adhoc

completed
2026-09-22T17:17:20.416481+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
160.4 s
total steps
214
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. I will use the left arm to grasp the near rim of the green bowl, then place it into the middle blue bowl.
move_to
left_x0.3650left_y-0.1250left_z0.1500left_gripper1.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3756, -0.0223, -0.041, 0.9977, -0.0177, 0.7933, 0.6037, -0.3782, -0.0154, -0.033, 0.9977] state[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9977 right_x=0.2949 right_y=0.0011 right_z=0.1804 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977 state[joint_eff]: [-0.4034, -1.5521, 10.0308, 1.7753, -0.0562, 0.232, -0.2466, -0.5265, -1.4154, 10.1675, 1.9023, -0.1001, 0.1783, -0.2515] 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":0.365,"left_y":-0.125,"left_z":0.15,"left_gripper":1,"right_x":0.295,"right_y":0,"right_z":0.20},"note":"I see three bowls in a row. I will use the left arm to grasp the near rim of the green bowl, then place it into the middle blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe green bowl is just left of the jaw centre in the wrist view. I am lowering toward its right-hand rim so one finger can enter the bowl and the other remain outside.
move_to
left_x0.3900left_y-0.1250left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5327, 1.3071, 0.7143, -0.112, -0.4229, -0.3267, 0.9977, -0.0219, 0.8051, 0.6418, -0.4564, -0.0154, -0.0448, 0.9976] state[eef_state]: left_x=0.3523 left_y=-0.1194 left_z=0.1301 left_yaw=-0.0255 left_pitch=-0.0679 left_roll=0.0284 left_gripper=0.9977 right_x=0.2896 right_y=-0.0 right_z=0.1786 right_yaw=0.0022 right_pitch=-0.0515 right_roll=-0.0087 right_gripper=0.9976 state[joint_eff]: [-0.4308, -4.9436, 9.2239, 1.7998, -0.3639, -0.0415, -0.2466, -0.5128, -1.4701, 10.7282, 1.8828, -0.1001, 0.0073, -0.022] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.125,"left_z":0.065},"note":"The green bowl is just left of the jaw centre in the wrist view. I am lowering toward its right-hand rim so one finger can enter the bowl and the other remain outside."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe right rim of the green bowl is between the open fingers. I will lower slightly and close gently around that rim.
move_to
left_z0.0350left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4866, 1.589, 0.6689, 0.1432, -0.3935, -0.3115, 0.9976, -0.0216, 0.8089, 0.6415, -0.4679, -0.0151, -0.0486, 0.9976] state[eef_state]: left_x=0.3757 left_y=-0.1181 left_z=0.054 left_yaw=-0.0075 left_pitch=-0.1413 left_roll=0.0572 left_gripper=0.9976 right_x=0.2881 right_y=0.0 right_z=0.1751 right_yaw=0.0043 right_pitch=-0.0672 right_roll=-0.0117 right_gripper=0.9976 state[joint_eff]: [0.3761, -7.0632, 5.8735, 1.8144, -0.0855, 0.1685, -0.0269, -0.1709, -1.0598, 7.1726, 1.7753, -0.0855, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035,"left_gripper":0},"note":"The right rim of the green bowl is between the open fingers. I will lower slightly and close gently around that rim."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe fingers closed almost completely, so the rim grasp is uncertain. I will make a short lift and check whether the bowl follows.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4862, 1.6314, 0.6476, 0.223, -0.3973, -0.3138, 0.0169, -0.0216, 0.8101, 0.6411, -0.4717, -0.0151, -0.0486, 0.9975] state[eef_state]: left_x=0.3788 left_y=-0.1188 left_z=0.0443 left_yaw=-0.0038 left_pitch=-0.1257 left_roll=0.0503 left_gripper=0.0169 right_x=0.2876 right_y=0.0001 right_z=0.1739 right_yaw=0.0043 right_pitch=-0.0725 right_roll=-0.0115 right_gripper=0.9975 state[joint_eff]: [-0.212, -5.2034, 4.3966, 1.4335, -0.1294, 0.0317, 0.6862, 0.0889, -1.0188, 6.9812, 1.6972, -0.0757, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The fingers closed almost completely, so the rim grasp is uncertain. I will make a short lift and check whether the bowl follows."})
tool
executing move_to over 4 steps (0.4s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe green bowl appears to have followed the short lift despite its thin rim. I will raise it clear of the table and move a little toward the blue bowl to confirm it is secure.
move_to
left_z0.1900left_y-0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4862, 1.5131, 0.7303, 0.017, -0.3935, -0.3191, 0.0197, -0.0216, 0.8101, 0.6411, -0.4721, -0.0151, -0.049, 0.9975] state[eef_state]: left_x=0.3772 left_y=-0.1187 left_z=0.0838 left_yaw=-0.0037 left_pitch=-0.1312 left_roll=0.0461 left_gripper=0.0197 right_x=0.2875 right_y=0.0001 right_z=0.1738 right_yaw=0.0046 right_pitch=-0.0729 right_roll=-0.0118 right_gripper=0.9975 state[joint_eff]: [-0.212, -7.4188, 8.6359, 1.4969, -0.1783, 0.0562, 1.0281, 0.0205, -1.306, 6.9538, 1.6874, -0.0611, -0.0806, -0.0073] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19,"left_y":-0.18},"note":"The green bowl appears to have followed the short lift despite its thin rim. I will raise it clear of the table and move a little toward the blue bowl to confirm it is secure."})
tool
executing move_to over 7 steps (0.7s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe arm did not reach the higher carrying pose. I will pull slightly back and change the tool pitch to reach a less stretched lifting posture.
