adhoc

completed
2026-09-22T17:33:13.305855+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
211 s
total steps
246
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three bowls in a row: green on the left, blue in the middle, and beige on the right. I will approach the green bowl to grasp its rim and stack it into the blue bowl.
move_to
left_x0.3600left_y-0.1500left_z0.1600left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0223, -0.0296, 0.9995, -0.0212, 0.7929, 0.6029, -0.3771, -0.0135, -0.02, 0.9965] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.295 right_y=-0.0003 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.5932, 9.9761, 1.8584, -0.0317, 0.0806, -0.0611, -0.4718, -1.3197, 10.1128, 1.9121, -0.1392, 0.0122, -0.3736] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.15,"left_z":0.16,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"I see three bowls in a row: green on the left, blue in the middle, and beige on the right. I will approach the green bowl to grasp its rim and stack it into the blue bowl."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe green bowl is visible below the left wrist, with its right-hand rim near the jaw column. I am moving down toward that rim with one finger intended to go inside and the other outside.
move_to
left_x0.3950left_y-0.1750left_z0.0650left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6235, 1.3365, 0.7845, -0.1768, -0.4953, -0.3767, 0.9996, -0.0216, 0.7975, 0.6003, -0.3874, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3491 left_y=-0.1433 left_z=0.1414 left_yaw=-0.0252 left_pitch=-0.0597 left_roll=0.0324 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1758 right_yaw=0.0019 right_pitch=-0.0175 right_roll=0.0018 right_gripper=0.9963 state[joint_eff]: [-0.4308, -5.2171, 9.4427, 1.5849, -0.3053, -0.1245, -0.0611, 0.0479, -1.5385, 7.2, 1.8926, -0.0171, -0.0415, -0.0366] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.175,"left_z":0.065,"left_gripper":0.7},"note":"The green bowl is visible below the left wrist, with its right-hand rim near the jaw column. I am moving down toward that rim with one finger intended to go inside and the other outside."})
tool
executing move_to over 5 steps (0.5s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe open fingers are straddling the green bowl’s outer wall, but the rim sits slightly left of the grasp center. I will shift a little toward it and lower the fingertips to get a secure rim grip.
move_to
left_x0.3900left_y-0.1600left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6254, 1.6947, 0.7799, 0.094, -0.4946, -0.3855, 0.7031, -0.0216, 0.7986, 0.5999, -0.3901, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3783 left_y=-0.1653 left_z=0.0515 left_yaw=-0.0179 left_pitch=-0.1354 left_roll=0.0773 left_gripper=0.7031 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0217 right_roll=0.0019 right_gripper=0.9963 state[joint_eff]: [0.335, -8.3487, 7.6923, 1.5946, -0.1441, 0.0855, 0.0513, -0.0615, -1.3197, 7.0222, 1.746, -0.0269, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.16,"left_z":0.035},"note":"The open fingers are straddling the green bowl’s outer wall, but the rim sits slightly left of the grasp center. I will shift a little toward it and lower the fingertips to get a secure rim grip."})
tool
executing move_to over 2 steps (0.2s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe fingers now appear to bracket the green bowl’s rim. I will close gently under the controller’s normal grip limit, then check whether the bowl is held.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6098, 1.7405, 0.7795, 0.1741, -0.4839, -0.3817, 0.7025, -0.0216, 0.7986, 0.5999, -0.3923, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3886 left_y=-0.1668 left_z=0.0455 left_yaw=-0.0149 left_pitch=-0.112 left_roll=0.0546 left_gripper=0.7025 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=0.0019 right_pitch=-0.024 right_roll=0.002 right_gripper=0.9963 state[joint_eff]: [0.841, -6.3248, 5.4496, 1.6044, -0.1538, 0.2173, -0.0562, -0.1709, -1.0735, 7.0632, 1.8046, -0.0317, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers now appear to bracket the green bowl’s rim. I will close gently under the controller’s normal grip limit, then check whether the bowl is held."})
tool
executing move_to over 8 steps (0.8s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe gripper closed almost completely, which could be either a thin rim or an empty grasp. I will lift only a few centimeters and check whether the green bowl follows.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5869, 1.7607, 0.7795, 0.1825, -0.4812, -0.3565, 0.0366, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.3921 left_y=-0.1583 left_z=0.0387 left_yaw=-0.0069 left_pitch=-0.1239 left_roll=0.0792 left_gripper=0.0366 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9963 state[joint_eff]: [-0.1573, -7.3231, 5.2581, 1.37, -0.0757, -0.0513, 1.0525, -0.0205, -1.2376, 7.1043, 1.7216, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The gripper closed almost completely, which could be either a thin rim or an empty grasp. I will lift only a few centimeters and check whether the green bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe green bowl stayed alongside the fingers as they rose, consistent with a thin-rim grasp. I will raise it above the other bowls before moving sideways.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5869, 1.6421, 0.8715, -0.0212, -0.4805, -0.3641, 0.0405, -0.0219, 0.7998, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.3934 left_y=-0.1593 left_z=0.0865 left_yaw=-0.0038 left_pitch=-0.1181 left_roll=0.069 left_gripper=0.0405 right_x=0.2929 right_y=0.0001 right_z=0.1739 right_yaw=0.0018 right_pitch=-0.0255 right_roll=0.0022 right_gripper=0.9963 state[joint_eff]: [-0.1299, -8.1573, 7.9248, 1.3944, -0.2515, 0.0513, 0.7009, -0.1846, -1.3744, 7.1179, 1.7558, -0.0757, -0.0171, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The green bowl stayed alongside the fingers as they rose, consistent with a thin-rim grasp. I will raise it above the other bowls before moving sideways."})
tool
executing move_to over 7 steps (0.7s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe green bowl is lifted clear, and the blue bowl remains in the middle of the table. I will carry the green bowl sideways over the blue bowl while keeping the same rim-grasp offset.
move_to
left_x0.3950left_y-0.3250left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5869, 1.5436, 1.132, -0.3988, -0.4805, -0.3676, 0.042, -0.0219, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.395 left_y=-0.1603 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.1335 left_roll=0.0768 left_gripper=0.042 right_x=0.293 right_y=0.0001 right_z=0.1737 right_yaw=0.0018 right_pitch=-0.0263 right_roll=0.0023 right_gripper=0.9963 state[joint_eff]: [-0.0752, -9.0188, 9.0188, 1.4188, -0.2564, -0.0171, 0.8864, -0.2256, -0.7863, 7.0085, 1.7118, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.325,"left_z":0.19},"note":"The green bowl is lifted clear, and the blue bowl remains in the middle of the table. I will carry the green bowl sideways over the blue bowl while keeping the same rim-grasp offset."})
tool
executing move_to over 15 steps (1.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe green bowl is above the blue bowl, with the blue rim peeking out slightly to the right. I will correct sideways by about a centimeter and lower toward a nested placement.
move_to
left_x0.3950left_y-0.3400left_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9085, 1.9923, 1.7592, -0.7555, -0.6575, -0.6701, 0.0435, -0.0219, 0.804, 0.5999, -0.3927, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3928 left_y=-0.3223 left_z=0.1795 left_yaw=-0.0144 left_pitch=-0.1577 left_roll=0.0702 left_gripper=0.0435 right_x=0.2932 right_y=0.0 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0297 right_roll=0.0021 right_gripper=0.9963 state[joint_eff]: [-0.3761, -10.5778, 9.0188, 0.9939, -0.5885, 0.1685, 0.7937, -0.2393, -1.5795, 6.9949, 1.707, -0.0562, -0.0806, -0.0171] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.395,"left_y":-0.34,"left_z":0.095},"note":"The green bowl is above the blue bowl, with the blue rim peeking out slightly to the right. I will correct sideways by about a centimeter and lower toward a nested placement."})
tool
executing move_to over 6 steps (0.6s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteAt the lower height, the blue bowl is still a little farther forward and to the right of the green bowl. I will make a small alignment correction while lowering the green bowl into it.
move_to
left_x0.4100left_y-0.3600left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9245, 2.0914, 1.5921, -0.5518, -0.6544, -0.6819, 0.0462, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3895 left_y=-0.3319 left_z=0.094 left_yaw=-0.0171 left_pitch=-0.198 left_roll=0.1096 left_gripper=0.0462 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0015 right_pitch=-0.0301 right_roll=0.0021 right_gripper=0.9963 state[joint_eff]: [-0.6496, -11.0427, 6.4889, 1.3553, -0.4274, -0.1441, 0.525, -0.0342, -1.0051, 7.0359, 1.7167, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.36,"left_z":0.055},"note":"At the lower height, the blue bowl is still a little farther forward and to the right of the green bowl. I will make a small alignment correction while lowering the green bowl into it."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe green and blue rims now appear aligned, and the green bowl has reached the nesting height. I will release the rim so the green bowl can settle into the blue bowl.
move_to
left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9276, 2.2337, 1.6863, -0.5053, -0.6514, -0.6971, 0.049, -0.0219, 0.8055, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.4047 left_y=-0.3554 left_z=0.061 left_yaw=-0.0135 left_pitch=-0.2001 left_roll=0.0979 left_gripper=0.049 right_x=0.2933 right_y=0.0001 right_z=0.1723 right_yaw=0.0018 right_pitch=-0.0312 right_roll=0.0024 right_gripper=0.9963 state[joint_eff]: [-0.0479, -12.7658, 8.253, 0.8913, -0.4225, 0.1148, 0.2759, -0.0615, -1.388, 7.0085, 1.7656, -0.0464, -0.0122, -0.0122] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.65},"note":"The green and blue rims now appear aligned, and the green bowl has reached the nesting height. I will release the rim so the green bowl can settle into the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe green bowl has been released. I will lift and park the left arm away from the bowls so I can verify the stack and approach the remaining beige bowl with the right arm.
move_to
left_x0.3000left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9287, 2.2631, 1.6905, -0.5098, -0.6514, -0.7033, 0.6451, -0.0219, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.4035 left_y=-0.3547 left_z=0.0471 left_yaw=-0.0063 left_pitch=-0.2177 left_roll=0.1176 left_gripper=0.6451 right_x=0.2931 right_y=0.0 right_z=0.1721 right_yaw=0.0015 right_pitch=-0.032 right_roll=0.0022 right_gripper=0.9963 state[joint_eff]: [-0.0752, -14.9675, 5.9556, 1.116, -0.3883, 0.0562, -0.0073, -0.0615, -1.0872, 7.0359, 1.7118, -0.0659, -0.0366, -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":0.3,"left_y":0,"left_z":0.2},"note":"The green bowl has been released. I will lift and park the left arm away from the bowls so I can verify the stack and approach the remaining beige bowl with the right arm."})
tool
executing move_to over 32 steps (3.2s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe green and blue bowls are together near the center, and the beige bowl is still separate on the right. I will position the right gripper over the beige bowl’s right-hand rim.
move_to
right_x0.3600right_y0.1300right_z0.1600right_gripper0.7500left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.107, 1.0134, 0.8845, -0.683, -0.1719, -0.0376, 0.6461, -0.0219, 0.8097, 0.5999, -0.3927, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.301 left_y=0.0017 left_z=0.187 left_yaw=0.0469 left_pitch=-0.2351 left_roll=0.1107 left_gripper=0.6461 right_x=0.2935 right_y=0.0 right_z=0.1712 right_yaw=0.0015 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9963 state[joint_eff]: [0.0752, -3.2068, 9.4017, 1.4725, -0.0513, 0.2662, 0.0855, -0.1162, -1.6068, 7.0222, 1.7118, -0.0464, -0.0317, -0.0171] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.13,"right_z":0.16,"right_gripper":0.75,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The green and blue bowls are together near the center, and the beige bowl is still separate on the right. I will position the right gripper over the beige bowl’s right-hand rim."})
tool
executing move_to over 11 steps (1.1s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe beige bowl is centered in the wrist view. I will move slightly forward and right so the fingers straddle its right rim rather than trying to span the whole bowl.
move_to
right_x0.3750right_y0.0950right_z0.0600right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0092, 0.8959, -0.7437, -0.1665, -0.0494, 0.6463, 0.5224, 1.3003, 0.7746, -0.2237, 0.3859, 0.2745, 0.7515] state[eef_state]: left_x=0.2915 left_y=-0.0009 left_z=0.1829 left_yaw=0.0415 left_pitch=-0.2795 left_roll=0.1056 left_gripper=0.6463 right_x=0.3457 right_y=0.1265 right_z=0.1363 right_yaw=0.0486 right_pitch=-0.1167 right_roll=-0.0392 right_gripper=0.7515 state[joint_eff]: [-0.335, -3.1932, 9.8393, 1.6044, -0.232, -0.022, 0.0073, 0.1162, -5.5453, 9.3607, 1.8144, 0.3541, 0.2027, 0.0562] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.095,"right_z":0.06,"right_gripper":0.7},"note":"The beige bowl is centered in the wrist view. I will move slightly forward and right so the fingers straddle its right rim rather than trying to span the whole bowl."})
tool
executing move_to over 5 steps (0.5s)
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 beige bowl’s rim runs between the open fingers at the bottom of the wrist view. I will close on that thin wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.008, 0.897, -0.7486, -0.173, -0.0494, 0.6463, 0.371, 1.5043, 0.6033, 0.0784, 0.2932, 0.1841, 0.7013] state[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.183 left_yaw=0.0473 left_pitch=-0.2813 left_roll=0.1111 left_gripper=0.6463 right_x=0.3568 right_y=0.0879 right_z=0.0454 right_yaw=0.017 right_pitch=-0.2134 right_roll=-0.0764 right_gripper=0.7013 state[joint_eff]: [-0.1983, -2.1949, 6.7487, 1.4481, -0.0806, -0.0513, -0.0122, -0.2667, -6.4889, 6.1197, 1.8486, -0.0317, -0.0073, 0.0757] approver: 1 step(s) modified (delta_clamped). 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":{"right_gripper":0},"note":"The beige bowl’s rim runs between the open fingers at the bottom of the wrist view. I will close on that thin wall."})
tool
executing move_to over 8 steps (0.8s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe nearly empty gripper reading and the bowl’s shift suggest the first close slipped off the rim. I will reopen and move slightly toward the bowl and toward the base to recenter on the rim.
move_to
right_gripper0.6500right_x0.3450right_y0.1100right_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0103, 0.8955, -0.7483, -0.1734, -0.0494, 0.6463, 0.3672, 1.5127, 0.5957, 0.0906, 0.2783, 0.1837, 0.019] state[eef_state]: left_x=0.2906 left_y=0.0004 left_z=0.1818 left_yaw=0.0478 left_pitch=-0.2847 left_roll=0.112 left_gripper=0.6463 right_x=0.3558 right_y=0.0887 right_z=0.0412 right_yaw=0.0254 right_pitch=-0.2207 right_roll=-0.0675 right_gripper=0.019 state[joint_eff]: [-0.0205, -2.6051, 6.8034, 1.4676, -0.1148, -0.0171, -0.0171, 0.3761, -5.8735, 6.5573, 1.3016, 0.2662, -0.0317, 0.7497] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65,"right_x":0.345,"right_y":0.11,"right_z":0.055},"note":"The nearly empty gripper reading and the bowl’s shift suggest the first close slipped off the rim. I will reopen and move slightly toward the bowl and toward the base to recenter on the rim."})
tool
executing move_to over 7 steps (0.7s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteOne finger is now visibly inside the beige bowl and the other is outside its right wall. I will close again on the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0103, 0.8955, -0.7486, -0.1738, -0.0494, 0.6463, 0.4568, 1.4891, 0.5999, -0.0021, 0.3176, 0.2363, 0.6454] state[eef_state]: left_x=0.2906 left_y=0.0005 left_z=0.1818 left_yaw=0.0481 left_pitch=-0.285 left_roll=0.1123 left_gripper=0.6463 right_x=0.3359 right_y=0.1076 right_z=0.0377 right_yaw=0.0475 right_pitch=-0.2678 right_roll=-0.0831 right_gripper=0.6454 state[joint_eff]: [-0.1299, -2.3316, 6.7487, 1.4042, -0.1441, -0.0415, -0.0122, 0.1299, -7.1863, 8.4171, 1.4725, 0.3004, 0.1294, -0.232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"One finger is now visibly inside the beige bowl and the other is outside its right wall. I will close again on the rim."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe second close also appears empty, and the beige bowl moved rather than lifting. I will clear it to recheck its position from above before choosing a lower, better-centered grasp.
move_to
right_z0.1500right_gripper0.8000right_x0.3200right_y0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0119, 0.8955, -0.7486, -0.1734, -0.0494, 0.6463, 0.4576, 1.4872, 0.5999, 0.0036, 0.3103, 0.2359, 0.0163] state[eef_state]: left_x=0.2907 left_y=0.0004 left_z=0.1813 left_yaw=0.0479 left_pitch=-0.2865 left_roll=0.1123 left_gripper=0.6463 right_x=0.3366 right_y=0.1096 right_z=0.0389 right_yaw=0.0553 right_pitch=-0.263 right_roll=-0.0749 right_gripper=0.0163 state[joint_eff]: [-0.0889, -2.4821, 6.694, 1.4042, -0.149, -0.0415, -0.0171, -0.1436, -5.3949, 6.2017, 1.072, 0.2515, 0.0073, 0.7009] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15,"right_gripper":0.8,"right_x":0.32,"right_y":0.04},"note":"The second close also appears empty, and the beige bowl moved rather than lifting. I will clear it to recheck its position from above before choosing a lower, better-centered grasp."})
tool
executing move_to over 8 steps (0.8s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe beige bowl has slid closer to the front of the table. I will approach its newly measured position at a lower height, with a small pitch correction to bring the fingertips down along the wall.
move_to
right_x0.3100right_y0.1400right_z0.0250right_gripper0.7000right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0138, 0.8955, -0.7551, -0.1734, -0.0494, 0.6463, 0.2001, 1.1458, 0.7662, -0.4644, 0.1623, 0.0505, 0.795] state[eef_state]: left_x=0.2896 left_y=0.0005 left_z=0.1798 left_yaw=0.0483 left_pitch=-0.2948 left_roll=0.1137 left_gripper=0.6463 right_x=0.3219 right_y=0.0398 right_z=0.135 right_yaw=0.0292 right_pitch=-0.2654 right_roll=-0.081 right_gripper=0.795 state[joint_eff]: [-0.0479, -2.6462, 6.8308, 1.536, -0.0855, -0.0513, -0.0122, -0.2393, -4.2735, 9.306, 1.5604, -0.0659, 0.1294, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.31,"right_y":0.14,"right_z":0.025,"right_gripper":0.7,"right_pitch":0.18},"note":"The beige bowl has slid closer to the front of the table. I will approach its newly measured position at a lower height, with a small pitch correction to bring the fingertips down along the wall."})
tool
executing move_to over 15 steps (1.5s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe fingertips are now down at the bowl’s lower wall instead of skimming its top edge. I will close here to secure the bowl.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.018, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7467, 1.7557, 0.2512, 0.8803, 0.6548, 0.2535, 0.7013] state[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1785 left_yaw=0.0485 left_pitch=-0.3001 left_roll=0.1146 left_gripper=0.6463 right_x=0.302 right_y=0.1379 right_z=0.0083 right_yaw=0.0738 right_pitch=0.079 right_roll=-0.1323 right_gripper=0.7013 state[joint_eff]: [-0.0479, -2.8513, 6.8034, 1.4286, -0.1245, -0.0611, -0.0122, 0.1299, -5.6137, 2.8239, 1.5946, 0.2955, -0.0366, 0.105] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now down at the bowl’s lower wall instead of skimming its top edge. I will close here to secure the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe bowl shifted against the fingers during closing, so the reading alone is inconclusive for this thin rim. I will make a short verification lift before transporting it.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0183, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7471, 1.7325, 0.2676, 0.992, 0.6533, 0.276, 0.0304] state[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1784 left_yaw=0.0486 left_pitch=-0.3005 left_roll=0.1147 left_gripper=0.6463 right_x=0.3167 right_y=0.1519 right_z=0.0397 right_yaw=0.0499 right_pitch=0.1969 right_roll=-0.0144 right_gripper=0.0304 state[joint_eff]: [-0.0615, -2.1128, 6.7214, 1.409, -0.1294, -0.0611, -0.0171, 0.1573, -3.494, 2.4137, 0.6129, 0.2076, -0.1783, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The bowl shifted against the fingers during closing, so the reading alone is inconclusive for this thin rim. I will make a short verification lift before transporting it."})
tool
executing move_to over 5 steps (0.5s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe beige bowl followed the verification lift and remains fixed beside the fingers. I will raise it high enough to clear the two-bowl stack.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.021, 0.8955, -0.7555, -0.1734, -0.0494, 0.6463, 0.746, 1.3769, 0.3344, 0.5995, 0.6456, 0.2695, 0.0336] state[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1778 left_yaw=0.0487 left_pitch=-0.3023 left_roll=0.115 left_gripper=0.6463 right_x=0.316 right_y=0.1522 right_z=0.0993 right_yaw=0.0546 right_pitch=0.2175 right_roll=0.0015 right_gripper=0.0336 state[joint_eff]: [-0.0752, -2.7966, 6.694, 1.4774, -0.1099, -0.0708, -0.0171, -0.0205, -4.6291, 8.1162, 1.8584, 0.2369, 0.0171, 0.5788] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.21},"note":"The beige bowl followed the verification lift and remains fixed beside the fingers. I will raise it high enough to clear the two-bowl stack."})
tool
executing move_to over 8 steps (0.8s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe beige bowl is clear of the table, and the existing stack is forward and to its left. I will carry it over that stack while maintaining the rim grip.
