897, 6.3932, 1.16, -0.2418, -0.0317, -0.0122, -0.4991, -12.4513, 7.5282, 1.4676, 0.3248, 0.0904, 0.652]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1526c219b8f96d8fbd1cfd158a91ad648926e276634bb6a2466f43c02038fcf6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c70f110b74598603a5d4e50464eb07423759c39ce6d4ff4a91d87511c1471f47",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e2e73614a50e40aed1a27edc0eed2b8a3fb7f6146ebadc6f79e242282f7867b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.013 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.1314, 0.9958, 0.7326, 1.9446, 1.5051, -0.5861, 0.4332, 0.4385, 0.0508]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1469 left_pitch=-0.4141 left_roll=0.2465 left_gripper=0.9958 right_x=0.4064 right_y=0.2707 right_z=0.111 right_yaw=0.0836 right_pitch=-0.3241 right_roll=-0.0973 right_gripper=0.0508\nstate[joint_eff]: [-0.1573, -3.5214, 6.4068, 1.1941, -0.2125, -0.0659, -0.0122, 0.1709, -11.7402, 6.8171, 1.3651, 0.2662, 0.1197, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsqn2GOQhPcwXLYX7h11MBI3QfoLpcUW4bX2OQKtoXOW8Ns4x_r3icTfHZ2uI4S7ibtLZz5A5EwEiNrziCJpkt1cBMIjTl1I9CeHnkuVxlNKO814px5rO_kziO7SqmMHaYbotNxbpASXqoC5CN71dOzp6vN8N5qk33r8COF5Gq_QezrYMFttbRSDBXMKfkiiU8ud1FzlF25XxZ23klL51-on4sLH_oMQjiZmWjpboc0QDrOMKMOIAWC6jUnSUuvydY2IsPpxO1dYFzdvjnKMFjVzXNKLHJ2SkBxmNzhaAezjgcZ1nCFQAQKksMQWC3Xw0yEgaB7o9kliDRznCHbVPHsD7kVtCG_EXursUyJyZpsXsDyfSPxdJT3WCMhRUwUI3mXAkMdZ4Vfs2n2TZIoACPPEYSZUMGaRu5pkgeujoVc6CD-HyXnO_fvRhXZ7Yhgsc4S-fhOmm4B0zcnJ7UKGOIGfqxvwETnvjWGOghCQrWHNK9gVcUUim2YOjsFplbMVAZAy9Z2lwtSJQO2P7jUGX1o30Zy-w6Y6_LnRPyr9CGYdfXBYAWVyuAC7jzPN1EP6oKwelCTE8aQut8NkYM7wsojIZZ9NZnt3epfyckWTeXZg9JOvfjGa7QcQ1VD_BsHdZaOD7Eaq09lD0oUm9wC-ZGsmClVejVmo78iSWXL6UaeoRXGcJKhgj51wVGe0It-HilpPNcgvbD846up1d-qmJkFrrNh61BfrWtMi8RCkMYzOpC5hn1LmbHri6Vg57Bdhrm70-GrkUjdzCxzoPDI_F2rN4qT62ia-7jRi7pZlMwF2vtCopEJ4VXWwUCfeKQbWP3fW-YGvQOmb86KRDpYOrXVxqxbf9dE-YQGi-tsyyxwARCirBY1nO9s7CR3nl0cXJoeNuEI5AHrNx-6WrEQOS5gOT2k6VDibuPmdgN6QSau47yHcCIKRqn7tF2WEVqz93f58A90oeZ3-uNbgD-EL_q6cgmV3drhndC36q458mpfUusNxDxnG17a_fElVX1s68RTdT8hdq6hM92vqB4l8Ip5pmw8perZD7UswqdiaCrj4KQjrcNQFXEF0xSSwJJ2UldkgQUFggfeCc9d2hdJSICD0qrQB2JVCmYCNJxR_A6rFv-9FSHJao27bWDwJi8vIR6dYq1tzZs9Qf9_plN4rlNb4SfgbB7RkwZQebzkf36vAft6mOYo1MQWbxaC83WkIoZG43zddhYbLNoDQev3kJ3qsJxQ==",
  "id": "rs_0c5da44179e6b53e016ab2a9f46cc887d0bdf841f64dde559e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The descent stopped above the requested height, consistent with the pink bowl resting on the stack. I will release its rim without pressing farther.\"}",
  "call_id": "call_iOdT6QAL6AxJ7vb3jLhKrsoP",
  "id": "fc_0c5da44179e6b53e016ab2a9f4c7fc87d09a7456f3b94815d4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iOdT6QAL6AxJ7vb3jLhKrsoP",
  "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]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4921, -0.5495, 0.4278, 0.4408, 0.9954]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4062 right_y=0.2775 right_z=0.0952 right_yaw=0.0932 right_pitch=-0.3338 right_roll=-0.0975 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.3026, 6.6393, 1.1844, -0.1832, -0.0415, -0.0122, -0.3761, -10.8239, 6.6803, 1.1941, 0.2027, 0.0562, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6887f1ceba909b33756d1518274b6c1f0212a265d98c9aa9315625f11c059e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af5e97c5c6f5225a5971a97686eaf72c57b7ecd3812c1552bc3e76c01d8b2a5e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e87cdcc173489d44a6768de9c977fb7774785706f4ec27d6bd7a9abe816ab80e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 