move_to
left_x0.3350left_y-0.1200left_z0.1600left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5163, 1.4963, 0.7555, -0.0673, -0.3981, -0.3386, 0.0197, -0.0216, 0.8116, 0.6411, -0.4747, -0.0151, -0.0486, 0.9975] state[eef_state]: left_x=0.3683 left_y=-0.1262 left_z=0.0859 left_yaw=-0.0167 left_pitch=-0.1664 left_roll=0.0543 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1728 right_yaw=0.0044 right_pitch=-0.0771 right_roll=-0.0114 right_gripper=0.9975 state[joint_eff]: [0.1299, -6.0103, 8.6359, 1.5409, -0.3932, -0.0513, 1.0281, -0.0479, -1.4291, 6.9675, 1.707, -0.0562, -0.0611, -0.0073] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.335,"left_y":-0.12,"left_z":0.16,"left_pitch":0.1},"note":"The arm did not reach the higher carrying pose. I will pull slightly back and change the tool pitch to reach a less stretched lifting posture."})
tool
executing move_to over 9 steps (0.9s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe green bowl is now clearly lifted by its rim. I will carry it above the blue bowl, keeping clearance above both bowls.
move_to
left_x0.3700left_y-0.3100left_z0.2000left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6167, 1.1893, 0.6239, -0.0284, -0.5327, -0.321, 0.0197, -0.0216, 0.8158, 0.6403, -0.4755, -0.0151, -0.049, 0.9975] state[eef_state]: left_x=0.3355 left_y=-0.1234 left_z=0.1522 left_yaw=-0.0248 left_pitch=0.0612 left_roll=0.032 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1712 right_yaw=0.0046 right_pitch=-0.0828 right_roll=-0.0115 right_gripper=0.9975 state[joint_eff]: [-0.5949, -4.5197, 6.3111, 1.9267, -0.3248, 0.105, 1.0037, -0.1983, -1.0872, 7.2821, 1.6484, -0.0708, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.31,"left_z":0.2,"left_pitch":0.1},"note":"The green bowl is now clearly lifted by its rim. I will carry it above the blue bowl, keeping clearance above both bowls."})
tool
executing move_to over 17 steps (1.7s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteThe lifted bowl is slightly left of the blue bowl. I will centre it farther right and lower partway toward the stack.
move_to
left_x0.3850left_y-0.3500left_z0.1250left_pitch0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.973, 1.7725, 1.3174, -0.3016, -0.8101, -0.5785, 0.0197, -0.0216, 0.8173, 0.6403, -0.4755, -0.0151, -0.049, 0.9976] state[eef_state]: left_x=0.367 left_y=-0.3053 left_z=0.1853 left_yaw=-0.0405 left_pitch=0.0707 left_roll=0.0428 left_gripper=0.0197 right_x=0.2873 right_y=0.0001 right_z=0.1708 right_yaw=0.0046 right_pitch=-0.0843 right_roll=-0.0115 right_gripper=0.9976 state[joint_eff]: [-0.4444, -9.4291, 9.0188, 1.3309, -0.6081, -0.0269, 1.0037, -0.1299, -1.4427, 6.9812, 1.663, -0.0366, -0.0122, -0.0073] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.385,"left_y":-0.35,"left_z":0.125,"left_pitch":0.1},"note":"The lifted bowl is slightly left of the blue bowl. I will centre it farther right and lower partway toward the stack."})
tool
executing move_to over 4 steps (0.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe two bowl rims are nearly aligned, with the blue rim still visible just to the right. I will make a small final centring adjustment and lower the green bowl into it.
move_to
left_y-0.3630left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9955, 2.0041, 1.335, -0.1661, -0.8276, -0.5919, 0.0197, -0.0216, 0.8196, 0.6395, -0.4786, -0.0151, -0.049, 0.9976] state[eef_state]: left_x=0.3774 left_y=-0.3363 left_z=0.1063 left_yaw=-0.0474 left_pitch=0.0351 left_roll=0.1021 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.1693 right_yaw=0.0046 right_pitch=-0.0904 right_roll=-0.0113 right_gripper=0.9976 state[joint_eff]: [-0.7316, -12.8889, 8.7316, 1.7802, -0.5153, 0.0562, 1.0085, -0.0889, -1.4974, 7.1453, 1.7021, -0.0708, -0.0806, -0.0171] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.363,"left_z":0.065},"note":"The two bowl rims are nearly aligned, with the blue rim still visible just to the right. I will make a small final centring adjustment and lower the green bowl into it."})
tool
executing move_to over 3 steps (0.3s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe descent has stopped above the target, indicating that the bowls are touching. I will release the rim so the upper bowl can settle into the lower one.
move_to
left_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0008, 2.0384, 1.338, -0.1211, -0.8364, -0.5922, 0.0197, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9976] state[eef_state]: left_x=0.3797 left_y=-0.3427 left_z=0.0978 left_yaw=-0.0463 left_pitch=0.0484 left_roll=0.0944 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9976 state[joint_eff]: [-0.4991, -13.2444, 8.7726, 1.6093, -0.5006, 0.0415, 1.0037, -0.0479, -1.3744, 7.2, 1.6288, -0.022, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.8},"note":"The descent has stopped above the target, indicating that the bowls are touching. I will release the rim so the upper bowl can settle into the lower one."})
tool
executing move_to over 8 steps (0.8s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe released bowl has settled downward. I will lift away and clear the view before picking up the remaining pink bowl.
move_to
left_x0.3000left_y-0.2300left_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0008, 2.0384, 1.338, -0.1143, -0.8394, -0.5919, 0.7946, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9975] state[eef_state]: left_x=0.3803 left_y=-0.3431 left_z=0.099 left_yaw=-0.0441 left_pitch=0.0541 left_roll=0.0904 left_gripper=0.7946 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9975 state[joint_eff]: [-0.4991, -13.2444, 8.3897, 1.4969, -0.4176, 0.0855, 0.0171, -0.1709, -1.265, 7.0632, 1.6337, -0.0464, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.30,"left_y":-0.23,"left_z":0.22},"note":"The released bowl has settled downward. I will lift away and clear the view before picking up the remaining pink bowl."})
tool
executing move_to over 11 steps (1.1s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe first two bowls are together in the middle. I will park the left arm and bring the right gripper above the right-hand rim of the pink bowl.