move_to
right_x0.4150right_y0.2850right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0214, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.746, 1.1034, 0.6136, 0.0315, 0.6418, 0.2646, 0.0342] state[eef_state]: left_x=0.2899 left_y=0.0005 left_z=0.1776 left_yaw=0.0487 left_pitch=-0.3035 left_roll=0.1152 left_gripper=0.6463 right_x=0.3157 right_y=0.1526 right_z=0.1919 right_yaw=0.0626 right_pitch=0.2046 right_roll=-0.0118 right_gripper=0.0342 state[joint_eff]: [-0.294, -2.4821, 6.6667, 1.3944, -0.1099, -0.0611, -0.0122, -0.3487, -4.5744, 9.6615, 1.8926, 0.1832, 0.0122, 0.3053] camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.285,"right_z":0.21},"note":"The beige bowl is clear of the table, and the existing stack is forward and to its left. I will carry it over that stack while maintaining the rim grip."})
tool
executing move_to over 12 steps (1.2s)
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 beige bowl is now directly above the stack in the overhead view. I will lower slowly, keeping the grip until it is supported by the bowls below.
move_to
right_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7567, -0.1738, -0.0494, 0.6463, 0.8246, 1.7416, 1.1896, 0.0013, 0.6842, 0.2867, 0.0348] state[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1766 left_yaw=0.0492 left_pitch=-0.3072 left_roll=0.1162 left_gripper=0.6463 right_x=0.4062 right_y=0.2802 right_z=0.1866 right_yaw=0.1054 right_pitch=0.1479 right_roll=-0.0674 right_gripper=0.0348 state[joint_eff]: [-0.1709, -2.7556, 6.6803, 1.409, -0.1392, -0.0562, -0.0122, 0.2393, -9.6479, 9.1145, 1.7851, 0.4322, 0.1783, 0.6422] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.115},"note":"The beige bowl is now directly above the stack in the overhead view. I will lower slowly, keeping the grip until it is supported by the bowls below."})
tool
executing move_to over 5 steps (0.5s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteThe beige bowl’s lower edge is entering the top bowl, and their centers look aligned. I will lower a few more centimeters to let it seat before releasing.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7559, -0.1734, -0.0494, 0.6463, 0.8246, 1.8591, 1.0306, 0.181, 0.6724, 0.2874, 0.0364] state[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3065 left_roll=0.1157 left_gripper=0.6463 right_x=0.398 right_y=0.2737 right_z=0.0996 right_yaw=0.1211 right_pitch=0.0701 right_roll=-0.1252 right_gripper=0.0364 state[joint_eff]: [-0.0479, -2.3453, 6.8034, 1.4042, -0.1001, -0.0366, -0.0122, -0.1436, -9.7983, 6.4752, 2.0977, 0.2515, -0.0757, 0.3785] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The beige bowl’s lower edge is entering the top bowl, and their centers look aligned. I will lower a few more centimeters to let it seat before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
assistant
agent noteThe downward motion stopped above the target height, indicating that the beige bowl is supported by the stack. I will open the gripper and allow it to settle.
move_to
right_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.8927, 1.0054, 0.2756, 0.6712, 0.2802, 0.0367] state[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3069 left_roll=0.1158 left_gripper=0.6463 right_x=0.4009 right_y=0.277 right_z=0.0908 right_yaw=0.124 right_pitch=0.0966 right_roll=-0.1079 right_gripper=0.0367 state[joint_eff]: [-0.1026, -2.6051, 6.8171, 1.3748, -0.1099, -0.0806, -0.0122, -0.1846, -7.5419, 5.0393, 1.5653, 0.1685, 0.0073, 0.5788] approver: 1 step(s) modified (delta_clamped). 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":0.7},"note":"The downward motion stopped above the target height, indicating that the beige bowl is supported by the stack. I will open the gripper and allow it to settle."})
tool
executing move_to over 7 steps (0.7s)
step 212
assistant
agent noteThe beige bowl has settled after release. I will lift the open fingers straight up to avoid disturbing the rims.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0267, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.9301, 0.9833, 0.2886, 0.6685, 0.284, 0.6955] state[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1762 left_yaw=0.049 left_pitch=-0.3087 left_roll=0.1161 left_gripper=0.6463 right_x=0.3968 right_y=0.2731 right_z=0.0679 right_yaw=0.1263 right_pitch=0.0602 right_roll=-0.1334 right_gripper=0.6955 state[joint_eff]: [-0.1709, -2.5778, 6.8991, 1.4139, -0.105, -0.0611, -0.0122, -0.2393, -9.5658, 5.8598, 1.6679, 0.1832, -0.0366, -0.188] camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The beige bowl has settled after release. I will lift the open fingers straight up to avoid disturbing the rims."})
tool
executing move_to over 9 steps (0.9s)
step 221
assistant
agent noteThe bowls remain on the table as the fingers lift away. I will park both arms clear of the center for a final unobstructed check.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000left_x0.2950left_y0.0000left_z0.2000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0267, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.7256, 1.2495, -0.1589, 0.6609, 0.276, 0.6966] state[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1762 left_yaw=0.049 left_pitch=-0.3087 left_roll=0.1161 left_gripper=0.6463 right_x=0.3993 right_y=0.2774 right_z=0.1898 right_yaw=0.1354 right_pitch=0.0746 right_roll=-0.122 right_gripper=0.6966 state[joint_eff]: [-0.1983, -2.6325, 6.6667, 1.3651, -0.105, -0.0611, -0.0171, -0.3624, -10.1812, 9.347, 1.5897, 0.2515, 0.0464, 0.105] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"left_x":0.295,"left_y":0,"left_z":0.2,"left_pitch":0},"note":"The bowls remain on the table as the fingers lift away. I will park both arms clear of the center for a final unobstructed check."})
tool
executing move_to over 24 steps (2.4s)
step 245
assistant
agent noteStacked all three bowls together near the center of the table and parked both arms clear.
done
hindsightThese bowls can be carried by pinching one rim with a finger inside and one outside; successful thin-rim grasps read only about 0.03–0.04, so verify by a short lift rather than rejecting the reading alone. The beige bowl slipped when grasped near its top edge; a lower approach with a small forward-pitch correction secured it. Recheck bowl positions after slipping because they can slide several centimeters.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1505, 0.8261, 0.6937, -0.4908, -0.2337, -0.0486, 0.6463, -0.0521, 0.8131, 0.6765, -0.424, -0.033, -0.1822, 0.6967] state[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1922 left_yaw=0.057 left_pitch=-0.0414 left_roll=0.1084 left_gripper=0.6463 right_x=0.2986 right_y=-0.0061 right_z=0.1989 right_yaw=0.0723 right_pitch=0.001 right_roll=-0.127 right_gripper=0.6967 state[joint_eff]: [-0.4581, -2.1675, 6.8581, 1.9365, -0.1099, 0.1099, -0.0122, 0.0068, -1.7299, 7.2684, 1.7265, -0.1587, -0.0855, 0.0024] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together near the center of the table and parked both arms clear.","hindsight":"These bowls can be carried by pinching one rim with a finger inside and one outside; successful thin-rim grasps read only about 0.03–0.04, so verify by a short lift rather than rejecting the reading alone. The beige bowl slipped when grasped near its top edge; a lower approach with a small forward-pitch correction secured it. Recheck bowl positions after slipping because they can slide several centimeters."})
tool
done: Stacked all three bowls together near the center of the table and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.924 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0223, -0.0296, 0.9995, -0.0212, 0.7929, 0.6029, -0.3771, -0.0135, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.295 right_y=-0.0003 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5932, 9.9761, 1.8584, -0.0317, 0.0806, -0.0611, -0.4718, -1.3197, 10.1128, 1.9121, -0.1392, 0.0122, -0.3736]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2015baa34092252db1ae8eb7aa130d7315e1c7e078332af92414234bd7c7f47c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7830b40015c06ffc367070d27f38cc5f80c153db04f021ee6cba9fd0bf449209",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44e571fd83c14c7db700c11e31911de26ff93c50c89856adf4147a772785c90a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.59 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrvtVrH_MihmR3t3AeIF5OcdOELj7EsD4hvKbhxSVDgS0RVKkEAKj4WD1D75ShC9rnniH8ATOeNyWtiTcaOkBAt96C3wbD40SX9dS4qv-tEl043EFyNEX4RPN3xAlLRPX7Jn0dYcCNDyfm1aNsnwBOGdFjSUuoqdvaM___lfVmUEttGadae2BiDkggDfitFZtit2cRE0ws7pqCu_aPDJchKDhZOFr0KTMv5UZah3EMFVF99R6uU9kz6JRXlI_8le5VIHuir2FXNP-NWcwQgu9brYUt0NQpciw8kIVw4WtF7x8siA0doZcOHqJcos2ed6nws8hXYTwSnUep2u10QsyCkUPhPxciGHdeJfBdHV7zakPhRG_by4M2hpdAmE4cw7KWD1Z9PfP4x746rMBqdNM6dKNJnf7gXIhyzOR9NqZFY7QPGMrJoSfUDeehqaePCNF-0ZSDhqYXHwWCmFgQBUSR85PykF7Sy7PMP1tpdDmhe-orXsG6hIapuRtSutDrftR-46LO8uVNy7RP0vehKM6EgRrYZGjOe0SoKtFTrfEMuR593ZXzh0G3XrjGlHP2mkAvCZ9PHOkQlVoQb56nClCP4UsevryzSIM-ofARSMTf2qYfoGc9m4PV6fwUIBoSyBFkBLKA6sc7QoysegruGL4ye5h0Q-mYbljvEdFhxvQZJaPuFZYy3SK-L6G93hGaByRr-mzUTO6y8-LhyEOi1654X8J8dEKc1rRlq1LVBJLiSxrSwE_WSAnzNhZ_xp56mLmHNOYQ2DWqifNwgDWY4QuBmTqorpP5PVehsHWdv3vgGR77BPJxLQgix63LGlJKb_C3qdDogXvr45uNsIBEuDXTHZ-eVVKArnjAY0S9XGA08-IZwfDY64ASdrXeys3Ttm9lQedu4whtdvd-ZEIyBrIdoypo3qLhN_dt_grCIYhjKfSyYLnQ1vig0i_7tA3TccB_s_yuDG9d4OXdbmtfAicSszxp3oH0JBrW0_XB6B9J6kCrtAFdeiDERxwRi6-Y1c6Gi4f6ZDvDxoSqoUm7kFACwJ_U1pVp0_Z6Rv7vFoEREWbdzzQfiRZkI_Kpuj5EzPf8dQKDLuq-w-Yj1asAiFS3G0richTSmkzjQ6mKEFUzveib4--VtdfIZf8RLt50ROOa1TmTBWk0WUQDoUC7ZamnZM3szZA4vPlJcv0pivBH0Dji0F6BkM7gE70-dQzdcVkcA10187pC0Q9S9ZdWqqLdRz9h-XSps-xQO0xHrhUxLRv7sqxdJqXwZ3pEP6Vct8n4Gma_1Om0QNwACA-4sgq87utKfTNP5FoYayCMvnVkp0Ez_SL8_iMDOe4h9KFHTJcLvDrN6kaWHW-QcYhY5qWle9Ds4K-VdVk_sb27PKZHwgtfg_U_8pwdPqpjuYi6tihi1sHj9UVSeTwVYd2gwW3SWVZKBMTPEPJvFhetQbHIYifGTa2wesYKn9KsAMc32svZxESe69pM8KBZrcYp77iEQWgqfKhldPPza2nYkiCjqmAnBNyFJnD6IfaSq7aaw-GbPiLMKQshy8srM_Ls8s2D72w4F-eQ-aeU8pNXwwiFUIMesiRUaDz-hZzTrKpTQNhVkRTW8yLi0yot9buS_OOlM_bIxaaz0Kl9MDR_6l5-M7o8Y=",
  "id": "rs_0de3862dbc437d07016ab2bbe7de0087d08f1ed122878bb4b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.15,\"left_z\":0.16,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three bowls in a row: green on the left, blue in the middle, and beige on the right. I will approach the green bowl to grasp its rim and stack it into the blue bowl.\"}",
  "call_id": "call_A1YPge40Iv5TimrC8ZEp3TL7",
  "id": "fc_0de3862dbc437d07016ab2bbeb98c487d082030c878455fd38",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_A1YPge40Iv5TimrC8ZEp3TL7",
  "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]: [-0.6235, 1.3365, 0.7845, -0.1768, -0.4953, -0.3767, 0.9996, -0.0216, 0.7975, 0.6003, -0.3874, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3491 left_y=-0.1433 left_z=0.1414 left_yaw=-0.0252 left_pitch=-0.0597 left_roll=0.0324 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1758 right_yaw=0.0019 right_pitch=-0.0175 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -5.2171, 9.4427, 1.5849, -0.3053, -0.1245, -0.0611, 0.0479, -1.5385, 7.2, 1.8926, -0.0171, -0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b0dab8961d259ae6a928644350a7340eecc8de3862efdecb48fcb81df1c550",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2eb26d16997e65c7530ce76702dd15bf9113735b7b30cfcb8e33de048b6ec88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56d66c3856c3be1f9db9991be967e7e2a1dcf9cc5ac265875ffbdbde21fb8d09",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 11.48 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0223, -0.0296, 0.9995, -0.0212, 0.7929, 0.6029, -0.3771, -0.0135, -0.02, 0.9965]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=-0.0002 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9995 right_x=0.295 right_y=-0.0003 right_z=0.1804 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5932, 9.9761, 1.8584, -0.0317, 0.0806, -0.0611, -0.4718, -1.3197, 10.1128, 1.9121, -0.1392, 0.0122, -0.3736]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrv52L4Y0MkijWL-RArh041bK6vg5LZW_8MxeBDGCcBcNr9Qf1RnJlQBSV5DzPKDzTJil6WIsWjGauesL0MRM8SQOTJnicmKHUDYTPO0AGoPAHFwNs_6ZKPiZPu-du0JXsQEvRervtZKM-S2Unx2PzuHMcd3s-r66C1sUWN9cM7Oowclt2732ZKbbWXWKPTwWAPjH20YKB7KcsmGAzjhn501YIUqv8tOZ0Bqvc9PEqqPSSIL_EyIrFiqfY4Qys4Cpkmk2WxUu_6ZDQ_OXdz1vD38qrKT1-QKHYcJaxViUUmja3xip5xgo75x3uLyHWNipce0wnLqKBw8J-Li4vR_3L3xhNMQaWS6Mk7oaiC5ZkIpuY6KgeHxU5l-tUZq9hIwckcfqvbj44_ZhFNifUblilwgIf8elaRq9SrzaTc3mt6ox5r8YzJu6loegwqZ2DQlXhIs4_M4uGYpaHpgxcFjy_Mp5HQOQBG56CfIN8a7NB0YYIQrbHMvV5LGYy8kFAjb_fqhLqseR8D8rMFqmR45QwowSFXD9G6C5gHNEx8dvOXW1PaMS4zIRRfNXiCuHsqoToUrczL3-4E5gSOT4mooLvS7evxbDD-azSMC0f7eGvI-64wAHzE574a1cgLihScyw0l3d58Ovu5sAHACfACl5e8CnTFOtlOaArPSbutLiGObLlMfgK4AlZLY90irepNHRtOcoo53BdOe6RgOBGaZjvQ03-77SLdOlqjI-nFeTceo2hXFEfKVA0BmKGvO8E_Gyo5SQ1QXbYqUSMpL6fZ7DzM210RNJPX27M9eJCC5HiRQ35GB8Ko86CCC50kd9AIwTLwXhd0n_A1nX_iAPOIfGAmDOUS79jM4FKraN5-ymrj8vV2PaOzPp46uqQfAjWplvKjAjXMWf5znzvODZuULsb5sNyPWlV7079f1QvZSmSSXJCq6Z6Ov3RIU1xR44QzylT6m7EWMAyuNWFZYnyeWZqkSS5ZqN2evZ5Kv26Tk2anpPyBGhVUq8KvLMTidnIZRxQAdwToFdgWv6KvJd8U177p8Q154G0m6qtFVgQnVrvxjiFVQFeOeymqDdj5COa8OCvNujgPcTVdLxYe2aWTvxzszxt5_7mbkRomr3fob9vQJ97NB5OX2DzAADW7ykZQG2UQeUSWWWy5Rz8mmcRipgfR_B7fCz1H3MsbVj9UFkDLKHaFGaCveBidZnD9MKc6pSMj9PjbQo_i_Wu9RNIUyZziDE5xgb8gwgP0fC04RQlUi_8F-vOtwqmh2jw7YB_ozVY9uydUnblceF89i7CTBqmLT_2Kf9CPEkSy_A95NAY7wSe-hhPSL73Q8QFJIcsJb2Uqe0YU6CYgOZn5Dm0gJNb8iYB_komeSrVybrGvayEG4OkxRM6x6J-VEC6jYO-s6FXEofNgjMCf8pLDQocu0FVhifQ6LZeTlkvelvVdhBh-Xvly9K4GuvteOHjKxYmlPSe-XdWQaXbOySlraIcQvguyAbPVzEMrHIxqi5MjVKh-HorWBR2ys_gT1m1eciYHyxmm5dmIwF-Uzs_8LF2lRz-dSW8WASgvS7_VKc_nHAlY1jpTbYBAMUv6Vp-eAdjMnTAStMzPDOPwbwiDrX_xOhG1Ij0mheKjJV6wDZZIbvrnrw4q8db5yeY6gtNrFboyXamd6WmnrYcoB_pcR_V0dMeOMQk_BADhyqeXtGd1ouEtwoMNTAwffeluPAirtCNW3h19xmdQwYYj1ZH_RSiuh7r2CEM9gKwuzS2npjEYV21Vk_B5Uqk73SJUuvhX7_mcoYZu-1J6Q7qKSiLquijGRstfXtD21fRF7MNv6Vl-deJHoOBnW7y9_sNnVXGDbtRU8eteDvkn1E136N2CvJiRTe7XtjyB2Clp0UcY2lrq2nXHdIbO8lE8D3JyxWURi3ug_8ow7nKK1OPUQvf87sm2TbSceJQ==",