4.975 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4929, -0.5484, 0.4301, 0.4458, 0.0529]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4067 right_y=0.2774 right_z=0.0957 right_yaw=0.0891 right_pitch=-0.3308 right_roll=-0.0947 right_gripper=0.0529\nstate[joint_eff]: [-0.0752, -3.5897, 6.3932, 1.16, -0.2418, -0.0317, -0.0122, -0.4991, -12.4513, 7.5282, 1.4676, 0.3248, 0.0904, 0.652]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The pink bowl remains supported after release. I will lift the open gripper clear before withdrawing the arm.\"}",
  "call_id": "call_c34e4UB6hGwPHxTtiD6j9LA7",
  "id": "fc_0c5da44179e6b53e016ab2a9fa20e887d0935c00d666646e06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c34e4UB6hGwPHxTtiD6j9LA7",
  "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]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7422, 1.9694, 1.8351, -0.9146, 0.4114, 0.4267, 0.9964]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4057 right_y=0.281 right_z=0.181 right_yaw=0.1113 right_pitch=-0.3546 right_roll=-0.1038 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -3.5624, 6.4342, 1.1697, -0.1685, -0.0317, -0.0122, -0.3761, -11.3162, 8.4855, 1.3602, 0.3346, 0.0904, 0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:833f321e72a2b6350cc14c84126305d2fd9705fa103491bf95c910df0443ee10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e112af60e73d3b972a2e234a5f36824f62cdbeae922ccaa269949363201b681",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6aef3ef83293b0fe24e678a2bdabbfbe44efba804ccf40cc854702e1c85edf87",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 11.5 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1839, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, 0.7414, 1.977, 1.4921, -0.5495, 0.4278, 0.4408, 0.9954]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.1931 left_yaw=0.1467 left_pitch=-0.4142 left_roll=0.2467 left_gripper=0.9958 right_x=0.4062 right_y=0.2775 right_z=0.0952 right_yaw=0.0932 right_pitch=-0.3338 right_roll=-0.0975 right_gripper=0.9954\nstate[joint_eff]: [0.0205, -3.3026, 6.6393, 1.1844, -0.1832, -0.0415, -0.0122, -0.3761, -10.8239, 6.6803, 1.1941, 0.2027, 0.0562, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The pink bowl stayed on the stack as the gripper lifted. I will park the right arm to expose the completed stack for a final check.\"}",
  "call_id": "call_jrgh83Ilpog870nNairKJTLg",
  "id": "fc_0c5da44179e6b53e016ab2a9ff05a087d08d8d559631073067",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jrgh83Ilpog870nNairKJTLg",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2256, 1.1843, 1.1065, -0.9634, -0.3363, -0.131, 0.9958, -0.0093, 1.1076, 1.05, -0.8719, 0.0147, -0.1719, 0.9966]\nstate[eef_state]: left_x=0.2955 left_y=-0.0044 left_z=0.193 left_yaw=0.1467 left_pitch=-0.4145 left_roll=0.2469 left_gripper=0.9958 right_x=0.2977 right_y=-0.0018 right_z=0.1964 right_yaw=0.0606 right_pitch=-0.3662 right_roll=-0.1095 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -3.6444, 6.4205, 1.1404, -0.1783, -0.0464, -0.0122, -0.212, -3.7675, 6.4889, 1.4872, -0.188, 0.0024, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:593816f6896ecd2f30f2f5758c4a46142aa75ee0cffe679763751038243e4f9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:046dbc26b0f3a5333950415e2f93f89a75566c4526f870ec9c323e24275dcceb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d82bee3565009a18c9365a96980c8b4e34248df69619984a6b61ae3165e33f48",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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