move_to
left_x0.2950left_y0.0000left_z0.2000right_x0.3500right_y0.0750right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-1.0206, 1.4403, 1.1069, -0.4706, -0.8398, -0.6067, 0.7953, -0.0216, 0.823, 0.6395, -0.4831, -0.0151, -0.049, 0.9976] state[eef_state]: left_x=0.3072 left_y=-0.2425 left_z=0.215 left_yaw=-0.0553 left_pitch=0.0612 left_roll=0.0687 left_gripper=0.7953 right_x=0.2864 right_y=0.0001 right_z=0.1675 right_yaw=0.0046 right_pitch=-0.0984 right_roll=-0.0111 right_gripper=0.9976 state[joint_eff]: [-0.6632, -6.8444, 6.4479, 1.3358, -0.5201, -0.022, 0.0611, -0.0889, -1.4564, 6.9538, 1.6972, -0.0855, -0.0806, -0.0073] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2,"right_x":0.35,"right_y":0.075,"right_z":0.15,"right_gripper":1},"note":"The first two bowls are together in the middle. I will park the left arm and bring the right gripper above the right-hand rim of the pink bowl."})
tool
executing move_to over 22 steps (2.2s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe pink bowl is visible just left of the jaw centre. I will lower toward its right rim, with one finger inside and one outside.
move_to
right_x0.3750right_y0.0500right_z0.0550right_pitch0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0467, 0.7643, 0.6231, -0.3771, -0.0925, -0.012, 0.7954, 0.3214, 1.1946, 0.7052, -0.2771, 0.231, 0.1432, 0.9977] state[eef_state]: left_x=0.2949 left_y=0.0061 left_z=0.198 left_yaw=0.0164 left_pitch=0.0473 left_roll=0.0589 left_gripper=0.7954 right_x=0.336 right_y=0.073 right_z=0.1276 right_yaw=0.0328 right_pitch=-0.1737 right_roll=-0.038 right_gripper=0.9977 state[joint_eff]: [0.0068, -1.6342, 6.8991, 1.9219, 0.0904, 0.2808, -0.0073, 0.5538, -4.041, 10.0581, 1.9414, 0.2857, 0.2662, -0.2515] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.05,"right_z":0.055,"right_pitch":0.1},"note":"The pink bowl is visible just left of the jaw centre. I will lower toward its right rim, with one finger inside and one outside."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe pink rim is now between the fingertips at a suitable height. I will close on the thin rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7704, 0.6174, -0.3809, -0.0837, -0.0082, 0.7954, 0.2073, 1.5467, 0.3592, 0.5835, 0.1783, 0.0349, 0.9976] state[eef_state]: left_x=0.2944 left_y=0.0048 left_z=0.1928 left_yaw=0.0077 left_pitch=0.0313 left_roll=0.0587 left_gripper=0.7954 right_x=0.3598 right_y=0.0473 right_z=0.0327 right_yaw=0.0254 right_pitch=-0.0259 right_roll=-0.0529 right_gripper=0.9976 state[joint_eff]: [-0.0889, -1.5521, 7.5829, 1.7656, -0.149, -0.1001, -0.0171, -0.3761, -5.6821, 4.588, 2.0733, 0.0708, -0.0366, -0.0269] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink rim is now between the fingertips at a suitable height. I will close on the thin rim."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe gripper has closed on a few millimetres of material. I will lift a short distance to verify that the pink bowl is held.
move_to
right_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7708, 0.6174, -0.3809, -0.0826, -0.0154, 0.7954, 0.2092, 1.5417, 0.3553, 0.6212, 0.157, 0.0418, 0.0405] state[eef_state]: left_x=0.2944 left_y=0.0046 left_z=0.1926 left_yaw=0.0106 left_pitch=0.0312 left_roll=0.0519 left_gripper=0.7954 right_x=0.3635 right_y=0.0526 right_z=0.0405 right_yaw=0.0416 right_pitch=0.0105 right_roll=-0.0288 right_gripper=0.0405 state[joint_eff]: [-0.1983, -0.9778, 7.2, 1.746, -0.0366, -0.0073, -0.0171, -0.1573, -4.547, 5.4222, 1.1941, 0.3101, -0.105, 0.8718] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105},"note":"The gripper has closed on a few millimetres of material. I will lift a short distance to verify that the pink bowl is held."})
tool
executing move_to over 5 steps (0.5s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pink bowl moved upward with the gripper. I will raise it to carrying height before moving it over the central stack.
move_to
right_x0.3600right_y0.0650right_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7753, 0.6174, -0.3813, -0.083, -0.0154, 0.7954, 0.2085, 1.3018, 0.4541, 0.2855, 0.149, 0.0368, 0.0445] state[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1913 left_yaw=0.0109 left_pitch=0.0262 left_roll=0.0524 left_gripper=0.7954 right_x=0.361 right_y=0.0532 right_z=0.0922 right_yaw=0.0502 right_pitch=0.0128 right_roll=-0.0283 right_gripper=0.0445 state[joint_eff]: [-0.0205, -1.4974, 7.0359, 1.7607, -0.0952, -0.0513, -0.0171, -0.2393, -4.9709, 9.0188, 1.956, 0.0952, 0.105, 0.7204] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.065,"right_z":0.22},"note":"The pink bowl moved upward with the gripper. I will raise it to carrying height before moving it over the central stack."})
tool
executing move_to over 9 steps (0.9s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe pink bowl is safely above the table. I will move it over the two nested bowls in the centre.