  "id": "rs_0de3862dbc437d07016ab2bbf14f4c87d09d89dcc9677fde88",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.175,\"left_z\":0.065,\"left_gripper\":0.7},\"note\":\"The green bowl is visible below the left wrist, with its right-hand rim near the jaw column. I am moving down toward that rim with one finger intended to go inside and the other outside.\"}",
  "call_id": "call_eQVbnOOXvabiyWaxtr58IDxb",
  "id": "fc_0de3862dbc437d07016ab2bbf7677487d0bccd6d5ff3bb29e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eQVbnOOXvabiyWaxtr58IDxb",
  "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]: [-0.6254, 1.6947, 0.7799, 0.094, -0.4946, -0.3855, 0.7031, -0.0216, 0.7986, 0.5999, -0.3901, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3783 left_y=-0.1653 left_z=0.0515 left_yaw=-0.0179 left_pitch=-0.1354 left_roll=0.0773 left_gripper=0.7031 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0217 right_roll=0.0019 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3487, 7.6923, 1.5946, -0.1441, 0.0855, 0.0513, -0.0615, -1.3197, 7.0222, 1.746, -0.0269, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5175bc185e34fef84d03b1de4b2272a64fcb5ac1f40325a2e70ee54ebd818a11",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:739600b738c1c431d19777bdeaaece3037319efdf4734a21309bc7ef8cdc5082",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d71beaa303993d2df2f7848be1bfc55bfa3312905cdd0d526c630397089ad1b9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 3.413 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]: [-0.6235, 1.3365, 0.7845, -0.1768, -0.4953, -0.3767, 0.9996, -0.0216, 0.7975, 0.6003, -0.3874, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3491 left_y=-0.1433 left_z=0.1414 left_yaw=-0.0252 left_pitch=-0.0597 left_roll=0.0324 left_gripper=0.9996 right_x=0.2935 right_y=0.0001 right_z=0.1758 right_yaw=0.0019 right_pitch=-0.0175 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.4308, -5.2171, 9.4427, 1.5849, -0.3053, -0.1245, -0.0611, 0.0479, -1.5385, 7.2, 1.8926, -0.0171, -0.0415, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwFr4B31_6kgdmJHerz4KSZiADxU3C-Qhfvz58yJdk0zPcWZ7SfznA03FILrbJj4cbUXHCDo9I2GQIMw7_y9BXA-0V3ZQhYMrXdUV3xrywllKM3ejlG0WqCp4OLx0XTcSjr7uidhA3hyO7Lxpxg6LMhfs0SeVDSSWnlzpGHWLuQX8rjTCqcuzF7u_o7ddWITEeE7-Jt23dYs6NyXPpAh0MqhE_28f624PCCzDeZhnGwvSHuY1dcsTvilOv4D1NqYBIbtO0d8bRKpb8slQ92vhYUmY5aXMNBvvip6BBbpmDLxoLLgCBfyGOd3xAYluTRKJBCzXazITw4m3DSo5c-gkMVF58WEHoBOAYGhjTFhXgU3xTKKdZQVWCZd0AcaXnbLDw9mvR23XCdDe8vhNlty9_1cKL7kwcQZu6VKtFPTmUWEsrd3tDma4sGIGToDQhJ9YUXRx_DwLKiblHxrL82TM8IkoHDKlXvmId843f9qi6y5cQANmPirABWbbD1LvnfRPTg6RHREt8sOGcm7W2JtxFfQSaHuJ9alTQwWVUjdtDpMks1-YHABlhcYPb9xXs9Ab0gn0ow36bF0botu-C3rmiWUw3RqtsicBtPeFifoTy7BPhmi5fQ_6qT02SbrBVHmXX90xBKH4p48LIWyiiG0B27Zx8rnEXitpFz8qUC2LFuMy0P3TrVqFsZQVb5TRXlsPowTvvCOnPDrn5Wkdi-laitr1fUCtKUI1tA13EOIh8q0ddWyvYxDC7nOIzL4SPNCOFYwa53JoJGjwchF3WRH2KT3VoRYDZP3u1UDZk2zDOQ6ukzkeaTyF5wmqFFoxQLhRMMe7S_4HEoeDd4gxuDwT2Cq6U5M41xWeiiC6XSffy9kHmFfv012H3EyRqjGP6SnTxMk1tGtznzY_r9yvnWy6Ptu_TRxZynix6-OrLz2ID3gzbplqcWD0Nuet-qutTLWMXzKvYPrR02y_ka5NvRqcQx_uepRMPMCTZNjnkyjdvnKO-Vj4FJydSepdUPjgjJIYRfD41wcfzrTS-a8fGxrJuLHx-43qxneuPF0yBdR1G3vPKM0dPmi4AXctitNaimXyzchRrjqlrz7mJylC56ALMcBTwCLA4utLjW8oK9Zmxxbo_3b_2Z5SegMgVj2H7bJELNzwQYTqiOOGNd-ya1yVdZ6SBQI9V5W_vrWRUBzdVcvrHCvsEADDbwLYXk3s1IQlJcn_z8SFU4URI00x3yp8ZzlYzOo06-DMJS2oA_azNCwqti3xE5RqYZxGJwIc0h5jaY5agL-comM182VQ6OnaNCIdxMqJ0PzD_evToFAFGT9k0q72482-IJc3mmHoDQB0vvwkEHErx2wbBmF7yyVdxgU0EUMMgZZkUsirl_Ui6RoshkXPQytarGQdfhpzFD-J699W_NDAIE-rKLjuqyLqoa65V-FJRYZ_vKg3h7Qg7Z50aQs6ZAygjqfLyNfV5I4zly5c3lOX8lMKeW3oVehEoTauKrwOXg7ZZVcuzYrS-aZH30N3LOPBZoXFbca-IO-TsYlU0xJOn4Pu5HD3O_PsBElq4lNhN8wwoifCgOGQL2d897LOUtoh3rdpMMztY351SgO80SnjRdosmI9QTR8-5pzcmdb9pc0HbM-97Gyu_wbbHh_8zrd-t-auCc1fveP6c0zd3N00WYxsxAA2uLO02PEpErbD1T8pXX-1hwizAywJk=",
  "id": "rs_0de3862dbc437d07016ab2bbfddf0887d0a01dce35a4634b80",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.16,\"left_z\":0.035},\"note\":\"The open fingers are straddling the green bowl’s outer wall, but the rim sits slightly left of the grasp center. I will shift a little toward it and lower the fingertips to get a secure rim grip.\"}",
  "call_id": "call_e8j251QnpNi7VhIwQrJ84FFj",
  "id": "fc_0de3862dbc437d07016ab2bc03828887d09ec26301a6db2d7a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_e8j251QnpNi7VhIwQrJ84FFj",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6098, 1.7405, 0.7795, 0.1741, -0.4839, -0.3817, 0.7025, -0.0216, 0.7986, 0.5999, -0.3923, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3886 left_y=-0.1668 left_z=0.0455 left_yaw=-0.0149 left_pitch=-0.112 left_roll=0.0546 left_gripper=0.7025 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=0.0019 right_pitch=-0.024 right_roll=0.002 right_gripper=0.9963\nstate[joint_eff]: [0.841, -6.3248, 5.4496, 1.6044, -0.1538, 0.2173, -0.0562, -0.1709, -1.0735, 7.0632, 1.8046, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c03a337e2996c7214c295a83c96c4e657eeff8a2287ca33d8ec73f5af8680e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:04da0fe0cdc9f4fee9cc8126b967dce434423b5c91c0306e8204c825f7a3940a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:64cd05fb8a3a137d14dcd204424c506c3f92cc70d4179f45a8a8eb2669d5b88d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.606 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]: [-0.6254, 1.6947, 0.7799, 0.094, -0.4946, -0.3855, 0.7031, -0.0216, 0.7986, 0.5999, -0.3901, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3783 left_y=-0.1653 left_z=0.0515 left_yaw=-0.0179 left_pitch=-0.1354 left_roll=0.0773 left_gripper=0.7031 right_x=0.2932 right_y=0.0001 right_z=0.1747 right_yaw=0.0019 right_pitch=-0.0217 right_roll=0.0019 right_gripper=0.9963\nstate[joint_eff]: [0.335, -8.3487, 7.6923, 1.5946, -0.1441, 0.0855, 0.0513, -0.0615, -1.3197, 7.0222, 1.746, -0.0269, -0.0415, -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 fingers now appear to bracket the green bowl’s rim. I will close gently under the controller’s normal grip limit, then check whether the bowl is held.\"}",
  "call_id": "call_eMyFDOkNqKfWkSQLeZRSRAz7",
  "id": "fc_0de3862dbc437d07016ab2bc08259c87d0838722b382d5b98a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eMyFDOkNqKfWkSQLeZRSRAz7",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5869, 1.7607, 0.7795, 0.1825, -0.4812, -0.3565, 0.0366, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3921 left_y=-0.1583 left_z=0.0387 left_yaw=-0.0069 left_pitch=-0.1239 left_roll=0.0792 left_gripper=0.0366 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -7.3231, 5.2581, 1.37, -0.0757, -0.0513, 1.0525, -0.0205, -1.2376, 7.1043, 1.7216, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:486b5820fd988c6fd9e966aea69b8672af47db53189670af5a631d19c0d873ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e4c9dd3a66272da08b225d0f420da6ae8afdd8bb393a85ad2f8a93dba407919",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8faa4c0894798c848dc555bdff4dd34a1f44c469734b36f59d304d1cd5242541",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.648 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]: [-0.6098, 1.7405, 0.7795, 0.1741, -0.4839, -0.3817, 0.7025, -0.0216, 0.7986, 0.5999, -0.3923, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3886 left_y=-0.1668 left_z=0.0455 left_yaw=-0.0149 left_pitch=-0.112 left_roll=0.0546 left_gripper=0.7025 right_x=0.2929 right_y=0.0001 right_z=0.1743 right_yaw=0.0019 right_pitch=-0.024 right_roll=0.002 right_gripper=0.9963\nstate[joint_eff]: [0.841, -6.3248, 5.4496, 1.6044, -0.1538, 0.2173, -0.0562, -0.1709, -1.0735, 7.0632, 1.8046, -0.0317, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwNtqt-qfR-5wh-dprNKPVnANn8FNnSdNbqMMBQ8WXCqn27dRv5G6APWLi0ummEdXWrJBZtM-eP-CfuGnytCJMP3PTGp0kr2bZkQJiqQNIuxNdHQCZVWs9D2jtLDxWbKwgwo5dO6tqaaqVOz9nDEKiEXxfuns7wyEADHcEQSssU-qI41vpw5MWRS0TlnrXer1BnCCTZHGbNsnjTgSc93Ln1vxZMxgXUYCcHZFQNmAyEE8LdSzH5xhWYiSpUho9j1Rqc8vTyyzQC9d3MViSreOdugx5pUqqqly56r3veaIYjvc_5xscKWqKU0zBFM81OchP0SQtGhsEEIj3wIIRjc6JgQ6tqkNYbIf3ifvhZBMJccEdTV6RQsy5LzEr1cXhv8tB-Tp8-3-GD8JkWG7-rGRmUMUiA9fH5rcryMAq6cCB7qbq0HfmuGhSlXFwXwndKn1-V0uiWA7YubKxYfjx8peohW_PD0lBAkkNHwVaeOfcrrZX1SiUj0J-QiaKbac-KOCZEVdQjS-n75n_342BTE2g5AjPh6yHny8Ya6qpLwFOor5TpVbNg7zS1DiA995O8Xc7AMhifucV39mK15k-hUNnucXDB4ZO7jXXEuR8e6Y2bXiwjObZpjg6p29hDOncZFnxNpJhOVeDJk4FeeP91Y7NBVfmrHu7ztcLas5a6B_wW5ztq9jb4nqDfGl12VKlMoitOPH2-fplMLKbbq7WpYlAObCkykPP7cTC1F7wWLp6Rw7Raaolv4Z8rC2rV0evt5QBTlM55ZzoxA9Kq8TTkY8dPdaToS_dpHQ7c6GDI2m2q801tPIQGpLWXFaqbGlQU6PYpW3wh0AJDB3UmzU19c-NdELe6SuwZyhAB9ICjmcPMK1Am2kQU2ETYb06bCQK-PRPhEjvePkaUvXzsBexVMsn-QsQl-pCNHjjKp1LpkxC_KS6VbvnNv1sO5V3vkHRQtzm0Hun8yc3J3XsGJX0vX8_NSwJ4OhfFLkqVC4386s7o60BZCwZVFVZ1uMXsOonlS7VT-BTqTPGmtjAwV-237FSg3KivsH7nJpMziZdM4lKge9v7DIU2RPaEIfhGAMaQhKBt1skL8CDsMWcdYSt-coXHk4OPwR2M9TL6iL4r1IvARp91Gqtzj3hl_s3jZFGQZlr9WVNiDArdCgezGmmvyx8cWiQowHU97cSm9JEmUgQdkAukC0Sm2virIi6HkpsDwYQekUEHqFetxy9z-UIRnF5QGw==",
  "id": "rs_0de3862dbc437d07016ab2bc0bfd1487d094e5641bf3729dd7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The gripper closed almost completely, which could be either a thin rim or an empty grasp. I will lift only a few centimeters and check whether the green bowl follows.\"}",
  "call_id": "call_5yQn5j8KRm6Lj1SuCjPLJFF6",
  "id": "fc_0de3862dbc437d07016ab2bc0c78b887d0b0712c69195bbb50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5yQn5j8KRm6Lj1SuCjPLJFF6",
  "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]: [-0.5869, 1.6421, 0.8715, -0.0212, -0.4805, -0.3641, 0.0405, -0.0219, 0.7998, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3934 left_y=-0.1593 left_z=0.0865 left_yaw=-0.0038 left_pitch=-0.1181 left_roll=0.069 left_gripper=0.0405 right_x=0.2929 right_y=0.0001 right_z=0.1739 right_yaw=0.0018 right_pitch=-0.0255 right_roll=0.0022 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -8.1573, 7.9248, 1.3944, -0.2515, 0.0513, 0.7009, -0.1846, -1.3744, 7.1179, 1.7558, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d7d122367c6ae046ee5b9856d529686366fab5110f3ae8e49e0748262502248d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd8ae2889f49f07ae4fb9a4df094ff3c17bd0efe18082576d7ac571726b4edf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c719e32b405008a1ac87c30a4e7dee7ab9c365aa63aa426f1af73de0e1f71ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 6.454 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]: [-0.5869, 1.7607, 0.7795, 0.1825, -0.4812, -0.3565, 0.0366, -0.0219, 0.7986, 0.5999, -0.3927, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3921 left_y=-0.1583 left_z=0.0387 left_yaw=-0.0069 left_pitch=-0.1239 left_roll=0.0792 left_gripper=0.0366 right_x=0.2928 right_y=0.0 right_z=0.1742 right_yaw=0.0017 right_pitch=-0.0244 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -7.3231, 5.2581, 1.37, -0.0757, -0.0513, 1.0525, -0.0205, -1.2376, 7.1043, 1.7216, -0.0611, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwSVudiA0i9NrHPz1VgX89iGEQMj-o-D_1XFBI5GW3rzlEHp6OYJjnNpqKVizqx4DJjsUZgXmObbymnV3XU2itmituIet5ozgnCCcVWY21H0dFjGcVL3fLuzvn-xjTqS49ZbXg45mXTlAeAV8UpU0oTv7sAbCyQPD3F0Sqb_ptjuP7XDk0BmxIVUC3eBYbLERByFufrTkMOCowS_FnE3GMNuK14FQ9CswdK45mM25_9Qv-nmN3AXTa4n4GoNkWdcSQfnfY55Zbg2z_COoRiEtbpuLmnSqZMxrltnh_eXEFO359KTg_NWVwef9zCUtIz2Nzx1ABBI6jhLRosctcfp4ryl-Xu2ygl3Os9zChRtrppcjBPEhkzQZRGl0xA0RowZlsH6Q6NZQlEKGVvIuFA6gFQ13z2NM_qWNQ2Af1Shh99ttH0O-JpleTWhFdjn3NOqKpexpZ7NuxiSTdS5QVpX-hAQVhan9bBSz0wZDsfE5aVAzpt3CgBxEyhUnxgQa9hkRiDW9Eh3kzCcxhjrnvB5RHRe9xHXOvs1trFSYykKD9xfPRWuiOXerNUWvq6Wao9fEUB1-bQSlibhKKd1OKbXYvBG07ctkPT2MfDfFICNX6CQAqY1w5rwoN0w2AHhAW0pMIL6lnv8q8VUA9HhwjbmulzHDy3KRUpGSt73LVHk6aKTHQyMUjxpUUWxkYwgQlo1RTYTLl_9xoXh0t5CWbGK_AbLN8SqOcAgIgV-v18DMaT4TwkWkjY_O833rAIyyy_nFQVHsgMS_eCbhuJBKLxjaReCaab-Z-6akDLifCIqMiRxqLkhgzjIoQMp6A0TGXGXab3A4sfc0ATNZVH6rgLQLcGr5QrEHnZfurye6s4-3EdGfnqZcLfVM7eaAPi6TTdPXYf6AM7vQc9GyQWFNo9s5VwRGbpslYsxrquF0yxgCmwp2EqDn_A-W73SEmz_Dp2bMflGA4IwhXM53dfFzy5MIO2EPRruwMUiPl9B8lqRVSDgZprptPEnpNChA_bmadi6QPBG-E7sqfVWi_8JoDZQN_8zHnuOeiGdrH4eMWOGqB5gO3-v-w2m1uggZ0SDPo5JuBD3RlCvmeQPeClxx1jLov2Iw3Gag83qlMbQLiXNzxIVKBsiTtDH6lF2SeZI0JISaL0fD8m7jFQF1Nr8_sg2XaI3n4r9HuwOeZa4FHkWeGlAxyVQJ7RtkY_cvDUjeUnmZTpEC-U8zzhIP9ZPf8SPTxpzMDMGc_IRFmypqtqh5qtN64dnrgU6EM7DzMHqal10E2kaYT2E_Z0IDoz8HsgIV4IjA==",
  "id": "rs_0de3862dbc437d07016ab2bc10513487d0943fde03c8e45fd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The green bowl stayed alongside the fingers as they rose, consistent with a thin-rim grasp. I will raise it above the other bowls before moving sideways.\"}",
  "call_id": "call_zRTxwqff0S2Ud4eGJn4k2FXC",
  "id": "fc_0de3862dbc437d07016ab2bc115a0887d09e245f73d491477b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zRTxwqff0S2Ud4eGJn4k2FXC",
  "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]: [-0.5869, 1.5436, 1.132, -0.3988, -0.4805, -0.3676, 0.042, -0.0219, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1603 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.1335 left_roll=0.0768 left_gripper=0.042 right_x=0.293 right_y=0.0001 right_z=0.1737 right_yaw=0.0018 right_pitch=-0.0263 right_roll=0.0023 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0188, 9.0188, 1.4188, -0.2564, -0.0171, 0.8864, -0.2256, -0.7863, 7.0085, 1.7118, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18c680797c0d6c6662f765c99e1603b3a2399cc29ee4de6fb279ea9ddcdb8d6a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9fda877f8e413d7d2e79e7025bdac051da560a030d442f077dce72d73d3619e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fbbd49febf02274eceacf1d921c4c2cdfee7ba1f721d624409e1b1c98d080e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.855 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]: [-0.5869, 1.6421, 0.8715, -0.0212, -0.4805, -0.3641, 0.0405, -0.0219, 0.7998, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3934 left_y=-0.1593 left_z=0.0865 left_yaw=-0.0038 left_pitch=-0.1181 left_roll=0.069 left_gripper=0.0405 right_x=0.2929 right_y=0.0001 right_z=0.1739 right_yaw=0.0018 right_pitch=-0.0255 right_roll=0.0022 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -8.1573, 7.9248, 1.3944, -0.2515, 0.0513, 0.7009, -0.1846, -1.3744, 7.1179, 1.7558, -0.0757, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwZ-DB75-yHvUjfzBgumwLRigDZgxq4YKpiZO-Fv1lYFAbJvUrFzx8BBi4G1NhCKZKlQjGtqlZXk2GuCAOfS96VQWfyrtJzzloncFajFIgQdaL9tdbS44Za_YCug4w3irR-ZEjJrnuVfpbTFe4fsfWX_eaM2Sqk0yXjHSeHpMOEjXL7c3pmht7whA49YPWT2SrqrqtKwRI9zKDVKeHUYoOmNqsBCUbtrHGYRSdK0V-heWNFQsf2QjdGi18VB0VCbBQukdioyY5NtGQYJ0R_Myj0C6XtgeLMaDG0rOXD5e5ydigwlhfL0HMcYE9EJW_knnI-K1442HW7bXt70c60jL0pB7NxsBgEGggS2NlTT6gK4zqndSQsN6ceSjy-grRBkD7BOhXisMupnGZpXXEJmJFGpEgjP9LUlVOAGXcdL83ZuX-knVVOfvwTyTd_KsOkE0H3yUJq6TkuXLJkgHUIMADU-bghcmpZKSZDf9ADkphB-lh-pmiQqcCVL5Yfvk_7wJtnjBJG0GnxoHX7ug8UzshnS1FZuA5oTbS45oZfd3EIvWdNbIAlec0cLuLJZrx7gOcudUBpJa9lgJKfKMY7iPBVwzAMfCg47YT45sb8FdMKD4qtzbSgsaZE2neBa_okY5ZE-lGZynpelw3gDy37GrTlkuhPrwLOPcFLjXTmM5rVNQQvPTjQX4Q4ZPVLSEGTGASELwoUmzegJiXO0Ox-y6A92rYPHeOw33taD6dvnPcNNxYFFOKHjwq3XRk7xgD7HfJRM7iRjpFyIoiLKMNy-aJZigozuibFOtdfazdh3adG96qNGKZ9eTWWZRNx24JIqQyfkCMmtF1gHJ_gHvL16U17zEZjxlYMMR5RMov3ZkBdVD-KTIAAXQVoG3R1fExpBzgd-Z6wEcWzzdLP5Nf5f_2Y_-1qgIAF3lwq1IAhPyCnAGRx_JwTkRWqNw6iAmsbEK98OPH_VYl5p0dG5375g2485TjTd92Bj3-ecaIcZElE1SWc_7btpY8woS9sFtpDx_UwQj6QC7e87vIwD6oGK2ovc9Hwf3bkMxI6iGJxWSrqny8JTY_JTyJZuec7d84xXhyvujo3UJsF_WLVK2rbI6RbQVowdr3JROSAhq1KIcEael7czBmA2IgVadi0cA68KODCeF-iZCZqDNq8gRBtYMCOcj7gvhvP1WQcJ9SRJpwmKJ-GFHm0K8HijFYDbAjJ8GFpOffxe_lnnn_La4Qs3yEogthweiRmeN-Uy-Nv-DcBPtdEAe_-q2PJI1w2oxMhstZbQYDbz1Fc9s0enXo-pDwpUCdlRkTJYIAxVWZlICeoV1a08pouQNxukFXUu1wZf65wgqih12IONNkZqXWu5GNkbeqxomNRxRuJLxD6iUNvHNnl273HTWJX9_tWAKvXTSg5XhujvTaWhggvy1CLxUW-IxT95o6LopMdJOFACA7hqWcUvicqZjNU-OCS32LQ36UckIy97WJhuveHrXR1emujtHsIXKmUrJcqfd_Jg17kU-4ANvfU0VwmLNQl4Z2qjNCvQR3bmYOYaNJC2dbN45VTbA==",
  "id": "rs_0de3862dbc437d07016ab2bc1523c087d0a878e208d829ac63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.325,\"left_z\":0.19},\"note\":\"The green bowl is lifted clear, and the blue bowl remains in the middle of the table. I will carry the green bowl sideways over the blue bowl while keeping the same rim-grasp offset.\"}",
  "call_id": "call_J67AR9DLLV0rDWi8Up39RMQe",
  "id": "fc_0de3862dbc437d07016ab2bc17eff487d08fc48ebe82f1c09a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J67AR9DLLV0rDWi8Up39RMQe",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9085, 1.9923, 1.7592, -0.7555, -0.6575, -0.6701, 0.0435, -0.0219, 0.804, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3928 left_y=-0.3223 left_z=0.1795 left_yaw=-0.0144 left_pitch=-0.1577 left_roll=0.0702 left_gripper=0.0435 right_x=0.2932 right_y=0.0 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0297 right_roll=0.0021 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -10.5778, 9.0188, 0.9939, -0.5885, 0.1685, 0.7937, -0.2393, -1.5795, 6.9949, 1.707, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9153e5a434b0cdf8a7fdbb94230c83e7335253d14b53d5068160d4b65d2a2a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6624bd3edaa7a5dfbd75ba4bbf042e07feb7e58894c37a98fcfd27f9d5df7431",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1fe47bf03802c4bd912826707a63630c015e5f671467fa7791c0e137a9fc167",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 7.287 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]: [-0.5869, 1.5436, 1.132, -0.3988, -0.4805, -0.3676, 0.042, -0.0219, 0.8005, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.395 left_y=-0.1603 left_z=0.1687 left_yaw=-0.0006 left_pitch=-0.1335 left_roll=0.0768 left_gripper=0.042 right_x=0.293 right_y=0.0001 right_z=0.1737 right_yaw=0.0018 right_pitch=-0.0263 right_roll=0.0023 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.0188, 9.0188, 1.4188, -0.2564, -0.0171, 0.8864, -0.2256, -0.7863, 7.0085, 1.7118, -0.0562, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwhz0PcHy-pKraURtFj5oDfOY5cOW2CW4AcT1jTl1YiVvgtTzHzf03ljhCln6wY_BaDdr8TTtTIIwT8wWMuiToTaHz9QcMDuny64XdvCzoRxR8DSwwGV1NY5USUhGBEs18OBppmcuhoQ6Kayw9u04UPxB4c4kfQO6ISWdibTD4aCN_gsxPHottsUAGUTpgG3srTgmkPK7pSNKwI819swmwT65BS5RhoweWoUr3IvN-XXFnregTw-Df6TEO8IW0l02BK4K-TcJbRmSRm4_xCf7wVQYZlo9_HFVh2j0vyTKVTri919LsGqJDrJ92VtoKdnPnGmxHX2zG9OlGg8DIJ4Tq4aMsaRsBls0A2UMlg4CpEHUebrLwr-f1rdZhxEtK0xk5aEp0-FhZGM9_y1HTwuEJjtrq19c2l7VBhyn6ZHV_qoiVAOe_AjNcy0Orc8-2gDtpMsM3kiJwS-61yqpdEo6Cck7s7fv6mtTCBKUfTDC9Dgm780exZjC_b-FKmqXYhNTZ_7HYg4EW4p2JgpKpBuvg_8wKgLM4_uuqqx76ntpbm-1J1cYRpw7pEmy2VVx-Ir_qWHF-gZeK0Y7m7HDhRz5bu27RbbY91J5Hcsj_jzi9tOZpBOLV0iVWX0AdlxBmBnU2iQIzKiQioDTVzlcat91pLi82Q7YRniIWSLRdID4Q6a_iintCb_t-JXhFJl3nN5omTwohhVrSpOv4TzfP_qisub1OHjGGxd7pn4XUoWGiQgMauzq-wkCClKgyRwsgHYHLkUcL5c0VINEGLu3CVclBdNOBXhaUKazyhlisi-SzSjn0IB14U1ZZC1nbD82xQueLvM7NyXZ4XXzSb2BmPsnI7L3xs4mC5hbWGYRyp-6JvWKvIMJ_95vd-XU6OpftZy5a4VWVwuFqcbuVeN3GUNRnATh3mWPJYSIgCrWHSk7wL2lV6H4ia_KsVILxPQSK8e08f0XZ7HXuxA3VYzyazcuEh7MhvA7MNP6KubbsSHBkYr6b6hX6d1xQHEwoN7SKjErRKzCL4b26LlowHYAfDztJ5xCW02RO-VSE6IxutxRh2Ii9GrTGRnLaVY6d92K_wbJxwegix5kz1rWM6wQpDaIwvmU_x66fnMi9ORQeskcaKC2Qbc0nXIWOC6WFYbBBi5uZTCkJM7HB_-QLBvrWzHf6G-niG5EWlpl1bzZWjhrqXiErXdxlXwWjqFe6Oeo3CFjadUr5dgnY9Zk6z94hRZsH-ztUN170WakL9FO7XIdaOsX0XQBSkXhmXhgccSAZz7jzw3YfWIElIkvyX-7mU6RV0Rtkcay-oE_3eo0pYNdWFkuAH_UqJ0KnEdNM0vVPwlMTs3DmxqC9GkLjOXl2eouI8xVoY6UIBAvLv1OrS8tFO5zA8jh5XSffSiwAng2nWLEjl",
  "id": "rs_0de3862dbc437d07016ab2bc1d570887d098cd299c5e8ee6eb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.395,\"left_y\":-0.34,\"left_z\":0.095},\"note\":\"The green bowl is above the blue bowl, with the blue rim peeking out slightly to the right. I will correct sideways by about a centimeter and lower toward a nested placement.\"}",
  "call_id": "call_mrHQ8a1Et4Z1fPXl2KTP1GAk",
  "id": "fc_0de3862dbc437d07016ab2bc207ed487d0b70f8f3bfd828993",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mrHQ8a1Et4Z1fPXl2KTP1GAk",
  "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]: [-0.9245, 2.0914, 1.5921, -0.5518, -0.6544, -0.6819, 0.0462, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3895 left_y=-0.3319 left_z=0.094 left_yaw=-0.0171 left_pitch=-0.198 left_roll=0.1096 left_gripper=0.0462 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0015 right_pitch=-0.0301 right_roll=0.0021 right_gripper=0.9963\nstate[joint_eff]: [-0.6496, -11.0427, 6.4889, 1.3553, -0.4274, -0.1441, 0.525, -0.0342, -1.0051, 7.0359, 1.7167, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180f5b4cbf8b0d27a5c2f88ef90cae1785fb4e7f1718d8cdd0f35d659c8ae26a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b27058f04b28ace20076b99080503dc3b076fde2c1ab7a709f0875c07693e237",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df25fe48938332e04a2302fc5ca2ef3756c0448116e9c53781cff0a151a38104",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.712 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]: [-0.9085, 1.9923, 1.7592, -0.7555, -0.6575, -0.6701, 0.0435, -0.0219, 0.804, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3928 left_y=-0.3223 left_z=0.1795 left_yaw=-0.0144 left_pitch=-0.1577 left_roll=0.0702 left_gripper=0.0435 right_x=0.2932 right_y=0.0 right_z=0.1727 right_yaw=0.0015 right_pitch=-0.0297 right_roll=0.0021 right_gripper=0.9963\nstate[joint_eff]: [-0.3761, -10.5778, 9.0188, 0.9939, -0.5885, 0.1685, 0.7937, -0.2393, -1.5795, 6.9949, 1.707, -0.0562, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrwohNpEvaj8cnFlTmqnsVwabpj9Ji3AI2cM73H70vae-ioQFF6mZSnYCA3Sw_W2C8hxl8Zk6Li3hh8CyPvEmLwlZpgyiU6Nv3ELo1qqMCZZsNZsCUypPZrUmUSquo4SCWsWhVJu4PNIzgWcZBPvZVsFeifMJleBEC4mRBTSRVJipn1G5Jt3jukVxXXXLTDRZI9Qvp7gvRS2mQOgk2q188bD-ZF1I4syMJrNQuBIV4Spb4IMZe77lY4-eTF0DtaBsTuShfc0bNl89OfLBk6meEX8nKPXavsq85yX-ykVhra40QDCp-pZmYT-o8n6kC-ScZD5L5xw_uk_dR1F1aPt-POskVl-ulP1cP9RM-No6bwrptWlIAC1T-XJ3k5vjUVKZVEh66Hw0wWeWpGHvuVGMlCXcBxdkNm4wBDoimmmbWgkBFLQwpbuQb6P9HDscYuw4ej-1ul1DqgMA3A6rrWuuDyZlixJx3fT9UGct9OMyfpC8vhmvaw3k1oyBhAeW0VtUMdqY3tZgT-Hl0wVitARmVxWb6RbA27FFaGV5A9cL1VDKQQt9dEX1yj3i3lcxyZ2FI_F8AZX7KiRyRySLt5yoIKK8V20t210rn8Y8N2pERV0D5BS7R4SzRIDhL3kUpYhMBpNI9CWDDM4vcSymXhnGBpzc0RezB87JYY6pSDZ9MrTULfBnuHdDfwfQgGQe9lnh94MF6HRs48cDU0Hx5mgJVIiznLQVIU48GhFCG-germuulLI9jYG7resx7qkvOSmSTOV7HYWy5p8fZ2qORzkTJ1BlDEkPvoa5WZ7DKje5TGhLllFut3QqL4Juo7X-rSH8yWch3ZgeQnRIpQHsnQZXaBFVY2_Rm8OlszpFKq-Ix5qobWXdq8nUetnkF_ay4d3htLZzE5iv10pUY-RZdVG1m7guztnWnNmdq9lapLuxZ8SYufl8EVyU2Yg8_H3eUcnD-z6gm1uFv73pSrkZC3ZcqZXlJeFSiLuKubSIEH9VENFbjInq7thSZSg_MS7VHjSjpeyOeHyrquRk4_eWPGhHaJ2QOgeij7t0NADLYd5IybpO7JrpCrDDVsuR3YAXPmDMR9lSZejxaNmUuwliTZJgYUzJrCed7pviPbHkcN0ND5OmR_1XBmRbza0Urew6YzzVkhwZPMOF1ECu8E9yMpw7rjY1owjLDeVVAUxjb04kfiVkuuWdwzi1hgOpIPV3ALVV5FLE6qGAhkXfJpeyV_VwL8dptJIl_Yqs1lddwMnptRuubLRlQacaFjs72ztkmbdZrcDlhjPgXYGpYwVhlinTC5qvJoG4bxSBs8ak4U3I81rRSF27Bh0p1xEgqyyiMixv0rl9f9dJLt_WFhtHzXpkkweoJI-VNJw_-WNLp5YLW0MQLkKuqpH2q58DuSOUnSLhXG9QjiYJpB2W2M3tbc1Ks8-F2Pj1MWX2ws1fuMlE-9oSJ8y5intY5hE-4aNBIVKTAIQwQa3cbBdbQDGXkByJJpWkQ==",
  "id": "rs_0de3862dbc437d07016ab2bc24164c87d09a81f41c6e5abda3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.36,\"left_z\":0.055},\"note\":\"At the lower height, the blue bowl is still a little farther forward and to the right of the green bowl. I will make a small alignment correction while lowering the green bowl into it.\"}",
  "call_id": "call_qTPjPlwDluuDSXdqITKzhtQE",
  "id": "fc_0de3862dbc437d07016ab2bc26fc1487d09fbc1bf0062d497c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qTPjPlwDluuDSXdqITKzhtQE",
  "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]: [-0.9276, 2.2337, 1.6863, -0.5053, -0.6514, -0.6971, 0.049, -0.0219, 0.8055, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4047 left_y=-0.3554 left_z=0.061 left_yaw=-0.0135 left_pitch=-0.2001 left_roll=0.0979 left_gripper=0.049 right_x=0.2933 right_y=0.0001 right_z=0.1723 right_yaw=0.0018 right_pitch=-0.0312 right_roll=0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -12.7658, 8.253, 0.8913, -0.4225, 0.1148, 0.2759, -0.0615, -1.388, 7.0085, 1.7656, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:851d4efe36bdcb485da0222b8c50d3bd9092416e41e342db05d2c2d071b9b3e2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2eb40f33fe269b2f10221436788a53d7ceeac4feac6657336fa56693a460fb65",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61a0b364e33dee5a9a96077684f89d1f139446e9cdd63f37be637b22f1adf426",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.904 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9245, 2.0914, 1.5921, -0.5518, -0.6544, -0.6819, 0.0462, -0.0219, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3895 left_y=-0.3319 left_z=0.094 left_yaw=-0.0171 left_pitch=-0.198 left_roll=0.1096 left_gripper=0.0462 right_x=0.2932 right_y=0.0 right_z=0.1726 right_yaw=0.0015 right_pitch=-0.0301 right_roll=0.0021 right_gripper=0.9963\nstate[joint_eff]: [-0.6496, -11.0427, 6.4889, 1.3553, -0.4274, -0.1441, 0.525, -0.0342, -1.0051, 7.0359, 1.7167, -0.0366, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.65},\"note\":\"The green and blue rims now appear aligned, and the green bowl has reached the nesting height. I will release the rim so the green bowl can settle into the blue bowl.\"}",
  "call_id": "call_KTozaIHCXP2DkjUPxQ7RtmUc",
  "id": "fc_0de3862dbc437d07016ab2bc2b7ae887d0b2a53629273b9a1b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KTozaIHCXP2DkjUPxQ7RtmUc",