move_to
right_x0.3850right_y0.2950right_z0.2200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.778, 0.6174, -0.3813, -0.083, -0.0158, 0.7953, 0.2604, 1.1481, 0.8318, -0.2878, 0.1753, 0.0376, 0.0475] state[eef_state]: left_x=0.2949 left_y=0.0047 left_z=0.1906 left_yaw=0.0111 left_pitch=0.0236 left_roll=0.0522 left_gripper=0.7953 right_x=0.3589 right_y=0.0674 right_z=0.1951 right_yaw=0.0796 right_pitch=-0.0261 right_roll=-0.049 right_gripper=0.0475 state[joint_eff]: [-0.0342, -1.1829, 7.0632, 1.7216, -0.0757, -0.0611, -0.0122, 0.1846, -5.4085, 9.812, 2.0049, 0.2173, 0.2418, 0.5983] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.295,"right_z":0.22},"note":"The pink bowl is safely above the table. I will move it over the two nested bowls in the centre."})
tool
executing move_to over 19 steps (1.9s)
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 pink bowl is almost centred over the stack, slightly to its left. I will shift it a little right and lower while watching the rim alignment.
move_to
right_y0.2800right_z0.1400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3851, -0.0826, -0.0158, 0.7954, 0.8631, 1.758, 1.4601, -0.5312, 0.6094, 0.4179, 0.0475] state[eef_state]: left_x=0.2947 left_y=0.0046 left_z=0.1887 left_yaw=0.0108 left_pitch=0.0159 left_roll=0.0524 left_gripper=0.7954 right_x=0.3772 right_y=0.2908 right_z=0.1985 right_yaw=0.124 right_pitch=-0.0841 right_roll=-0.0938 right_gripper=0.0475 state[joint_eff]: [-0.1983, -1.3607, 7.0632, 1.7607, -0.0269, -0.0269, -0.0073, 0.1299, -9.388, 9.8256, 1.4188, 0.5104, 0.149, 0.6862] 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_y":0.28,"right_z":0.14},"note":"The pink bowl is almost centred over the stack, slightly to its left. I will shift it a little right and lower while watching the rim alignment."})
tool
executing move_to over 4 steps (0.4s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe lower rim shows just beyond the pink bowl. I will move slightly forward and lower the pink bowl into the stack.
move_to
right_x0.4080right_y0.2720right_z0.0900right_pitch0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3855, -0.083, -0.0158, 0.7954, 0.8448, 1.7676, 1.2343, -0.384, 0.5919, 0.4042, 0.0503] state[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1886 left_yaw=0.0111 left_pitch=0.0156 left_roll=0.0527 left_gripper=0.7954 right_x=0.3664 right_y=0.2696 right_z=0.1261 right_yaw=0.1184 right_pitch=-0.1595 right_roll=-0.1538 right_gripper=0.0503 state[joint_eff]: [-0.1709, -1.1829, 7.0222, 1.7314, -0.1001, -0.0855, -0.0122, -0.0889, -8.8274, 8.1436, 1.8242, 0.2515, 0.0562, 0.5104] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.408,"right_y":0.272,"right_z":0.09,"right_pitch":0.18},"note":"The lower rim shows just beyond the pink bowl. I will move slightly forward and lower the pink bowl into the stack."})
tool
executing move_to over 12 steps (1.2s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe pink bowl has contacted the stack and the arm has stopped descending. I will open the gripper and let it settle.
move_to
right_gripper0.8500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7845, 0.6174, -0.3874, -0.083, -0.0154, 0.7954, 0.844, 1.7679, 1.2034, -0.3176, 0.5903, 0.3889, 0.0535] state[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1875 left_yaw=0.0109 left_pitch=0.011 left_roll=0.0532 left_gripper=0.7954 right_x=0.3689 right_y=0.2723 right_z=0.1232 right_yaw=0.1303 right_pitch=-0.1351 right_roll=-0.1411 right_gripper=0.0535 state[joint_eff]: [-0.1026, -1.4154, 7.0359, 1.7411, -0.0708, -0.022, -0.0171, -0.1026, -8.7316, 6.612, 1.2674, 0.3394, -0.0317, 0.315] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.85},"note":"The pink bowl has contacted the stack and the arm has stopped descending. I will open the gripper and let it settle."})
tool
executing move_to over 8 steps (0.8s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe pink bowl has settled after release. I will lift the gripper away to check that all three bowls are stably stacked.
move_to
right_x0.3200right_y0.1600right_z0.2300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7856, 0.6174, -0.3878, -0.083, -0.0158, 0.7954, 0.8459, 1.7592, 1.1809, -0.3099, 0.588, 0.3744, 0.8453] state[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1871 left_yaw=0.0111 left_pitch=0.0095 left_roll=0.053 left_gripper=0.7954 right_x=0.3653 right_y=0.27 right_z=0.1194 right_yaw=0.1411 right_pitch=-0.142 right_roll=-0.1549 right_gripper=0.8453 state[joint_eff]: [-0.1162, -1.1282, 7.0222, 1.7216, -0.0952, -0.0708, -0.0171, -0.4171, -7.9795, 8.335, 1.4188, 0.2613, 0.0562, -0.0806] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.16,"right_z":0.23},"note":"The pink bowl has settled after release. I will lift the gripper away to check that all three bowls are stably stacked."})
tool
executing move_to over 10 steps (1.0s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteAll three bowls are now together in one upright stack. I will park both arms clear of the bowls.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.046, 0.7895, 0.6174, -0.3878, -0.083, -0.0158, 0.7954, 0.6937, 1.3037, 1.1202, -0.6556, 0.4923, 0.2485, 0.8459] state[eef_state]: left_x=0.295 left_y=0.0047 left_z=0.1861 left_yaw=0.0111 left_pitch=0.0057 left_roll=0.0532 left_gripper=0.7954 right_x=0.3225 right_y=0.1643 right_z=0.2131 right_yaw=0.132 right_pitch=-0.1561 right_roll=-0.1622 right_gripper=0.8459 state[joint_eff]: [-0.0615, -1.2239, 7.0359, 1.7509, -0.105, -0.0611, -0.0122, -0.294, -5.5316, 9.9077, 1.5458, 0.2125, -0.0855, 0.0562] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [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},"note":"All three bowls are now together in one upright stack. I will park both arms clear of the bowls."})
tool
executing move_to over 14 steps (1.4s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteStacked all three bowls upright in the middle of the table and parked both arms clear.