  "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]: [-0.9287, 2.2631, 1.6905, -0.5098, -0.6514, -0.7033, 0.6451, -0.0219, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4035 left_y=-0.3547 left_z=0.0471 left_yaw=-0.0063 left_pitch=-0.2177 left_roll=0.1176 left_gripper=0.6451 right_x=0.2931 right_y=0.0 right_z=0.1721 right_yaw=0.0015 right_pitch=-0.032 right_roll=0.0022 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -14.9675, 5.9556, 1.116, -0.3883, 0.0562, -0.0073, -0.0615, -1.0872, 7.0359, 1.7118, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d89b49f88eb829eaea38079ad851c4ecfd5e9f6d4df595da8f8fd2547ea46f7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d97aa171e058c4c2a82c0c15fbf6093481e09050bd568e2fdaa169fd10152b71",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62e7d03c7fbba7d5c8a728e6f9488d99af0aa6baf8725c397f5ca2d513904caa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 11.53 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9276, 2.2337, 1.6863, -0.5053, -0.6514, -0.6971, 0.049, -0.0219, 0.8055, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4047 left_y=-0.3554 left_z=0.061 left_yaw=-0.0135 left_pitch=-0.2001 left_roll=0.0979 left_gripper=0.049 right_x=0.2933 right_y=0.0001 right_z=0.1723 right_yaw=0.0018 right_pitch=-0.0312 right_roll=0.0024 right_gripper=0.9963\nstate[joint_eff]: [-0.0479, -12.7658, 8.253, 0.8913, -0.4225, 0.1148, 0.2759, -0.0615, -1.388, 7.0085, 1.7656, -0.0464, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2},\"note\":\"The green bowl has been released. I will lift and park the left arm away from the bowls so I can verify the stack and approach the remaining beige bowl with the right arm.\"}",
  "call_id": "call_8BDtosq1MXiX6LV9oPWWRxr8",
  "id": "fc_0de3862dbc437d07016ab2bc2fe06c87d0b9c40be464aed310",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8BDtosq1MXiX6LV9oPWWRxr8",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.0134, 0.8845, -0.683, -0.1719, -0.0376, 0.6461, -0.0219, 0.8097, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.301 left_y=0.0017 left_z=0.187 left_yaw=0.0469 left_pitch=-0.2351 left_roll=0.1107 left_gripper=0.6461 right_x=0.2935 right_y=0.0 right_z=0.1712 right_yaw=0.0015 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9963\nstate[joint_eff]: [0.0752, -3.2068, 9.4017, 1.4725, -0.0513, 0.2662, 0.0855, -0.1162, -1.6068, 7.0222, 1.7118, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70659d984864f655bb0249a7b2f0253906f81915d23039f33bca35ffcb9d4cb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f13c8be1a0a7811b4474257d590eb99dab4c9cbfbfb5e6fab5be0955825e115",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a16f42d652797c08d783813aea98aac0079cb59dea947ad6c2e0b2ec3342478",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 7.966 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]: [-0.9287, 2.2631, 1.6905, -0.5098, -0.6514, -0.7033, 0.6451, -0.0219, 0.8055, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4035 left_y=-0.3547 left_z=0.0471 left_yaw=-0.0063 left_pitch=-0.2177 left_roll=0.1176 left_gripper=0.6451 right_x=0.2931 right_y=0.0 right_z=0.1721 right_yaw=0.0015 right_pitch=-0.032 right_roll=0.0022 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -14.9675, 5.9556, 1.116, -0.3883, 0.0562, -0.0073, -0.0615, -1.0872, 7.0359, 1.7118, -0.0659, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrw_qiRgOTU3b1QdPLxuyAVoYNuX6Vw2W95cXIqWMjvWkX_6_9sdTcVLrLYDDeYUUZZsqETvnpOknNXriPD1EvG1fKyCYrMtA-HKvqCCg41eNvEUJr_YBSrtka4LPV4SUwCAZoMUZQ88aw63UWrcrkJDao4-nTlEDGpi9mpEm-YnDSl2negAJzzbicPUefYjvWAql3gmIJ3vx-C81ThTAnCi2OnfcwMnfPA5vQBkOd5VBcCDOB0M6G9AbAbxP3-qf4A9aJdLrck78QtTyfNuSdWKmAm3yf5_lP29K_YYchyyOAmzIjbUG5_WFm9JQPKBFk4dsQo7KaU75d3Jg287-gT7UPXfLfoQ5rKMfQoN0p3ItBeary9RTMSCQqh14t2FizXpfhhoJVM8Z1t_c3RRHlI3PDg-q3oi1fqxhL9Q06NXkKrDcOOhzJEknWhaojS-dm--dmLHjqyz6wLGqgiePdVJXBaXrisQXpS_-u0Mkd__VGcIRImJfB4g9AwwWAwUmvxC-axeiRTDOk8yBwnxAUnynjgohbF6Rg0nVA1J0KoYU38-eVVDqnRiIPtddPEtvsyajQvxcXTjW95-BlzNpJhf8jIykeyHZ0PFINXRlWcf2Hvae6XumTSQph_U_Lc_xC07oXkYLJ2vQCpdDcsD68n65pWHEowwAzq1cZVRMZgl3N5ASZFWvjnKPcsMjjAkohmtccjwe6MopRPlirDiitFw-pMo24DpKoZlp4VC-KPHYvi6Qi3S2NsP7kimdeAxj6kYZW2O0gTTyWLPRis1u9AEc3U1b4OWPEBwOvqbQzeRBc9BMTBkzsNpiX_iS7_GrsxWYTKAq6OajLVklMZoUHMtAZ_cuunwlYXMA90N9imooL-sHoNUUDFwYbPJ5Veu4g0hq8M4mWbzlQXpL7zbr1qIq1Grxff2Q7ophUrz3y5MVtFSoEEMYWlv1Jn9RKsd2TZqFLv6XI86CQsnHx15anFHlUHbXDt4lFtmvLSJ2yfWtH15z3CukURBLmndxBDVGDFbzi2u4Sf-3p6Wc_2k35iGtcurNrmlrAP3XDo2wd7UnH2DRBq6gK6Bdu-BH8ITmMTKgOAEfOJ6_tuZhfhjgnFfr385V8uFOYW0teeyIqcGrZGPAeox3C78-ADgaMrudPiuVbmyJO-LQPoFqZN1z39Wgre0XAIDGqaArnZ3-P-SswIVGUpmpv48hG_X-apW6fhmjKSoGsNvjaLLSW980RO0kka8QMyxaVgt2rR-2zjDj-xkmomlddkThv5jHsKH4LVxEAStmh4Go4zf42yJyytS47DWZcWNZvVTI35_aeV1BNeU_VNfmXCr2wSUABlAb1_j49yHzMb-faquBvGSdB6q0f-1bftnnt5iEM2qXJRQvZ8G7B_F2LPe5fx29dWkVbQVuEKlz-Sip82okTRIDTmUTOp6gZ5kyTG0rnN4S0K4SCbCtNMn2m7aoWfrTFkeE3baOso_md1H7gfcnVshWFMAwx3zhIIc54d_49Q7fiB910FIOVE0OHNSTD7ptIvXV2Zr0Uwy1wIZcNxJ8DUgBPudkE6sqC6DeKtQgdg-vUISOwrAVmInj0CWoMCWzs9No0Tu6PgaPNtAEFOa0aYvX9XHP6XF5az7ATk8vQFHXz4tXNP4a8z3y5N60TKOxrPtqdju1xQG6HCGqMTaVO6wzpIpbD39WRIuDZYhz7EfozpwNqXF-pfSITir7CRFGFroFRpk1qNMMSmCH9vF453SY8PAhF-dVTJUy6iq7bAPE4aSXHM1aoQ5cjfwJyfnbLTKEIbjPfRXZLqWlclCORbALOvSzRG-H9phQk6RRaHZ25ExlI6yLB4qV0tYqYwAuf2FCCZCH-UgnO3jpzC0GLLCJLpWrothV_QC7jke1HGWJ1u0_AY-DaIg1qH13bbcLsPWEIWjhMGAR7gqHCpk6oOHkb5mAHIdh9XGfzczqv3ChFtjpOLyYVEbCTEa5W3PKd9__1YJ8lTEj8osXAeFvjig-pHCWyP0hhnufnFqEQ5i5E2bf-yv1lDrCpAVPT61Rl2nvHNYysNmLaGd6Lm-byJUrJI88E06CcGK7PA-q-vg7ZGWmCebUHTm2NWuNJc_vk4Y0l38RQ0XHIPOobc2NeGomCSQkspGgEqH6A_AfeJH8sYtIMKP84_XjvfQSkcnomp_sktwHy8CtNGl5T9kh96Dl6kRvfOpGor1dbdAQRwIQ_KCF59OzaH9mScrB039WWMPMQum",
  "id": "rs_0de3862dbc437d07016ab2bc369c5487d0b03f3a3c574c2512",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.13,\"right_z\":0.16,\"right_gripper\":0.75,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The green and blue bowls are together near the center, and the beige bowl is still separate on the right. I will position the right gripper over the beige bowl’s right-hand rim.\"}",
  "call_id": "call_jASE4AITDe9kPPdZn9Jw5klY",
  "id": "fc_0de3862dbc437d07016ab2bc3de2e487d0b33cb1b9951268b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jASE4AITDe9kPPdZn9Jw5klY",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0092, 0.8959, -0.7437, -0.1665, -0.0494, 0.6463, 0.5224, 1.3003, 0.7746, -0.2237, 0.3859, 0.2745, 0.7515]\nstate[eef_state]: left_x=0.2915 left_y=-0.0009 left_z=0.1829 left_yaw=0.0415 left_pitch=-0.2795 left_roll=0.1056 left_gripper=0.6463 right_x=0.3457 right_y=0.1265 right_z=0.1363 right_yaw=0.0486 right_pitch=-0.1167 right_roll=-0.0392 right_gripper=0.7515\nstate[joint_eff]: [-0.335, -3.1932, 9.8393, 1.6044, -0.232, -0.022, 0.0073, 0.1162, -5.5453, 9.3607, 1.8144, 0.3541, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:705454251af832e66909ba917a6ca965a15c555c9b0937170a9c75f4635ae223",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72f1c14f4dca75c165186e80b6d932623f4413ba42873608ba2de25df69748a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a2fd0c3f93c8b50a4176f8e75f5f6c8f5be1778ccecee6c8460177a0c627633",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.656 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.107, 1.0134, 0.8845, -0.683, -0.1719, -0.0376, 0.6461, -0.0219, 0.8097, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.301 left_y=0.0017 left_z=0.187 left_yaw=0.0469 left_pitch=-0.2351 left_roll=0.1107 left_gripper=0.6461 right_x=0.2935 right_y=0.0 right_z=0.1712 right_yaw=0.0015 right_pitch=-0.0354 right_roll=0.0023 right_gripper=0.9963\nstate[joint_eff]: [0.0752, -3.2068, 9.4017, 1.4725, -0.0513, 0.2662, 0.0855, -0.1162, -1.6068, 7.0222, 1.7118, -0.0464, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxJFE-N_sLILrmNqlkys4F2l_0iUjH2kXmmpQQpq0flCOR9IVRzaqTacjue1qN8lrH7t0fHWVFrnn8ekPQRb5S0kmSDDNq5NoFrSrwD7NZYYB07lZ4nLC7MQJLvglhPigdxxtLY57NMRCyIv_kWQDunegUj2bVmHkNLgpG8dTnv-V_zfj2XYb87P4yMYGzcQzdgaZGfwdNOOPpKNS75RMFLyoHO6G2zeyMtVIR_IVcQ-2mdAuYI7_ZRhd_1mfAXpGLSwTHqmeoVj8fQasU6W7e9sTXUMz3GgnTWnoAvCiAZwsLkVDqlaqOXtVqcxxk4XrYtGJPRPlqfspmynvKJMFGbFPlY6tGAObkG1HsAbjJZm68UBV5mt2b6M_4BGzMP_Bp0NaT5NYvy7cCxxheHTaJW7TFB2fC2rfhyXx1N2T50FGGZe1bv-fSCNs4qGaBVsuVrUM_rPSmAmr2PlOoyadHv0rPDZaADsX_f1UM4uKIq22IuC6MHDdtnhNEKLS2SNwbWHtBXwZfBcYpx_An-bBw4vY_zc-nTdv_kLRE8YnmF1J6GNEIgmsjjcB9EBKwHchCRYB72376F22YyukuoAwjVGlWI6eq1vPgHpqYi-nZlOuKwTjksmg1cgkNizbdvSsXIaAjAZkEA_H5VTZ7AdN_H0C5aCTiBDzh0RZR1HhsFQyQp1afzUdSea-YhbYrLECrvgAwsQSI23QZjLiAIlMmgZSbKPBdxjEuoVcqAPEXyeABQnF6Jt3Pu4KdGV8UmeNTgXjLDUb9YwQYYopMo29bOQK3FqnOLbzt_kvJ1Ilrzd3CzpTkkbeW70ZUSDKvE-R_5ZP4rUH1nIb3Sgdzaj1-4U-7kPsO6aFw_gYx4Wv2vE2HacuL21LyNPRHSsh1ZNtX1T4-gO64iYzaZ3P0s-dhjtCH5AQaajjV1sjC23OZPynLJPEw_NObH0NHY3OKgJPMeUOyMKaP_o2X1cr4iMjheaRZtw5I2WBywLlhgFa4FenkVYafIKAEP6MyMvtRTtdLUyXRWmFRMv1G8GRhXfyiit3cPI7TF4ZgQ2grN7hhzB7za3Jw5cZGEY1LwLt-uLkHPOqJwxlxsipBrXKcUTsWtaO9jU5kr9NhjnqSHoNYcaj9Y_7GQfeujcx4QOWUxkb5koO2ygl7ytVo3HAz9zoR41ymyCKgPTCVPWvorjhVWcW2vhMROW_P7gxzRGfPh2wf-37suN-eDPx0GuykWPNnPqzqKVudartrXQP6nmL-ORfvwfeaoGKXfXrTOOzNMMs-6SLJLFkKiqMwDFIS2nccm4T3pJWvuZrCE3NfUfIQWmFh0l_E9LB_1ZY5iD7OP7dVar8FtaDohWFIeppxn6geYWHmgy_utns6vZPCU8A9PI0KJ7B8fUMTNpD5YBoJAaoYBYVF-OOhKHroS1EzZRfLQoV2nn9cyqRV2VYUVXlITm0Hu83RCPcPULz097--5CMJRZksg3BrDCw2zAIL7cqxb3dfwDONCp-QxcAACQlztBRVEFrScfeiP1tEi9Ddylh9l4f7-WubWQZSKFj_zV5xi1w==",
  "id": "rs_0de3862dbc437d07016ab2bc44e61087d098eea91feab7090e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.095,\"right_z\":0.06,\"right_gripper\":0.7},\"note\":\"The beige bowl is centered in the wrist view. I will move slightly forward and right so the fingers straddle its right rim rather than trying to span the whole bowl.\"}",
  "call_id": "call_rdREZG07nVSeUJzAVNW6OqfT",
  "id": "fc_0de3862dbc437d07016ab2bc47506087d0bbd91456711f5a57",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rdREZG07nVSeUJzAVNW6OqfT",
  "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]: [-0.1162, 1.008, 0.897, -0.7486, -0.173, -0.0494, 0.6463, 0.371, 1.5043, 0.6033, 0.0784, 0.2932, 0.1841, 0.7013]\nstate[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.183 left_yaw=0.0473 left_pitch=-0.2813 left_roll=0.1111 left_gripper=0.6463 right_x=0.3568 right_y=0.0879 right_z=0.0454 right_yaw=0.017 right_pitch=-0.2134 right_roll=-0.0764 right_gripper=0.7013\nstate[joint_eff]: [-0.1983, -2.1949, 6.7487, 1.4481, -0.0806, -0.0513, -0.0122, -0.2667, -6.4889, 6.1197, 1.8486, -0.0317, -0.0073, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:423dfa7b32bb92c9d733a1146fdb21bf13942cdb94e6aec4f58be9e8ced3f566",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e8aa37485987f260861ec2bc6a4655757d5503168d1aa51ad1a683987a1cf7bf",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2abed3598098292da9fed0c2be4dadc05b15e3084ffd05a587ed0d94bd4c9e5b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 7.243 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 47 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0092, 0.8959, -0.7437, -0.1665, -0.0494, 0.6463, 0.5224, 1.3003, 0.7746, -0.2237, 0.3859, 0.2745, 0.7515]\nstate[eef_state]: left_x=0.2915 left_y=-0.0009 left_z=0.1829 left_yaw=0.0415 left_pitch=-0.2795 left_roll=0.1056 left_gripper=0.6463 right_x=0.3457 right_y=0.1265 right_z=0.1363 right_yaw=0.0486 right_pitch=-0.1167 right_roll=-0.0392 right_gripper=0.7515\nstate[joint_eff]: [-0.335, -3.1932, 9.8393, 1.6044, -0.232, -0.022, 0.0073, 0.1162, -5.5453, 9.3607, 1.8144, 0.3541, 0.2027, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxOVo040nJo-kiy__8Xw2cnPuU_UajRraipPlOdUjV9xIOQGaI4g6Fh3Pvq1Sxs5Cd9LJ-zyNLqu_p-xFVWe8B2HULUkUg1oLfhDMkjfQEILMBDoYTRAykcLJp6qh2njlexLmO6BUiSlF1KWleKZvTQijPCsfFZf0y74l0VCMMTsbB1oOiqnnj8do7TluuLXcR5c-VYLcmSaQjEhL3FA3gchmG-8iioEseJdfFRc9JHzdzb1TLf_TJW8M8VCyDPJYdihC3kPQ4DIsS-4bOy7X38eKwClIW9KlXoXNuZLvE4PuWOVSlrBlnGb2s0YDrDRRhYD0XndoQS7Sb3A32vinheeK_byuTWGgSW0LzobgxDJ0faye6hCWFCIYqyKaR2pjVRyGlMott0GMKAWQn8Zoi0dtVDZBZZL4RCTtJvhwLt9xe1hJgxAKMws9y6YXyOHOB6mdF5h6hV_FybTGkK8leLnlXsIkTxZyLQOGZ15y74XkuUp9ylNI6Xq_dbf2_4JpnBnmmVhB6Y10h6BqsQjF0lF2E2Lq4DlNW5d2Y0DuDVRupDdnVtK4XgIZmSrGis_PW9esJHBwFkvCzMtENxiZb8KEGalFl6QZ-TPXN1ikVStRqq-bO-GwRPYxBMbndUYnASoKwP50HEAxtDEOuokIX0oXoDr2TrhaCfwN1F1APAC7vYe2Kb-dgNbnkUnwUy4SXe2StUkZPRHCgXeq_W2c9QoyvhLBSNxGE8qULrQSp17HhW1JhqD4HdijpHmPl2oj46Xo_yoHqvqRE_YnS_Jj62ELNohBuLkI_FRJTl3vahO8LctE4TN9YJDA8LXUcUkETrJf4ra_qIu2SvbsvwxUn07AE8FgW_zUm7TYnWTd3zFBZ8_qJnkv83PuDQbdVcykx47pRMUzUpa8jSjyQ4mO7ApZb5a6SRaAR01fcZXqVkWim5Zj-FumRZrvir9qzAKdn4iXIQRDvwdEuq0rirWzRdPhrfwu12e4iHdiLI-9uW7myrt6Lb-yIf8lAabKmnLnrs51JtLOEU8QfUOwfBQtC4_dyH4fJTid7lvuimv0-ynFRkiz1TuBRVelFLPtCTrDKNbVA9tTvtTfCtBAYStn01tr4IakkCnnEOdI0CDliwAtuvk_wndkyM86Icc79nY3ohoIyngpeOMzEG1IyAg8a3CHBKK0b8ck-NjsyBmLtVNqmhS9VrwpzQuLEfOGd_J3ZTbHfCeUIgWBAA5MenPBdHn0rrtbTcsxtIxAvBYorEWBGaSxCTfkIbcF52-xMjBqUVq14ptT97PdE_pOp-tfGCTA==",
  "id": "rs_0de3862dbc437d07016ab2bc4b33c887d0b9d379a8377ab87d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The beige bowl’s rim runs between the open fingers at the bottom of the wrist view. I will close on that thin wall.\"}",
  "call_id": "call_bnnzmUZueRlbIR27BHdCjEu2",