done
hindsightThese bowls can be lifted by pinching one side rim with one finger inside and one outside. A secure thin-rim grasp on this task read only 0.02, so confirm by a short lift and object motion rather than rejecting it solely on the usual 0.04 threshold. The bowl remains partly visible to the side in the wrist camera during a rim grasp. Nesting contact stopped descent well above the commanded height; opening the gripper allowed the bowls to settle.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0753, 0.7986, 0.6319, -0.4408, -0.1059, -0.0269, 0.7954, -0.028, 0.8101, 0.6796, -0.4725, 0.0078, -0.2142, 0.8459] state[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1795 left_yaw=0.007 left_pitch=-0.0406 left_roll=0.0599 left_gripper=0.7954 right_x=0.292 right_y=-0.006 right_z=0.1911 right_yaw=0.0672 right_pitch=-0.0432 right_roll=-0.1617 right_gripper=0.8459 state[joint_eff]: [-0.294, -1.1966, 10.5368, 1.707, -0.1001, -0.1197, -0.0171, -0.1026, -1.6068, 7.4051, 2.0684, -0.1538, -0.0269, -0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls upright in the middle of the table and parked both arms clear.","hindsight":"These bowls can be lifted by pinching one side rim with one finger inside and one outside. A secure thin-rim grasp on this task read only 0.02, so confirm by a short lift and object motion rather than rejecting it solely on the usual 0.04 threshold. The bowl remains partly visible to the side in the wrist camera during a rim grasp. Nesting contact stopped descent well above the commanded height; opening the gripper allowed the bowls to settle."})
tool
done: Stacked all three bowls upright in the middle 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 · 8.534 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, -0.3756, -0.0223, -0.041, 0.9977, -0.0177, 0.7933, 0.6037, -0.3782, -0.0154, -0.033, 0.9977]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9977 right_x=0.2949 right_y=0.0011 right_z=0.1804 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -1.5521, 10.0308, 1.7753, -0.0562, 0.232, -0.2466, -0.5265, -1.4154, 10.1675, 1.9023, -0.1001, 0.1783, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:428a5cf888115e164f6befbd9870f31232ff7e041d7cba905578a31d3b3bc2e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:af23d6c3d47ac3373c74a8de52d8f549fb158280feffb8ef9afb5f7d37057376",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67c285b2fa3bb5d70760a8deb2f9823f982441d1516e34b4712484d564b242fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 428a5cf88811
wire blob af23d6c3d47a
wire blob 67c285b2fa3b
call 1 attempt 0 · /responses · status 200 · 7.792 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrg1GTfdIbGZ1sZK1Nvb-4G37cx2mdxnvGxPLd32tmf97b9VLPx45tJxPBtcvnVcpWbqCkTcJVi6V5QwUJ0Ey1eTmol52lS0qVFbtuzHtsi5SYJDXLOMa9Fbrl_gQGFS678erhDFsklY90Sqt_IuB3x-z9U3VJ5ydyvTpUV11Cs_esYGvzhdy6HNvBIXPGMXXUIZC4xSyikUzU3ek8x8AVPAC-30PtFPa-p5cYHdJu07a2cSi3kxI3niN619XK6RBHJV6iXTSG6XJNabQweEPR_UO1GHA-WpPcn8br-eA4bgwavcokQnK4Z7ydKqqh4GvQzHmsVpmhchBPDANEgr_S0q7QA5RzsGCfll68WLngv9mCbb532f72Euhqf7E0DclElNmOV4oudHSxc7TUXfO5TOWzBznY_Go-j3fFSy8RSHKiARYOlYeKsDnEc9gEI2y3YFPDLpV6LjYU0JmVhTiCrSQa_pjbYD47TRb3k_Cnj1Cm0963q7UtB8AS8TpF_yN9lpaVpFCSwnN3pYh9-TIUsc8bLTk7q_SsbacbJwRGPPOV5axP7ThHDBB7g9rByk8CEUtR2-wsVkNO_UO9YvM7a5kbdL0utVVh83-9yWdq_8AB_oXIc33m7ZY1pEN9m2yCkEtus7bOFbf6O9c8gzPtZpUEHY9a-QuYMZWyz-hwV8IfyKjCdjR5Qk2R5Riw4WwYIH4lM_cmasUZwK3MBPPHVlVObRusS9GamWBkw1lEs063WO4zQnhiczqIhkWLKLMS9iyuMlsJfyM0P3d901sb3SGi9aE2nrNh13zm_j5TPZw79e4i0XGGnrUxWGsYBL_awfIApZ0_yLQNxBHiAupo97OhlMDBvSkzMj7UAPDNM9salZhG6jUSW0k1SSkhCdTm99qNGtdJ3VJvcyf12LUPXDRGmhBGmt0qCvll6Q-qGIT-r8YKQxtLd2NkazQQDNFiMKW2u4bs0Jz_lSrNOhgiesmMDuiGJ_KveJwsNx75L0EIri3oZaXvwthXj52PogluH6yEmkU0oSKlQGMu7qQ2KETycl7VjU8cptIVKij9UWfs6Bd2noOHwLCBg9BFpPgnX4TIujA574fT_Gjl44QGUVf6Lj0pSL2P9hZXFaPVk3bWsgWkhxrI5J0LBZhK6NfSxv-lJxPikTo5lqgHxoWveMapicXvzhKWzcP832W8xVL6N0Fy12WLeJra3mxt7OKJYlRFhbpyB6qTWFB0k0Aeb77-vo9mHDx06N3BO89QAnPOmCVPeMqzlimifT_kLRV4XamDRBnDAt7eRmJpAXXGYsh_nhrALfWxjpNDlJgNjUqzdwmjyiENuxsoBG7SSSg5ldA_H4OQwuttvnydeaLuWCX-ktWZJdE8tQqBylcou1gWltomV7ds5EY_1sB6XKY0mHo0JB5r1f_q5wdbXX98x3nJI1vQoZp7m-GBmTO8cvMTHcyRYmUSrgxxmDhhMY_plgn7QY9Ye3YAucoOemNInM2jh2hEjdTiz3uXWTo9wAQh8_EjN0QookMVL1ISueGtr2YYHPm1UqxgDmHJj9bwFmL-gGc1jXIM1Is2ehiZGR3gTsMiiunvap1uhSQsn0mFhA4uxk47zN9FvKyvJxmer284BzGGjSvY18SEHQsi1_fRQN-Xjdax4GcRu5cUE7CYDZGZrC7obHZAmAKZ3kJU8j0KwTDme0TaYC4cuIwnProfV8USIXpJWLaPNJme7zaUBe",
  "id": "rs_0590f03f54f7621b016ab2b82f9a5487d0b2479b5a096ef5a6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.365,\"left_y\":-0.125,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.20},\"note\":\"I see three bowls in a row. I will use the left arm to grasp the near rim of the green bowl, then place it into the middle blue bowl.\"}",
  "call_id": "call_nfM4RSJPnnK2Jznbx86PjCUr",
  "id": "fc_0590f03f54f7621b016ab2b8335b3c87d0ae0e626b69f656ff",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nfM4RSJPnnK2Jznbx86PjCUr",
  "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]: [-0.5327, 1.3071, 0.7143, -0.112, -0.4229, -0.3267, 0.9977, -0.0219, 0.8051, 0.6418, -0.4564, -0.0154, -0.0448, 0.9976]\nstate[eef_state]: left_x=0.3523 left_y=-0.1194 left_z=0.1301 left_yaw=-0.0255 left_pitch=-0.0679 left_roll=0.0284 left_gripper=0.9977 right_x=0.2896 right_y=-0.0 right_z=0.1786 right_yaw=0.0022 right_pitch=-0.0515 right_roll=-0.0087 right_gripper=0.9976\nstate[joint_eff]: [-0.4308, -4.9436, 9.2239, 1.7998, -0.3639, -0.0415, -0.2466, -0.5128, -1.4701, 10.7282, 1.8828, -0.1001, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ffbfee6d6af98aa84a43c8cf5028308c78b9289e6d25190d63ce83045933c66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bcaf8b71deb22441ad326ce196e4282b3b1ec357e4fa862ce7aaee90747e563",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c02779d109171383f66652b229c67de3f792cf3f2d243b66a9b50ed0bc4815b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2ffbfee6d6af
wire blob 4bcaf8b71deb
wire blob 1c02779d1091
call 2 attempt 0 · /responses · status 200 · 4.576 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, -0.3756, -0.0223, -0.041, 0.9977, -0.0177, 0.7933, 0.6037, -0.3782, -0.0154, -0.033, 0.9977]\nstate[eef_state]: left_x=0.2956 left_y=0.0017 left_z=0.1814 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9977 right_x=0.2949 right_y=0.0011 right_z=0.1804 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.4034, -1.5521, 10.0308, 1.7753, -0.0562, 0.232, -0.2466, -0.5265, -1.4154, 10.1675, 1.9023, -0.1001, 0.1783, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrg-F1FrFALFmSvjDvdf5FvBWUA3D5RMR-ww5kM0C73ocibq5-BaY_bGbu-CCdViCtm7d6ZMGxm3liX9PMajOW5za-SHjbHrTZauMzc7aitIHcrqO_FLyfwIMNXR6v3lDrDSpLlaW1NV8fL0OaGdfBLmj6X2tHXB5mCsp4adCYBOHJA1INcq9xA8j0m8irGDQEuUQDEMmS7WDYPKVjwJOWJ9SBFVx5X0qh1xL_Z9VOPZcKsM5_jYJ-EaozSGCFo3jPfeIWCv2NDYYi9x7urLnFJie_-0r9sLBui35xF_SdFEwgz9mEfvlClE4kpgU1ThnBtMYeAV1ioCL-FP-FFjOHkcpRGKnydZhhCAudybUN9KIMUQPcCLauccUA73n5S7B9FQHClD3CjhkcC5yd9iN4t0LvP6i3m45wGOg9LYSy7CJyZp-Q5krfWqdo-mL8ZqnykKuoRE08zXmWbHVlN6n1CnQvAyFzzxjBtUXSjmD7Gr6_0sukHBlnncPPny_Lqu0xEONJQvZCHcgUucAMySWavawru7zHxJT2-JPy9JUKF8xeAgJ-M1dFkKIRG2o9LWz-t6xIw9Kyb4zlrVnWckxUTokNdKyjwdg6QTONKm-FobwqL5tiqtuRevGkmo41oy7Tqkg2IQX7DhOQsCrS02t39kHf60