  "id": "fc_0de3862dbc437d07016ab2bc4cb09087d09022cee7ab67b1db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bnnzmUZueRlbIR27BHdCjEu2",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0103, 0.8955, -0.7483, -0.1734, -0.0494, 0.6463, 0.3672, 1.5127, 0.5957, 0.0906, 0.2783, 0.1837, 0.019]\nstate[eef_state]: left_x=0.2906 left_y=0.0004 left_z=0.1818 left_yaw=0.0478 left_pitch=-0.2847 left_roll=0.112 left_gripper=0.6463 right_x=0.3558 right_y=0.0887 right_z=0.0412 right_yaw=0.0254 right_pitch=-0.2207 right_roll=-0.0675 right_gripper=0.019\nstate[joint_eff]: [-0.0205, -2.6051, 6.8034, 1.4676, -0.1148, -0.0171, -0.0171, 0.3761, -5.8735, 6.5573, 1.3016, 0.2662, -0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7abf0dbcfe110b7bc076d49c7bfe4415450a46054614a0e8be4b7bd48860e4a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:146b42e22e719ce77abd40c0b1ba9f19d3881d9cdfbb19265388608e26101654",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8323c00b71fd7c6ac3863cb49c7d4633d2793a713c5c9a9a106b5cea501c196",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /responses · status 200 · 5.025 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 51 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.008, 0.897, -0.7486, -0.173, -0.0494, 0.6463, 0.371, 1.5043, 0.6033, 0.0784, 0.2932, 0.1841, 0.7013]\nstate[eef_state]: left_x=0.2907 left_y=0.0003 left_z=0.183 left_yaw=0.0473 left_pitch=-0.2813 left_roll=0.1111 left_gripper=0.6463 right_x=0.3568 right_y=0.0879 right_z=0.0454 right_yaw=0.017 right_pitch=-0.2134 right_roll=-0.0764 right_gripper=0.7013\nstate[joint_eff]: [-0.1983, -2.1949, 6.7487, 1.4481, -0.0806, -0.0513, -0.0122, -0.2667, -6.4889, 6.1197, 1.8486, -0.0317, -0.0073, 0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxW2Gf-lbD-SlG2n-Q3wypvpO-EqB7EuFO9rxKaJ2KCr5eSb8CjoTRijS3tax2sQQe72dOkHbDih2E003aufytd7Pd4L60BDm7qTGrbtk4Ci8OWskEPELK_LTevV4y7d5cydJMuiZKilkCTfGqLhf1SAWJ23BndkFrK7fy226APzMBzSkdihMr0mUeLNqWUiL9hE3EOtpq4kzuvVfJxqPgYE88oB8UrvAapMeE6A53Z4BUiOBgZK4GUZBdjytKarm7ovpQsy1CPlc0JDn8ruOuT09WUYAzjRqQbUBft1xgszAn6vnqA4DvbNUGkej4r-e8vsV1kY0RBQYitWHenFNqGQy8ryDawPg_uw_SVde6x6CDLrlkDFk-cOv_aWP9QkN5rXXKzsBuElMDlJh1LWaSi_-pYtenGumOQ4sLTt5W81ZWHV9ICfTX9XJHGimjqV1O09V756lWBNkL8edelyp1W3jwwAWQjQl5YEbt4DDKD-H7uUtIjBkpQ2uMXquoibkEIZXkJVoEdDel6IS4A_oGOjsE-UR_AkiqJFy3lwbIaQUVOIVoW0IQ_FGjBVq_ZdqQdqueuH8Q4eOQSFsSGJ6sim4jf0K31yxN_-gWbiuwrUej4gwKed5avkQaMLjniWr09fy73JuVlDEu6nto4sJ39x2SA9GaoPAVG4gnLXunV0jRbI5wSQ1kNOfeThwcJ7Lx14PrxVVbnI3s0j0DmA3wOdEr6KEpAD8h7yQOxsyW9Q7BHffrM7iw4Eom5wCvi5MwhBYgATcNDRztj9CwjND-fKM29RL1KAGZZRT-ac0rGogTC0hrciLeZjPqKPpboZYnlDUFWKee82n28p55afvV3K5hO265BHfBwjpBFVnwdzcL3M0MNtZAHm7yjLPDlL0-qkr5lrYrfn0EXXIm6FdLDk5HOmR4MqZChUnzOZsZcw2VL_3HPDby7wLVM0aZkN7XicQSU3wF7mX-o_Rqp5S-Z20auYXSHsT2Zqy-b2jvxHMOKTUX25y4qMiBKruuBVyB0PmKdYc9qGwnOC8jQMK24d-IN1Uvv1iPG5AR4Ei5UWPR8w7niuTn8_n9vh6_17G6NYwSdPfTCr1BZ4fGqKBfOYWr20Pi0C7fo8MmWHkhqV4PpHJ1FyDDq1MwvrlDBngPwbrm6mj8DYMVvsAjjOr2HpExHLzX81XlO8M_AVP-I_i4IS0MJqUyIQYNuAK58M0LF0dH5PKehgc858GU-8xXbtBskQSDzXoDofFiIlssHvwSaGA4_y-IpviQkwkJgwBN4reRmHUV0z2OIInsMvq_AQ6uu7VonG0c5cO0EsFbFaEGVzrKB3hOvLgUX_Jfzo_d7pIGVFnIxM4C9y9yvciZItSAAYDa5Z7s5cWaAlz6Def-jnEBb69epBUb-vJoDU7rAy8zTt6jCqD5mqeb2cxmsjojvX9BlNNmcy_5waDNhxnuagqjz7SgfVoLXbAh6G0NAT7xgh9Ew8jAGwu25RnBVWsYJVuaitqfbT840NyzwsMdZ7gr83mbv358HhVVQ6_DYdjF2Wtub57yKhcEzsaYsBdybuWIRp6iYNm-AiHzNmx3N8aROYk6G5OlHTHNVHEDn7sJXLvEPIklbT-9v7XQNFMGHeReQR6VOY__JA3l-5a6ojOXtNeBBiv8NHacULdCiOWY4n-mDrB2RPbG1TwEsUgN2HUiSeVp31abJ8u_igt8=",
  "id": "rs_0de3862dbc437d07016ab2bc50dee087d090b53c246efcbce9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65,\"right_x\":0.345,\"right_y\":0.11,\"right_z\":0.055},\"note\":\"The nearly empty gripper reading and the bowl’s shift suggest the first close slipped off the rim. I will reopen and move slightly toward the bowl and toward the base to recenter on the rim.\"}",
  "call_id": "call_m3isbuTFWRJsw7FRcMRyIokh",
  "id": "fc_0de3862dbc437d07016ab2bc53f7ec87d0a891fd1ea5e090d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3isbuTFWRJsw7FRcMRyIokh",
  "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]: [-0.1162, 1.0103, 0.8955, -0.7486, -0.1738, -0.0494, 0.6463, 0.4568, 1.4891, 0.5999, -0.0021, 0.3176, 0.2363, 0.6454]\nstate[eef_state]: left_x=0.2906 left_y=0.0005 left_z=0.1818 left_yaw=0.0481 left_pitch=-0.285 left_roll=0.1123 left_gripper=0.6463 right_x=0.3359 right_y=0.1076 right_z=0.0377 right_yaw=0.0475 right_pitch=-0.2678 right_roll=-0.0831 right_gripper=0.6454\nstate[joint_eff]: [-0.1299, -2.3316, 6.7487, 1.4042, -0.1441, -0.0415, -0.0122, 0.1299, -7.1863, 8.4171, 1.4725, 0.3004, 0.1294, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e57668397118f78270b56e66107a1f3404156ad18b1ab0fab3a699b1c7467f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4221a139920232de7563efc445a63743564a41e9852eb5c3f4c5f30bb634f125",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26b1ab2ccfbf7cb12488e8d71f4e15e4884371cbda7792dbd9b50e6f05939399",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 7.86 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0103, 0.8955, -0.7483, -0.1734, -0.0494, 0.6463, 0.3672, 1.5127, 0.5957, 0.0906, 0.2783, 0.1837, 0.019]\nstate[eef_state]: left_x=0.2906 left_y=0.0004 left_z=0.1818 left_yaw=0.0478 left_pitch=-0.2847 left_roll=0.112 left_gripper=0.6463 right_x=0.3558 right_y=0.0887 right_z=0.0412 right_yaw=0.0254 right_pitch=-0.2207 right_roll=-0.0675 right_gripper=0.019\nstate[joint_eff]: [-0.0205, -2.6051, 6.8034, 1.4676, -0.1148, -0.0171, -0.0171, 0.3761, -5.8735, 6.5573, 1.3016, 0.2662, -0.0317, 0.7497]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxbofSgBcq4WMqIlBzTNxnbpFOsWNtR-pfmlVz-2CeDfjWiQXKYd0jBU-7UNHvyHMzdSzy5NxXFkupTZJDLxaD-hOAlghW4gj7wzISZZ5x3OtJyJ_fpzvktcSXTINM2TVTuwrOA6g7A69Z-bj8HUzjnwpVdIPUlPLQ4ZDOcT08dV41VsUZE_VFJ6qKFBMjdvydCxXTB8P5UOtTeo2ScPzjq75fgm9csros8TLupjjVBX3EG1w62BM4DxfQxCTHXzNEBJ5_yI4YCICZd047Y3ISVjDb7NXUcqgO-FfOK8UqrPJUIcMok0Qxy0IGnIxew6d1hMU-mPhXuju6Qm7PqKAgSCYkRQ6WIB7TcJCTCdcrUQe3FxSPAK0eJU3xGW6xjIOtXpIEphbNkzscrkctTO6g9yZa9v5fjissBPjx2PmgSvsBhkTcnY7lvBtQJgLlZZUw83hbnqP6kEcOYjAO2wmYpnDjw_Cm5Uw_VygPOXDTRk5op5irrG5YcOx7WTWqGaCSKP94w07ftNoX2BVPXhSqRILuHFUz_bCs_vHDhhJ0PFYUFT-GoSgCOCj--W3_ILHXEoz3iUL2Fl6TcGK7R5DqqTVgUa8lHyZx3dqvgiI_XnNpODlEZ7nrn90PVF_99eb0KTWPXwix-mNmyekidovbrJekUXmv-AwOCCiygSxTKOUNsa8Exryi891M7BSTxd1ZRLscp5_vZJHs7b0hf5qLVf-q33mMsenWic7jfQTw7n8JiSTiN6U6RBekj2ihKQupCJoztgKosMKrZOJHIK5u1cNJ31nEou5aRK5uQ6oNJD0uOwjynXSyUNK8dALvltHiLi-BbtYvIubS18Ln_oDac98kQmMVIFsxVexBPzBvVG7W5OX6tW3qkJHWi14uqt_gAkfoK0motIb3FGmvBbFclNi9tsKp5PwIwdaqu4bYY0t_Ucx46Vjnc3Orp66LWr3f_rvy7BOPDDdyWcwkun9rzPGsccxSuOnG9CuMxUpsjWKfcAWZYC0p0IYEvMzbS9BnUt5FoQq8DDciW14snjsYZLOXCVCSjtso_9hhncaCf9FZa_cjMuQLWtJeuDto3M6r58aqXDZj2Ai0ZzKySajAPRTed6Nwsd8Az8Y4XpNVeYtNvGb9ay6Dgcv0DSyKxEMdJb4r7N_Hm_rXhn6WyA5w7q5dXKb4yVojAywWVg0tSWqxJUxpkImuBWIXQltMNTosEIiE3w9jsFlx01YWSqYi51e9taCXgNCFzYMG_Xu57zTvHU4PG3M1dmZ69N0r0rWrMyDvxv0U9uZg2xypkRAyXWAsgnQua1T4KHKKWz52IskKKVWTcqBIgdkA__hgG5J4OKEdLa-Fyma5px4Hlgo3uMQ==",
  "id": "rs_0de3862dbc437d07016ab2bc59492487d0b30229098b102a8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"One finger is now visibly inside the beige bowl and the other is outside its right wall. I will close again on the rim.\"}",
  "call_id": "call_Z6mDYNexHi0LSdny1H1eW5H7",
  "id": "fc_0de3862dbc437d07016ab2bc5a93d887d093ebf2657615aab1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z6mDYNexHi0LSdny1H1eW5H7",
  "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]: [-0.1162, 1.0119, 0.8955, -0.7486, -0.1734, -0.0494, 0.6463, 0.4576, 1.4872, 0.5999, 0.0036, 0.3103, 0.2359, 0.0163]\nstate[eef_state]: left_x=0.2907 left_y=0.0004 left_z=0.1813 left_yaw=0.0479 left_pitch=-0.2865 left_roll=0.1123 left_gripper=0.6463 right_x=0.3366 right_y=0.1096 right_z=0.0389 right_yaw=0.0553 right_pitch=-0.263 right_roll=-0.0749 right_gripper=0.0163\nstate[joint_eff]: [-0.0889, -2.4821, 6.694, 1.4042, -0.149, -0.0415, -0.0171, -0.1436, -5.3949, 6.2017, 1.072, 0.2515, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3056ce3353d3176da1f95b00828c20ce3c622c2e7864bfa3c1d8f8c9fed35e8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df4796920b148f8291ef29a484575e425c433249b65a6eba357c608ec2ac7f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:307597c190247e806e225028a91efa76db509f44acba09a4074cc957293bd463",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.595 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0103, 0.8955, -0.7486, -0.1738, -0.0494, 0.6463, 0.4568, 1.4891, 0.5999, -0.0021, 0.3176, 0.2363, 0.6454]\nstate[eef_state]: left_x=0.2906 left_y=0.0005 left_z=0.1818 left_yaw=0.0481 left_pitch=-0.285 left_roll=0.1123 left_gripper=0.6463 right_x=0.3359 right_y=0.1076 right_z=0.0377 right_yaw=0.0475 right_pitch=-0.2678 right_roll=-0.0831 right_gripper=0.6454\nstate[joint_eff]: [-0.1299, -2.3316, 6.7487, 1.4042, -0.1441, -0.0415, -0.0122, 0.1299, -7.1863, 8.4171, 1.4725, 0.3004, 0.1294, -0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxk9pZq03C1MxHXsUYpefkHi-9QZ-hAkVwIEUyRDFNJh8WMY2pOU3a8ZyDLEqGcuBrjD24fWqF4oiFuyHv36CCvWzArjd8MaHZJuR_f-OPZHYlM981aegaQ_AX_0jhsU4KnWArbjHr-t8Ku_uqC8Gc36aQhQ4KFR15hdVGAS6D6y73TtcircO4Q7ojm2McDpbB-9zN7wX-gO2BD2kenguk7cXp1peIUYmjrCdTXNoNn0RRIRrfNMx7puCa3hLDD1QpCJVCxR0Xa7R-bvEMAXkyVvNvW2ycHNyAaXY0g-CDgrvyPFRmvG8Y2c0MYLUxiOuJ6AaUV2w9RmJe3gXztdzbOkVYTQng3rIIIB3cVcufqAHBHVn2NwaMtpCdeuXbNwm2hIe_82NLkCaWeLS1jG_W4_-nB99JefzonxK31CQb89efASiNPE0kONWexl1tNlBDAecxjdZVSlDq5Us52F0JGHH9IcCeiP8Hcl673pc69qpMLu3-t1P1lO0mWyzJqunBcOe8ionk5n6-U65lPvbOxG6Kr_R6NOditqilvXdJ_x5cCgE8qj64amoTwo50RHm9YUupcyOPTT-vV1Pvpwa94EmtSp9XSBRMXM4rePhcxZ2GyUD6gcfSv91lUReNBPIelM9dbzzXvliOJOrN4_MDr3g4Ma61lVcQ8PwtlUXEDwK5C4JuvObR-edYkdpCVuGS8Dk_foP8FyMxIZzymMMlZi-o1rQK3xvhzwp7RmTBUupEe2i5_4Ukd404mZuukpFYAXFZK90qSNMjMH5oDxHrMtl_TvA_9uFqLhnNNgWxI_rjs79pIPhUv_Yxh20vSykPpe0uuObNfGVBX5Sp1Ff9E1-Mg3uiI4GFGTlOfJ_5pUJ15EPAiaKQ3aMx31zkJdXsxY-bZtBYDGbddXlVTaoCdyevTfGRf59UObek7EDh9rTo0sohaA-y4gI4PDYN_HCZQifu_g6r9G3936VRqaq8vd5bggO4kiBOOJnS2FVwq7OrFhBtPgZfXrHvektU_tiUWkUIGGcOW9zssV5MkvL65IuC-Bc47QM-neep_21sY-3miQ3uQQqwhP4-c82SjYPPVXCTUcKF6CZQ2nCkW2cNS6EdwstrC99wooIPPVQwV4ONpqavc2uuHQyi4KVls21Xa9ZD-pREMTdkPONLVMPL11MmkewDt1CuZvO2zyDwajwUq_s3H26rNqOoMMSFDMQEofBFa9QB8xSLmJ29hpHBO2E6EJdvYQgcT57kQrNOeVzEJz_lhbsgpNBiT_iUJhOYhbFeNoxGscTBl-R2MgMnTN-ARcLdEMlReI62mf4Sxb-a9pflzQugEJKARN9M-f7tfqAA88mAODy2hTI1GCbYMEtC89K3ph_GO2yiXA5nfc0wqA74s4Stv1mUPlUzv8CRsXR1oQ-AAKthxHGL_MRRr0j7H8tkXFuB9Lpft7PfuZlbFjKa5TPPybhSMeBdavCK2cjLEKWmO2lslJVph2LdqEnJgq527648hWU_Vk4Yum_EXavOLwZ8H96Uc5soyHdr0i7kiXHBfFyo-sGQYm6oYDRdBaZa6YnHAlDaIfof92sY=",
  "id": "rs_0de3862dbc437d07016ab2bc5ee3d487d09b87cb63c4df7532",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15,\"right_gripper\":0.8,\"right_x\":0.32,\"right_y\":0.04},\"note\":\"The second close also appears empty, and the beige bowl moved rather than lifting. I will clear it to recheck its position from above before choosing a lower, better-centered grasp.\"}",
  "call_id": "call_hNvq5NwjETzD0SamY8VZ1YCW",
  "id": "fc_0de3862dbc437d07016ab2bc6227f887d0a49549dced482924",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hNvq5NwjETzD0SamY8VZ1YCW",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0138, 0.8955, -0.7551, -0.1734, -0.0494, 0.6463, 0.2001, 1.1458, 0.7662, -0.4644, 0.1623, 0.0505, 0.795]\nstate[eef_state]: left_x=0.2896 left_y=0.0005 left_z=0.1798 left_yaw=0.0483 left_pitch=-0.2948 left_roll=0.1137 left_gripper=0.6463 right_x=0.3219 right_y=0.0398 right_z=0.135 right_yaw=0.0292 right_pitch=-0.2654 right_roll=-0.081 right_gripper=0.795\nstate[joint_eff]: [-0.0479, -2.6462, 6.8308, 1.536, -0.0855, -0.0513, -0.0122, -0.2393, -4.2735, 9.306, 1.5604, -0.0659, 0.1294, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55653e69d66439c258155c3a5dcb6467d3d8a79ab227d7f905d324bd143509f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af8a7ffbd056f908d746720e5b8501f3be46ad1af8daae44d4720d2ba1f5785c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:948d989035828040ced8e1862eb9a84af4e2e12fadb68cfb80d3f4f6bc505325",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 5.897 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0119, 0.8955, -0.7486, -0.1734, -0.0494, 0.6463, 0.4576, 1.4872, 0.5999, 0.0036, 0.3103, 0.2359, 0.0163]\nstate[eef_state]: left_x=0.2907 left_y=0.0004 left_z=0.1813 left_yaw=0.0479 left_pitch=-0.2865 left_roll=0.1123 left_gripper=0.6463 right_x=0.3366 right_y=0.1096 right_z=0.0389 right_yaw=0.0553 right_pitch=-0.263 right_roll=-0.0749 right_gripper=0.0163\nstate[joint_eff]: [-0.0889, -2.4821, 6.694, 1.4042, -0.149, -0.0415, -0.0171, -0.1436, -5.3949, 6.2017, 1.072, 0.2515, 0.0073, 0.7009]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxqL_14u2zJ7c4QQZtMql7Q-U433b7DMawm0vcp_EHHGzeIq94ZMpNwMEMLAMkGPwERK6qpMMgEX6bmcM5TnkOLkTyhOLSs3B-sivSUBlb7QItAUPJGWDsFXQvt9kw0XHbYFbryz75q0fOXqASb3kXahn4gq_saJj1Nyh5MCsmPtlaxxV_OrjY1f66ogdcvZ5CW_Wm2HofghPfwwZWgFtlSLfcifrBrT9yIwC6tIfq7EJ5gZh3Pk2R7I9wVbxoaBfv3BZirHC99UfXfZxWWghXHu7Lzw20xiQqPJQ72qyK_ZCPS1P9U0zW6nxycyOM3bRtIkvH1XxiDcSCZMGLxfRZlPI3BuNXis6LO1pmOse-AGJO11tFhpPqr4RxNnt4M2Julgf6xHOtuKhej22AMVpE0-yviWOrD4fNGwD_iUlhcEXNqAlTpE8gSo40HmocEj3DChHTGba4LDJCZCTIBVgLTiwFaWABQU8fMWz473XQQnCDe3Z62JXzuYv09Vz6_lG1nUdURKBMDquowh20MR0difBoEnfIxDrc2a3oiBegFMRlSoUXlDB4NdEXZNd71RLf5zKMevtPGc2lpwK8trKpxlOC78VG9IR1hMLfrfgi5Pzq0fk2c9Kc9c5mC64b2BP-_H3OnyqqpSyYagD9FkehMHGJO9Nr963H1tI0GK6Wy_eaam0w44-CVrtvW0nt3Q_3n14QWeRwmwjYvLUdZAvdI_bH-rvItvbqAWPwnNpAta-zx6VRIqpajicztC5W7OmiInZI6BtroJZ9_bpMG9n65VYpvAfMBbRk-_LqjQF91YKRU1vDqvGoLEsSSDhZxH8yAow_Y281Gg_NPQPHTuzldjT6xVJbQhV502OJxUMiYKksOHCN7iOZW1qQgAgh5cSiWzOey7_Zvx3lucy_NGvgDINmibMbedkwcHM5UpnrrqepDBNGEhh26AHiOGRZ-CnLJm8XkctzjWlrRdd4T4I11LWfQN3Omch1lkRRFda52SJPpzf1KDZQJUItCPkAYbkWtVNE0uumR9P6GKtZaPLtMCneag0mY0ZWuViJZZYdoeGWIfob9xf74Wfo1SQLHTJCtsPCcuT1h2FrHT3o5_QJb_bqqEfUBcme8zHnDbROhWvIQt4C9KiVKE3eIQhDh_xDafogKhhTUEBlITl6O2k0sj1VjtjSPULfn7PrtV9VuIqi3dZ5RGIiWQB_FcIGqQQp6ZiK2NjWjoZ7IQafYLHHDZBHLXKHKRl_izrwgq-sxt5sUWFd9jiH6aUUQp7qO8WGZAM0lDiByhUFOM73jnO5FVVO2VEbfowsv4rlWmfDo3VdES-eXs3ogYTgOYuvgchd8u7fuIYkJ89SGby1rq7oFADZXk1aTqJZdKWNmmFW-7SgOEpphPt9lt3Bq5Jla9JA90JQj28bkLTuLFdxnX2FY-QaI1ZkvGmwFOEWTDjleX6E=",