reUlcHiQ3WWyMltckj6bov-temntg6tlGrDgg49ZTTKl1G1uH6xUeCXrMKHcHANp3JxsYb3tFDdHh6ECIiOwU2TtsSXQY6IE9ZpxnUKeElnQQhm-FhuhaXDh6Dla1sbLkWSIsQQtrjE2tfUseLj3sbULpiKtrSOp9HynacccB-PfnDHh6p7GTnth1_QXuX0Nn3103ZXSj3T3_jPUG7ih8qutDBimHm0EvV1tN9cGMUaGiH65NVfkzPbUlMUVubw066tVMJM4PGJj-pfoe5mWy7goKwinuFFQK8x81cKCP_ZAjz9uHzlvER4pXG5NbSyyIR83t5LTSiXbf6oo3AlV_qb2Leref0hIYX8_5j8uat_UNCfuUUbylgwdMrqo07hfUnWBGofMTKPYSSVwXEAqa8MZwSqalCyKcFIiLqwiOonCVuPyEtgureS7-9QkhUlce9sb5W38MUyvdyzTkitZLYsmBUhN2rlTUD35whxRTLf4AX3mdrM3cEXDcDZOIsxEHPCSdM0nlfcIB8r5RA8FmrBXsjXaraoaPTHsp9OLwXvRvXtqC9F1VPjbakoEsIFu6DRy9aOnp_1onztaTFRVQ0Skc_vewmb8Nv861yl94fnqXRBPKHclxf3XzezyBVOvyZvFBCz-WxDs3GatDeNXQr7TMxfCl2VvCQLrlXWC-0GnzOj-KRGI1yw6haSxvy2tmn94ptPf6ijtnM4AItwjp6A5COL8aVd2UUORT2tY5Q7ocItwE7n-YM5jdUv3y6Ik-1bXo9q-Ev7vrJ8u9_yBLFXIQwdEyTB_dbdvmmpv9MGRY930ODRslGllf3U_TVM5N2XsDwyaIylPrlaFiD1f9oNL6iluaKehqPABA9PJrsOqkCmfE4ZrKp246pfzxgnSMJlwegGEL4IYHm0qTemXu8GRetJRaKkqWulgC9XWqNP7xeqRjsWlYwAt5rUSiONr0QPtp71JeRIk7sk2pCZFbTG__aMLnSGtCxp9AuBht9YGzo23qKtxrUlG0EWRFZmm425LIs-YfGIVbgKnfjmaJwlnIZkeLBLj7V7bpoJkWL9jyBlJ9jdCAAE0m7kKcS7c3Mj4Kt-uztHA_XTFb3iTXrbHw912b5GFkI5i7RyG13zNqtCSRIpM-i-3Rb2F-A==",
  "id": "rs_0590f03f54f7621b016ab2b838bdbc87d09b369f86a7f7d3bc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.125,\"left_z\":0.065},\"note\":\"The green bowl is just left of the jaw centre in the wrist view. I am lowering toward its right-hand rim so one finger can enter the bowl and the other remain outside.\"}",
  "call_id": "call_pX5MGfHDqMShCxhQDLlCp7et",
  "id": "fc_0590f03f54f7621b016ab2b83c941887d080f6f2eeda961451",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pX5MGfHDqMShCxhQDLlCp7et",
  "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]: [-0.4866, 1.589, 0.6689, 0.1432, -0.3935, -0.3115, 0.9976, -0.0216, 0.8089, 0.6415, -0.4679, -0.0151, -0.0486, 0.9976]\nstate[eef_state]: left_x=0.3757 left_y=-0.1181 left_z=0.054 left_yaw=-0.0075 left_pitch=-0.1413 left_roll=0.0572 left_gripper=0.9976 right_x=0.2881 right_y=0.0 right_z=0.1751 right_yaw=0.0043 right_pitch=-0.0672 right_roll=-0.0117 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -7.0632, 5.8735, 1.8144, -0.0855, 0.1685, -0.0269, -0.1709, -1.0598, 7.1726, 1.7753, -0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f781ef60947a584a9881cb9355b09f5be075143e2a730e37fae8eaaafb60b6d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c63c564c388476fdb6092666ae58aa69e75a36b8af533430823ae3f0360d109",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4307fb906215b0db624eedba0b5cc67a7aa27da56878cc55a487929d4a25155e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.388 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]: [-0.5327, 1.3071, 0.7143, -0.112, -0.4229, -0.3267, 0.9977, -0.0219, 0.8051, 0.6418, -0.4564, -0.0154, -0.0448, 0.9976]\nstate[eef_state]: left_x=0.3523 left_y=-0.1194 left_z=0.1301 left_yaw=-0.0255 left_pitch=-0.0679 left_roll=0.0284 left_gripper=0.9977 right_x=0.2896 right_y=-0.0 right_z=0.1786 right_yaw=0.0022 right_pitch=-0.0515 right_roll=-0.0087 right_gripper=0.9976\nstate[joint_eff]: [-0.4308, -4.9436, 9.2239, 1.7998, -0.3639, -0.0415, -0.2466, -0.5128, -1.4701, 10.7282, 1.8828, -0.1001, 