  "id": "rs_0de3862dbc437d07016ab2bc670f9887d0bd1dfacc2167eec0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.31,\"right_y\":0.14,\"right_z\":0.025,\"right_gripper\":0.7,\"right_pitch\":0.18},\"note\":\"The beige bowl has slid closer to the front of the table. I will approach its newly measured position at a lower height, with a small pitch correction to bring the fingertips down along the wall.\"}",
  "call_id": "call_VpPGuWfTKU8iDRBY6n5ZpEp1",
  "id": "fc_0de3862dbc437d07016ab2bc689d9c87d0bbbda1ee0fa5a0ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VpPGuWfTKU8iDRBY6n5ZpEp1",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.018, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7467, 1.7557, 0.2512, 0.8803, 0.6548, 0.2535, 0.7013]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1785 left_yaw=0.0485 left_pitch=-0.3001 left_roll=0.1146 left_gripper=0.6463 right_x=0.302 right_y=0.1379 right_z=0.0083 right_yaw=0.0738 right_pitch=0.079 right_roll=-0.1323 right_gripper=0.7013\nstate[joint_eff]: [-0.0479, -2.8513, 6.8034, 1.4286, -0.1245, -0.0611, -0.0122, 0.1299, -5.6137, 2.8239, 1.5946, 0.2955, -0.0366, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6553f6c824e8fdb261635022923c8a0c940d0e2c1d5e5f3837fbae7fc45226c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e017b4de94b6e90349160ffbbf97c5e7217c6d246cca49d18d0a8b44fc76e33",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6d19c849c723248583d0490e48d19721e099783801358c3da155df5fbc3654",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.369 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0138, 0.8955, -0.7551, -0.1734, -0.0494, 0.6463, 0.2001, 1.1458, 0.7662, -0.4644, 0.1623, 0.0505, 0.795]\nstate[eef_state]: left_x=0.2896 left_y=0.0005 left_z=0.1798 left_yaw=0.0483 left_pitch=-0.2948 left_roll=0.1137 left_gripper=0.6463 right_x=0.3219 right_y=0.0398 right_z=0.135 right_yaw=0.0292 right_pitch=-0.2654 right_roll=-0.081 right_gripper=0.795\nstate[joint_eff]: [-0.0479, -2.6462, 6.8308, 1.536, -0.0855, -0.0513, -0.0122, -0.2393, -4.2735, 9.306, 1.5604, -0.0659, 0.1294, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrxxz4Bfg17FKtWsz2GStjH4g0RyGLqVhs1nxioaZE1ibougmKyIPMMav4nhkPb5XrkApf9tGEoKdpk1fcIs4JFZI1HR8mjZLqGT2egEn94eSV4fnwR5uDn7X6UlN_Y_uFf_xH8rt2aCFCRlG6jRFFTGdroIPoXIvtv6DgVijhCv7r9p_voR7t5_Ak4lhKO11iUU3mQ6tqa5LXNcj_68xvJqjD6KfP5QPoj7gLngq36-2mYG8T-6AHOyI4MOt2RVQ6Y03BRtcaoeZasvUv8DGWeJfkYmORy08WHLEk5k0m5Zr9kCZvDutIuVtSvdIg8ILpgluEPBmp3uHvT5kWO0zDxkyFrvAxPdvNVJENi5Fxp8Z6T0nfgbxCL4ECQ9GN8pc-Qg3ilJATQ_poWB0WLAqp2geFKT6LNC_3TfECqF-BcWgWgFB82rnay7ujrz7r5F5fLzocoTkIFwkv1SljlkdGUhYW_PgIR4hj2ULbxF5vKADRlqwZ7rH5TjGRArQghXmTayoePSFS3H1T42pXyB7JetGDTQaG9jSAydO63F9O6Hjpt8gWaeTyiH3oc75Lmdp8J8khMMIhAVW_ybE7Ugiofhpq8h3KsLhJ2wC9Lt5Axy9NWBGglJ7kiZ1WBXw2Dy_DXWHYtOisAGAXJeQydx48eZrYtQx70IQN07CYeBAjY2E1AdG7J6NjxCqrh8OO8jR12Ujs9OFTMwHxXj4r8JML86ZNu2QUJlEZcv9I8OqSqISfqj7nobue--PkN7fKwVUmjqy2vyGgNcvijNdGqQi5mZo7IqSpnnuECejsFEnrBM1F1VXYwxygnr4zHsBVVTK_EzQzy-fVjw8IeRNv27_lqY7q2HmWj-4rUtjoRdJHc2Yxwah7U5ymNfEmVlOZVWSePsk3q4hxy7rOc76T0PXvJt2bFbI6OjheJC-l7gc-7-uzWLI4e2VjYbCFT8DWRgbwraiZlUMBDwAXdxxXR9IEhkiMFvI2xNnJtsSO2lKAaU3O0Kstpjpm3yGehOF2xx8tqgaedqHWYfGQw0gTsjtgOx7o2bSsMWxltrf44LaNuhleF0WYxjQNA8Hq2aly0eSQ5jrbUUS0eL9MlNNx6LIVhhQf-hYzQQHmEV_o7UL9qqqxgrcRMpUtbr8vlGiVkwF4eIV7PQlRtwt2C43cSGrDepFHAG08CD1jNrDp-10OXAhk2-r-8K7aONwwQVoQpmP95WQrYUuxpgG8wGSYlcVyzk7p3sBnSQcvnF40_b74CjI-p_q5FL7F5uFbkuNiheuMmTGZiXrJKKeztOG6CkJ99uJlRcCetsjy9C4He1lJDHt8A=",
  "id": "rs_0de3862dbc437d07016ab2bc7006c887d0b07a9e14f1e7b7c7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now down at the bowl’s lower wall instead of skimming its top edge. I will close here to secure the bowl.\"}",
  "call_id": "call_W7LCcjL1frMwZV23qnYFKW4d",
  "id": "fc_0de3862dbc437d07016ab2bc70976c87d0a0f5f9cc1598a3a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W7LCcjL1frMwZV23qnYFKW4d",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0183, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7471, 1.7325, 0.2676, 0.992, 0.6533, 0.276, 0.0304]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1784 left_yaw=0.0486 left_pitch=-0.3005 left_roll=0.1147 left_gripper=0.6463 right_x=0.3167 right_y=0.1519 right_z=0.0397 right_yaw=0.0499 right_pitch=0.1969 right_roll=-0.0144 right_gripper=0.0304\nstate[joint_eff]: [-0.0615, -2.1128, 6.7214, 1.409, -0.1294, -0.0611, -0.0171, 0.1573, -3.494, 2.4137, 0.6129, 0.2076, -0.1783, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f5c25c327811ca65b9f6450875f9dc61b7646cfe292df0d2ee81423aed24885d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862eacc03e7b47b36bca9c7b15894fe1efff7281e38fedb9110182a871345a12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:481e892bbe11e469202bb5127e36ac3ce61ae967178eec914721843369c32c05",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 11.69 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.018, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7467, 1.7557, 0.2512, 0.8803, 0.6548, 0.2535, 0.7013]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1785 left_yaw=0.0485 left_pitch=-0.3001 left_roll=0.1146 left_gripper=0.6463 right_x=0.302 right_y=0.1379 right_z=0.0083 right_yaw=0.0738 right_pitch=0.079 right_roll=-0.1323 right_gripper=0.7013\nstate[joint_eff]: [-0.0479, -2.8513, 6.8034, 1.4286, -0.1245, -0.0611, -0.0122, 0.1299, -5.6137, 2.8239, 1.5946, 0.2955, -0.0366, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrx2W__01kLUZMfu-RO8aVwkqygE6CGvVrUMg7MA0dDe1ZDF9oCWob0yAvxzdA8LzcmMAn5v26pEckC5x8iTvyxny5RTLNGD2q4v-X9FnY2o297P3WWVtlz5hiRncjrrrIEDOkxRQrl4WHH5TFlaop9ZHiTc4x9GfOpLAS5BZyczj8ZT7q6ttJeFQxb9z83-gzEpghz0-avXgRYE84lcZX0_OxYNH-_U8C3cRsTIojF0898fFwOi0GZVl799Adtd0mj77mCWTb_SDv_-XpliJFGi5qzJ1P5MSgSSOci-ALXdyfxG93mYBvdUM5fBuSdPXVFa1Ujc4muoyG7j62lbpU9DBaQ1j-hL6mT_OlIATRMT8iN9zs-LA5RLKnySmT5NHcNdnPk5fyFwJ2xFTx2DtoU6MmrYCgdDxnfJTyXu-TPetXtw4IBYhId3iOTLXPpk7_VvHoileNHWj9sMgPuB71JYlJki-h56ezW0EeyGUHtuNPuBsQiRY3gdkbpsu8fCxIxEyjqODnq-cgvjQSBZV7TZa5YmuDPoe0ooQOn_sD4CXh9PJX6NWxiykRctYdRj0Yr0ijhS1gNYtLC8iu4Gph45FUw078yECFobwkfNOCaeer6_nFI7lh8JDN4zUaUUQJ3iq4yzN7Zlbi6NpOjK5vjOrJHLCK4UgE61DV0N5ylC6f2Ncq12y5hBjdDlTr0CPpLnRb3J9kR-Ex6QEzrBdac9Ps4w8yWV_05FmkXsS8U48rznxy46rW8JWyVbOvhL10tQj9t_zZ2ivjtxd_Ve9iP4SKqI3FS5XNaMe9eW5OZtxcPddTnWmva-xBdg7zTvCSF1XIRs6p42gbEy-7I1dkED8W80gdicP9Fv0ukwlTJgTHnvhp1IgIZ92XAgRUQMkcFEwpAr4OOCpcPC1YHoNsykdDfmX_CSNzyEaXf1WR3rDvHgAYDdKKruvFawsC9Kz-GzyQot2137s-F-feJxusVWxZ5K11Dzrggqx5ruzbcMgwmVdGAH42UrBy_YgEq6PTzAbolV6O3TGGurh43-6aWzTbue0mH66zDxA3rKwP_XryO31Q1FD8BwAo8I7o3TMyY1lmNwlvUmIlE_TCVzAShmeWkdP-54p84oPQ0kPtnMEysH96w5afY1yRDFRS_PJhbyUzJfRIAJha1mLcMe0x4WOW0S15ZLAD-6EYyrcRwpzimIeTz9KXRU2MBwdONIk5oVC9NncXfR1d_tuo8ewO7s6A==",
  "id": "rs_0de3862dbc437d07016ab2bc74d7c087d0887383841fdd28aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The bowl shifted against the fingers during closing, so the reading alone is inconclusive for this thin rim. I will make a short verification lift before transporting it.\"}",
  "call_id": "call_eDkzUvHXlk8B4cvQ6x9xZ3Tb",
  "id": "fc_0de3862dbc437d07016ab2bc7577a087d0b2c0ff6d44b5a38e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eDkzUvHXlk8B4cvQ6x9xZ3Tb",
  "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]: [-0.1162, 1.021, 0.8955, -0.7555, -0.1734, -0.0494, 0.6463, 0.746, 1.3769, 0.3344, 0.5995, 0.6456, 0.2695, 0.0336]\nstate[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1778 left_yaw=0.0487 left_pitch=-0.3023 left_roll=0.115 left_gripper=0.6463 right_x=0.316 right_y=0.1522 right_z=0.0993 right_yaw=0.0546 right_pitch=0.2175 right_roll=0.0015 right_gripper=0.0336\nstate[joint_eff]: [-0.0752, -2.7966, 6.694, 1.4774, -0.1099, -0.0708, -0.0171, -0.0205, -4.6291, 8.1162, 1.8584, 0.2369, 0.0171, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3aa40767ce9e5f2b5a020cf5147ab9c7204e2d25a481d552ad7b32cbb8932f9a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7e30c9d3ab8c1f67352a061c69933374ac3745bdf1ed25802fbccf553cd0863",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:500e043886bbecfe5f9cead2b80cd6ee44513120242fd4869a7850154f93cf8d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 4.326 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]: [-0.1162, 1.0183, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.7471, 1.7325, 0.2676, 0.992, 0.6533, 0.276, 0.0304]\nstate[eef_state]: left_x=0.2897 left_y=0.0005 left_z=0.1784 left_yaw=0.0486 left_pitch=-0.3005 left_roll=0.1147 left_gripper=0.6463 right_x=0.3167 right_y=0.1519 right_z=0.0397 right_yaw=0.0499 right_pitch=0.1969 right_roll=-0.0144 right_gripper=0.0304\nstate[joint_eff]: [-0.0615, -2.1128, 6.7214, 1.409, -0.1294, -0.0611, -0.0171, 0.1573, -3.494, 2.4137, 0.6129, 0.2076, -0.1783, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryCoJWf2AWpWGtN5ZPkU1pbjZdh9ydzI5A6TeErhAC2H0BsshbrHG_FvtKvSXoejpNfT-2WxydefaZgJ9LQBAPSJE99NBswA6Uj5CRiANYx_SslfuN0NfgRFCl1Argz5Gsn1m991Wq_2VGb8HaR3Ld-bk5PCnBzIAuMasm1JfUTgm4MTSMdp3X53PAinNauQOsXUBblViahD9wSc7nMLLUdfZ4QlOV-NEPXzsCT_DzMiy31T9VxrOi_ZZqbtFZlUFhYjiyQkglTRUkSfJv1dl5RIj_QuGpUCLHRfCbnROhpVjrs3chOpX2aA1CUP6N9z2BD8Zvc0n6-RucXHH7L5ZkdDKRW2WvKShTHmijFQDxkXz7QHKM0jA1DfKsThbJHRLsk8-ZbMKY0TduJuYjgXXmn59hTN62izl5Oz1TKuM_vJYStbuxtRp853jeg-JT8LdJ2BxZuBiL8XSGuriB2Mh1EzJm5WltxfApxOQKzO8kMaAsa4hQKLCoQMH_hhA1HOc3OTjqLmSJ9D6c_I-GDSE5lBeBrw99tj5l4e1-hMolhQIZ-TiVjBy9Oy43NM0PASA8y3vFUKe52Ffog5IVrbqikjujhjvIYM4Yz3SO5N0QG-616jI-gAEs_6NLh5Bjms9P3bF35QUx3ypXl_HRekzRIaAAw5Txi8CVPWeI9BDMOdEXQxTObtMkzuYAmjGM9D3U73J-rh-8SLTwnFSx1DoZfXK_sN3LIng0nBq9OXWTbol7TsHkCWXBBueE1TWt7F_jitX7YGn-_c34dcoh1tIEgg4oP_Y3oKSHJ4BdWJu15czXSifjTH2x_JfmYefuWlGKHoerAmQARHX9Av9O56Pm2L8yOjXrLmqVwtPT48IhXCHX4ijZfuKAW9n6ti4zBD3kTAK_qb_PrW1ioiUPMhzi7kGvnMgOfGlpXgZhXFgqLcvA2I01dGyGija5qYsVDkyECOimR00R8vMn7JDqthOL1au_Z7X9b9YZft2ta5Othr9ox1cTjcElA8vWkoGMHJXQjpKzPlh9EvDvXCU8VFcES1K8HGOJliaWGEDSrVIoKKSt9jRvxO_Tdktqg2FKkJKVdkIO0Yd704IxIfUkU36v1fqCuQCzUXvZiOSnFCd-sSCfxI4J5zD6rw-ZpfY3sBdYmSN4JOFzpt3e5jWjgaG96Qb5y6Np8doZpzffAHRZvVNrJnEx5JbeLBXqGmZrRBxWja_rQS1jm_29iOR_2SuM9bqSmInHkIqGCr9YI5NoKctYYW6lf3Z7Y1kfUirmUUcb9F_m7Mkl2_U99UKAPQkIbXYuBpD9SD8Z_1zkqrA1jUPmlR7mH-H1MjecZWYaT8T_9A6S-PRa32KEhUTuyHuZ5H2IRnuTXcRZpJaw6HUB5hK8d1Kj-Geb8UgnG1pCqsy6legkhW5DYm0_hdixVqwsx0kO3F2C8JAHHjamUoZ4goKJpBqVIQT0_wRFpq5KEDif_Ehg_gNUZnhH-pmZY1EloLZbExpxUeoNyV1SHbFgciKoorzj31mYSHwFtNRLqfVH9vukJhnAHScU97k69-SqNp3vUqbSlJvr5L6ZwV9LHvlJGuqqTa09VG3oCaTUtOKTXNGeyJZ-cjWgIdeJEFlsbM47S6qZVqvzGKYhLkHoJdFfzfXb6EvMAJ-MNTIY2WVnNwET1-t6i4vKFVdkJ0dokDlDx1MpKBZHw9bffoNhAuShxI1CvwnQWPt9FqOPnOAHSzwEM-yCCx5WS6UBGetvW0h6XgQIr11_GVp4z0LbFHMM9UrzT7uD8mVxnVBN9NGMdh4YQ-6MZD7kPkb0B6sK9waMoMph81Ti8HvQ9HFujZPs=",
  "id": "rs_0de3862dbc437d07016ab2bc7cc94487d0b74db477bb39cb34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The beige bowl followed the verification lift and remains fixed beside the fingers. I will raise it high enough to clear the two-bowl stack.\"}",
  "call_id": "call_Wth5P02RVruDspQv0jeD569Y",
  "id": "fc_0de3862dbc437d07016ab2bc81d78887d0aae6b41a5686e493",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Wth5P02RVruDspQv0jeD569Y",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0214, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.746, 1.1034, 0.6136, 0.0315, 0.6418, 0.2646, 0.0342]\nstate[eef_state]: left_x=0.2899 left_y=0.0005 left_z=0.1776 left_yaw=0.0487 left_pitch=-0.3035 left_roll=0.1152 left_gripper=0.6463 right_x=0.3157 right_y=0.1526 right_z=0.1919 right_yaw=0.0626 right_pitch=0.2046 right_roll=-0.0118 right_gripper=0.0342\nstate[joint_eff]: [-0.294, -2.4821, 6.6667, 1.3944, -0.1099, -0.0611, -0.0122, -0.3487, -4.5744, 9.6615, 1.8926, 0.1832, 0.0122, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a25c871e05215f9c8e4bbc2e01849091a18b4b1431699b8b082d9b42257b9c37",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9d1f58da4adfb4d6360fefc5d6b3b4845ad8cf0b03039dcb8be9acb147a1e62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f08f7aab5b14d7c20f9e94b7487ccc9f6fd430cc32af58967fa258895b21e99",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.826 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]: [-0.1162, 1.021, 0.8955, -0.7555, -0.1734, -0.0494, 0.6463, 0.746, 1.3769, 0.3344, 0.5995, 0.6456, 0.2695, 0.0336]\nstate[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1778 left_yaw=0.0487 left_pitch=-0.3023 left_roll=0.115 left_gripper=0.6463 right_x=0.316 right_y=0.1522 right_z=0.0993 right_yaw=0.0546 right_pitch=0.2175 right_roll=0.0015 right_gripper=0.0336\nstate[joint_eff]: [-0.0752, -2.7966, 6.694, 1.4774, -0.1099, -0.0708, -0.0171, -0.0205, -4.6291, 8.1162, 1.8584, 0.2369, 0.0171, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.285,\"right_z\":0.21},\"note\":\"The beige bowl is clear of the table, and the existing stack is forward and to its left. I will carry it over that stack while maintaining the rim grip.\"}",
  "call_id": "call_mp3gsj8VJtWN7uwoa03nbp2F",
  "id": "fc_0de3862dbc437d07016ab2bc869aac87d0a1efac343bb01cdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mp3gsj8VJtWN7uwoa03nbp2F",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7567, -0.1738, -0.0494, 0.6463, 0.8246, 1.7416, 1.1896, 0.0013, 0.6842, 0.2867, 0.0348]\nstate[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1766 left_yaw=0.0492 left_pitch=-0.3072 left_roll=0.1162 left_gripper=0.6463 right_x=0.4062 right_y=0.2802 right_z=0.1866 right_yaw=0.1054 right_pitch=0.1479 right_roll=-0.0674 right_gripper=0.0348\nstate[joint_eff]: [-0.1709, -2.7556, 6.6803, 1.409, -0.1392, -0.0562, -0.0122, 0.2393, -9.6479, 9.1145, 1.7851, 0.4322, 0.1783, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5137770cf58d34fd95a575a4ca14f7bd7223ce9c83a8c48c359b6896aa262d75",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76c1af6e96010d641de36a197640e47e3fd65124d86301b9d20fe624c7137a1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f725904c0cb50412d2b014773ad64ccbbeace174468b1e3b6255591b7592416",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 4.17 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]: [-0.1162, 1.0214, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.746, 1.1034, 0.6136, 0.0315, 0.6418, 0.2646, 0.0342]\nstate[eef_state]: left_x=0.2899 left_y=0.0005 left_z=0.1776 left_yaw=0.0487 left_pitch=-0.3035 left_roll=0.1152 left_gripper=0.6463 right_x=0.3157 right_y=0.1526 right_z=0.1919 right_yaw=0.0626 right_pitch=0.2046 right_roll=-0.0118 right_gripper=0.0342\nstate[joint_eff]: [-0.294, -2.4821, 6.6667, 1.3944, -0.1099, -0.0611, -0.0122, -0.3487, -4.5744, 9.6615, 1.8926, 0.1832, 0.0122, 0.3053]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryODc0QK8J1kHIlUTF9I3z_zbALzMVSyBjsGJgsaIrv1Vp9Yby9rN-TxHsIQW2oaZRFr239fVhRMP6zlcG8mWzKXM65iqPmBptl_IQNklvonShZxz6oMAqYS4jsowBIRCAij6T1WIAzmyh5c9MatQ2UlK44SK52fvf0L4FaQFyiuN-bC8lck055C0syiJY0TNuQdUeCIE8yllczfzdiEU_rBuAu-z9xYy9rnsSGipwoRmomLlFqzikH3I2a_Nqh5Zm_-TpT3wegErFEuJngTqTy6iSykOveyvKsch9f4Tan-E5rMXToKGaCt7TB8BnGduElhwOgUl6rzVMqKL2pBLoaJPvNzuakmh5Fl0vG7T4NhxNITKeTj1RLMV1rhCvggiCs9N6Ma2YLqM_MejAvQBGk0mX6lhTG5yuj9mUDqkriEL-AaP5tkvyM1uC-wNH0K94u3cnd278kPrJDEG6XswvvT69SKY1YWjT2npBLxEW744tFyDRxRSOH86tJusOQ3N9ar8Q7hgeGP-xewP_r65Eqcp6uKszA3CdUKYciAS1PjiIX4FC-N1LaBeKB1W_n9KYeeLFGBw_sASorux1yXes2vRycjqQJX1j88IPu6fmXDSSdqm1QH_sFO9IS0mfyWV5NATaylE7EcU5WvV-9lKcnwsJu4Y0aXcSsC3GrkKNB1_bMPHyeNRjJ0X9lsPZ_fqbb7EhCm5a2UioXB05sBKthDLchpA4QoPnX_kap83FsdO7P71Gr3MZ4pJLiHgk3DvN7N2SsS_RD_MUdvCjbHvoFFnhCosS_jA0qmdpmViLgkDVMvbob42QqO2ZuPzviE5TmQVDmFTr__7gAhtYiqNEOiTvBJYxf0QjtmXyeKT9UiGRJj6vEZ3C9wH1Pq30taYXXoPJ0aIczllbkSaTpDE5r_ah6Bcp_y2lbdaOUrqzES3o8vhjGajw33zsNF3cU6Bdl62Mr0jgzf3mietgioGskEyo54uFhPG7-MmAPCADcEZpMUzCT29TRkmFxRztOiiw-S6mnk0dCmmfDh8CfIHkBpKYUSx_vl0CQZq5psyhkxS6sXBjyulQwn18cJOz2kc_8I5mFlhH4kjHo1m-JHePQSRgDtvSYrmr0luziOozOnzWZmRbnhX0Y7bKI5k5ZWtZuiVgkT6QnCqkcwkyU4IKdXcnxgpO6IolnweSJqaV7IxYhGLPsnoDqOzQQhnOenSSZfg_kPT5RyzU5xDDuIkq2LtdOxKe4UQyt9T5BxFO6RVG5PTWmMuz-Drjk4A3MigUyZBQ2SRv8fIurIWXgR7dQlUoK0X7oD9zKKG71opPkLB4ePJcwfDA4p37HIIrxr6zOfSfSuUtJ6xMhhx19-upTc42_IpjBYc7W6bHfhH4jnlncCGdKnhd9f4rA8ZTICfskSSenxx4q5cduUYSBW9yo9M_TiItWoL-dl5V6WCbhA-dyhMoJnpT_jXZOAir_7rffR0BtnhN4Oa0yOJaWTWR58Q1P0mO3Vv6t0YWmAYmbaOU=",
  "id": "rs_0de3862dbc437d07016ab2bc8b061487d081a3cc858ded95bf",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.115},\"note\":\"The beige bowl is now directly above the stack in the overhead view. I will lower slowly, keeping the grip until it is supported by the bowls below.\"}",
  "call_id": "call_xF0eTLnB2S5Ypq3Tirpn4VZV",
  "id": "fc_0de3862dbc437d07016ab2bc8d48e087d094d2792affbe6ae4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xF0eTLnB2S5Ypq3Tirpn4VZV",
  "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]: [-0.1162, 1.0248, 0.8955, -0.7559, -0.1734, -0.0494, 0.6463, 0.8246, 1.8591, 1.0306, 0.181, 0.6724, 0.2874, 0.0364]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3065 left_roll=0.1157 left_gripper=0.6463 right_x=0.398 right_y=0.2737 right_z=0.0996 right_yaw=0.1211 right_pitch=0.0701 right_roll=-0.1252 right_gripper=0.0364\nstate[joint_eff]: [-0.0479, -2.3453, 6.8034, 1.4042, -0.1001, -0.0366, -0.0122, -0.1436, -9.7983, 6.4752, 2.0977, 0.2515, -0.0757, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa6d93a14908423436b41f3ff037b81f78cd5a8f7a98a864339c4890206b5c00",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:21a44085f53994e9445a51c54940898b6efb3b24112a7fc676a048c851b34583",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a63cb1da7bbc1f763230c599f57fc427a1c270da4181f4645fc98da00d75bfd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.141 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7567, -0.1738, -0.0494, 0.6463, 0.8246, 1.7416, 1.1896, 0.0013, 0.6842, 0.2867, 0.0348]\nstate[eef_state]: left_x=0.29 left_y=0.0005 left_z=0.1766 left_yaw=0.0492 left_pitch=-0.3072 left_roll=0.1162 left_gripper=0.6463 right_x=0.4062 right_y=0.2802 right_z=0.1866 right_yaw=0.1054 right_pitch=0.1479 right_roll=-0.0674 right_gripper=0.0348\nstate[joint_eff]: [-0.1709, -2.7556, 6.6803, 1.409, -0.1392, -0.0562, -0.0122, 0.2393, -9.6479, 9.1145, 1.7851, 0.4322, 0.1783, 0.6422]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsryTQpnE-gQ_nbQ5FsF1Lwo43cDxkJ1mBqaRaYsFhkukvt2C870UMtju40G67fxpwuOiEFFK02oevP832D0ECda3MHZg0T1OCCoPVqGQralvj36oRGZ-Xd5qdwFDVTYU69kHH73qIj8TU-2ttEsG0CFCNneaHPu1uEMnasc7CeeTpZqM83PBXzx5Ogk1hd6YzAyh74AvgXWj34W7YgQgOkULP3BSIgWDsTgzIadFPSG2mSQd5liEC-butHTJOJiqDY8DKQJnViyCyDbw1OcdhZ_ZedpTflSg0ajlnmF0A_MTvIxJbWsrz5Y_4sH4PWS2_L5J3DgQBK-FNoAUafpLN1p-eVGl4-m1uAVoSLwtDbN0kuYWyx_L4THyfaCXQD-8RSyCaktSxGM4Jmnl8_ePj0hU_JqQpjlZe6qtXuTtSgW1eNHLzwG-jjneGA0NTjoqjEfl1muatgFd-g7QBu0KrOz1FEHydqfdAsdL3XDpsfgO0QMZ59mE5TzCiN85ve76Wmyw5ryWVSV7FDrI9hhp4r--kxpgPiYeywJ4x1VhRKGYTZldZgyZcXFHG_nCdX2Pink7l43bsrGAjD7Jvx169DAe7022d-3_WLm1cT0PDOuzZgvLhBE0_0ll2jpK8N_f4CyCLwZDQ8ZfSea3PDldcdK02w-IRTwYG9eodsYsuYBQJ8KQVlltDPmgZw-lVR-HmIoSWQIueQFnozCwuy1B-QEqk9j2Nh-7zis0U3K8gB5urlo3wthHMITy5iGMAkGjveZP4XhXdiKKLc1BigiDcZLdbUuk3EARgUvrHzOYHdY2icQF03emQF-qWYxgCfOpaao8Gv1PaIYxbfMOu7-jKx1ybbrZmJUbQonnmL__uhb_2alLPIMSETu6wl3XQT_e9SpHavoRQcxeTnfTXLKURV8pryMQ9AlJHid92WhEwMxUWbXzBJh46wsuKWwqj7C6ZXdzoqz019aMc9r-JNmW9T3XqxcRV55c8gR4K13MYm94u-lRPLK0x66mSemXPCIjZNNY3FCviDt1c0JgsKxOjEIvSCtBNbCxLvfBkKBz1Tyvf-FGxQzxtlbFDZlF9i_oj22ylIGGVyUlY5WvE92ZDrKeavsBGL04soKkKmvELID7TQUwXd8986pWweuOAu0RHlddkqy3v5A3FTiAEHV2jBah4BJF63CFPuG7nUl9UhIp-U12Z5biOyFtv4Bzw1P-ay6xUJkiOiCAERh4QMgAk6xSgw==",
  "id": "rs_0de3862dbc437d07016ab2bc9156dc87d0ab1d2968fa53a036",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The beige bowl’s lower edge is entering the top bowl, and their centers look aligned. I will lower a few more centimeters to let it seat before releasing.\"}",
  "call_id": "call_CszE3WX8AVA7LWK9wK2geWri",
  "id": "fc_0de3862dbc437d07016ab2bc91d61c87d0a44c389648bca2ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CszE3WX8AVA7LWK9wK2geWri",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.8927, 1.0054, 0.2756, 0.6712, 0.2802, 0.0367]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3069 left_roll=0.1158 left_gripper=0.6463 right_x=0.4009 right_y=0.277 right_z=0.0908 right_yaw=0.124 right_pitch=0.0966 right_roll=-0.1079 right_gripper=0.0367\nstate[joint_eff]: [-0.1026, -2.6051, 6.8171, 1.3748, -0.1099, -0.0806, -0.0122, -0.1846, -7.5419, 5.0393, 1.5653, 0.1685, 0.0073, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bf29425d28439365c1e21f67024434c1e7e8a5fe2911d7efabf187549408826",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d4791d2028be567116bac678f2607e105175abe5e711a56601909cb2c6fd73d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2091be0259c3c85a39736c93c36baab8e1e3d49c8168bd84540d219fe65efed2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 4.578 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7559, -0.1734, -0.0494, 0.6463, 0.8246, 1.8591, 1.0306, 0.181, 0.6724, 0.2874, 0.0364]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3065 left_roll=0.1157 left_gripper=0.6463 right_x=0.398 right_y=0.2737 right_z=0.0996 right_yaw=0.1211 right_pitch=0.0701 right_roll=-0.1252 right_gripper=0.0364\nstate[joint_eff]: [-0.0479, -2.3453, 6.8034, 1.4042, -0.1001, -0.0366, -0.0122, -0.1436, -9.7983, 6.4752, 2.0977, 0.2515, -0.0757, 0.3785]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7},\"note\":\"The downward motion stopped above the target height, indicating that the beige bowl is supported by the stack. I will open the gripper and allow it to settle.\"}",
  "call_id": "call_GYR1sdERdKsiu2CMDSdNOgB0",
  "id": "fc_0de3862dbc437d07016ab2bc995b3c87d095d351f32d88f6f9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GYR1sdERdKsiu2CMDSdNOgB0",
  "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]: [-0.1162, 1.0267, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.9301, 0.9833, 0.2886, 0.6685, 0.284, 0.6955]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1762 left_yaw=0.049 left_pitch=-0.3087 left_roll=0.1161 left_gripper=0.6463 right_x=0.3968 right_y=0.2731 right_z=0.0679 right_yaw=0.1263 right_pitch=0.0602 right_roll=-0.1334 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -2.5778, 6.8991, 1.4139, -0.105, -0.0611, -0.0122, -0.2393, -9.5658, 5.8598, 1.6679, 0.1832, -0.0366, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a561cde16f15b46d06ac6c1729a403b6989e529574199f0b7b082a7075a5def",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b655f740994b15671e098ee809b6d940b03385984d1a42a84ffd41e5af6815a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce7467dbf07e86c1bc1a303bfb5868c8f64870789713e9f8d4f6f8255f6da9c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 5.529 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0248, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.8927, 1.0054, 0.2756, 0.6712, 0.2802, 0.0367]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1767 left_yaw=0.0489 left_pitch=-0.3069 left_roll=0.1158 left_gripper=0.6463 right_x=0.4009 right_y=0.277 right_z=0.0908 right_yaw=0.124 right_pitch=0.0966 right_roll=-0.1079 right_gripper=0.0367\nstate[joint_eff]: [-0.1026, -2.6051, 6.8171, 1.3748, -0.1099, -0.0806, -0.0122, -0.1846, -7.5419, 5.0393, 1.5653, 0.1685, 0.0073, 0.5788]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The beige bowl has settled after release. I will lift the open fingers straight up to avoid disturbing the rims.\"}",
  "call_id": "call_0J8FHs0zKRrEGO7Ds2SRQjqM",
  "id": "fc_0de3862dbc437d07016ab2bc9e50b887d09dd8dae168a973c1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0J8FHs0zKRrEGO7Ds2SRQjqM",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0267, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.7256, 1.2495, -0.1589, 0.6609, 0.276, 0.6966]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1762 left_yaw=0.049 left_pitch=-0.3087 left_roll=0.1161 left_gripper=0.6463 right_x=0.3993 right_y=0.2774 right_z=0.1898 right_yaw=0.1354 right_pitch=0.0746 right_roll=-0.122 right_gripper=0.6966\nstate[joint_eff]: [-0.1983, -2.6325, 6.6667, 1.3651, -0.105, -0.0611, -0.0171, -0.3624, -10.1812, 9.347, 1.5897, 0.2515, 0.0464, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:091b61cd79ab50208803cdef62ba32302a0f44720226f1c7194228aaab1e440a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ff099d4577e77a6684d19d5052b940ddaa51cad574c5d4b6fce7d911c007a2a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbb2cd32fb148171df604a93a02eb7252748ee752244f5ff22c92702a0bfd03b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 8.498 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0267, 0.8955, -0.7563, -0.1734, -0.0494, 0.6463, 0.8246, 1.9301, 0.9833, 0.2886, 0.6685, 0.284, 0.6955]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1762 left_yaw=0.049 left_pitch=-0.3087 left_roll=0.1161 left_gripper=0.6463 right_x=0.3968 right_y=0.2731 right_z=0.0679 right_yaw=0.1263 right_pitch=0.0602 right_roll=-0.1334 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -2.5778, 6.8991, 1.4139, -0.105, -0.0611, -0.0122, -0.2393, -9.5658, 5.8598, 1.6679, 0.1832, -0.0366, -0.188]",
      "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,\"right_pitch\":0,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_pitch\":0},\"note\":\"The bowls remain on the table as the fingers lift away. I will park both arms clear of the center for a final unobstructed check.\"}",
  "call_id": "call_jfVx6jiCFwlbs9eLO0q1wiy2",
  "id": "fc_0de3862dbc437d07016ab2bca41cf487d0b60cd556e29faaf2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jfVx6jiCFwlbs9eLO0q1wiy2",
  "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]: [-0.1505, 0.8261, 0.6937, -0.4908, -0.2337, -0.0486, 0.6463, -0.0521, 0.8131, 0.6765, -0.424, -0.033, -0.1822, 0.6967]\nstate[eef_state]: left_x=0.2918 left_y=0.0007 left_z=0.1922 left_yaw=0.057 left_pitch=-0.0414 left_roll=0.1084 left_gripper=0.6463 right_x=0.2986 right_y=-0.0061 right_z=0.1989 right_yaw=0.0723 right_pitch=0.001 right_roll=-0.127 right_gripper=0.6967\nstate[joint_eff]: [-0.4581, -2.1675, 6.8581, 1.9365, -0.1099, 0.1099, -0.0122, 0.0068, -1.7299, 7.2684, 1.7265, -0.1587, -0.0855, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:260d991d0705cbc0d0827ae465eadf42eb1433930dec41dbbc7fae62e07c1d79",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a6074d4e91f221f9b673bc949e7c5fd7c6fdfc278d876958b7df268ef3fe8ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:75e302aae65a1da2f39da3d4e25d9c82707e8080e0b324bbb3f592079ffaa782",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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