0.0073, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhDblUsn_oTfPcxSPPDoF8ut_w-crdnT06c7oa1o8O_E-1E4BwyiyUi46hO9RdEmXikUd4U4xMVoteKt6T1jI4qXANp_sE07dkaBs5cjGhVwcNHiDwRj3aDeVReHuivcqNi590NXF7HRPlRj4tqHeLaGLw0ObbW9PbH6XPQctfFixhLTerepYYL4yj0aAS_jqJHjKrgmvoeBTujh5FXFXnvLsYov4pob8t35MnQidyVBP7xcpbSPkbiUNrPSpvlOLIBG0IdmSp0rRrQ1zk9y7mufmkdvbCsRzS7FEdoQ3nPXa9lnfr3iGCxZ6OabKDlZuUrcMp6upe6psSiHyNQ_xHSsdIK2D-Xvx7o99yfWaCr5Wk6ohrWUHnFefJBKZ__pPAnMTpO-n0Ju6te5nDBIz0GqNjc56s7Vj8ChmNHxLUsq6hygWvs0MrDaFM-lEPuMveWHvwmPc5ONaBBzrq8R5DCrzXXUrG5Hl-zO0zS4mdaqGeTt-fS8DaDfFVKnN8DYlI5Fdk1v9xCtqBLJDBT6_2v5IWUEqmXp3iuaemWV30DifAOf7KnZMPRP-HWaSXip68Gb40FONQ6hQA_Hbx1P3xheTcVpMBv4xUGAKZUUHdme1dpK58LHy8qMxe6yVWFCd3IppcrSF2x4U7F5zCHAz3GzOKDLds-YOygzmei8XTgEEsPmB42yqHNJnFxfEuXALx0IviO01NwEA7D0bZENDaz9ARJiqSet2MAbU5B-oBLQUBN6Ourg-LTUyBbwTjm5d3eppGaR8wQa_tcCWZc8FOEUq6RpZPy0y70MHSTb73UxaZiUTdYDErhw6i2ZqgKlXN24v7ZUhBgepECAuvt8-rmVf3H6SkteWLrIX580GKQS0kU39_TrgITZXJfZcY45rAUyUOn4cSU6gVyZ16wqEgY0nB1CENpWvq1uqmU7Ex2ZV7i1tQb-KIUtbQJepzttmkYTuDU5Tyt66ntvpeR7hyqDqj5IYy5hge4651taVvfeJRZ4M5xnHwPCLeRu4zNp18Zn9_9tJfFaYTSCNzitv3e4nwsSLepJplF-8SEw-FhHygGi7NYg-KmMD1Mew6crHKGc_FR--mPzMKe9RDNNlXRIqnmxaKRmp7AVHPDQUSZhKQesAoVtBRs1mqWeH632eMnxMvW9uhWMob0RVu26niIEQ9on8ImFs9_ULWvA1c82kFi2McyOKAMIfx3VDGxod1fj33gCepxOX30kYH4OGaNF7pslIAzggjJC9vqOrO-GQIiTKiKQN_sbuKZ-C9ZfdKn",
  "id": "rs_0590f03f54f7621b016ab2b841248087d09c99526e97ee7486",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035,\"left_gripper\":0},\"note\":\"The right rim of the green bowl is between the open fingers. I will lower slightly and close gently around that rim.\"}",
  "call_id": "call_PkplOFgTBlUqei2GNMbSj4AV",
  "id": "fc_0590f03f54f7621b016ab2b842125487d0a3f21de6870fbc29",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PkplOFgTBlUqei2GNMbSj4AV",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.6314, 0.6476, 0.223, -0.3973, -0.3138, 0.0169, -0.0216, 0.8101, 0.6411, -0.4717, -0.0151, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3788 left_y=-0.1188 left_z=0.0443 left_yaw=-0.0038 left_pitch=-0.1257 left_roll=0.0503 left_gripper=0.0169 right_x=0.2876 right_y=0.0001 right_z=0.1739 right_yaw=0.0043 right_pitch=-0.0725 right_roll=-0.0115 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -5.2034, 4.3966, 1.4335, -0.1294, 0.0317, 0.6862, 0.0889, -1.0188, 6.9812, 1.6972, -0.0757, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a355b145f0f859072989bc73e8980219d298277cc565fd529cc51c3879045078",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fdc88ed239e42db1086f091b5fb98e0c24647a5ae40cdcb1cc85251a6ce1ccc9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:540f2ea76164abecce72c8e85993223931ece31e88ac9e111d6663b03704c34a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.239 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]: [-0.4866, 1.589, 0.6689, 0.1432, -0.3935, -0.3115, 0.9976, -0.0216, 0.8089, 0.6415, -0.4679, -0.0151, -0.0486, 0.9976]\nstate[eef_state]: left_x=0.3757 left_y=-0.1181 left_z=0.054 left_yaw=-0.0075 left_pitch=-0.1413 left_roll=0.0572 left_gripper=0.9976 right_x=0.2881 right_y=0.0 right_z=0.1751 right_yaw=0.0043 right_pitch=-0.0672 right_roll=-0.0117 right_gripper=0.9976\nstate[joint_eff]: [0.3761, -7.0632, 5.8735, 1.8144, -0.0855, 0.1685, -0.0269, -0.1709, -1.0598, 7.1726, 1.7753, -0.0855, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhIzX33hDlYTmBtQ5_gtSrXH3xAl_4_E8vyhXRuRP7wUGGxUrKMt4ziGyEVCilvlg7R-xmVfbhflE0wOiN7fzquYtlN27YVMN4nkvrVXjPh7wFUpY6OeVk6d_3Y_zdA2SC6yN300HcmuWXFqRMWOX9IlI4cNx-gbUqaI-vMYmCLdN3IeVmWq6v7zfZYRFcReLYH7yHxMhN7qlbMoCKccbwsLlmT2b9Gs166XMIRJlO8X7_pY40NFcHOrxZ-8YnrrHZ7iRPoLJdMc7rKB5BuOgl2uMJ10IvIgSlUQhfYElDlDgKW8Q2lTsg2zfEXriLiL8OTH7Pc-a9XMLz-MVrO1XY8uSyTl7zTezxIswVBnTPYzeJQ4fQega3kYID3HuhNP6V0HpFGlX8ZGiKRJx2pnza1M4FXFRO8ftVP0MsuzGNnJGYuPRhrFY9wMnl5mVhEL4zFVFSIFPjKSC-GIp7PDitrbUPDYvifdW3Gp1aBx_Hky6YCItZ-Veuv3lHuINWoQ7nwZiV-GgltfZjTiWjf9TsaLoBZ7U3r7CLNGNU3ntxyjSQSnPsQwOKLAwe2-CtgikXiR17b4yN-bS3ebXtrBJAQ_DU-0Q4GQ4oVFdkvLNglt09Z6l7X_NAz9U3sV4-iCvsmfH4GAsH6C6mkJYnt6ATxfg-3iU4jog2svLogvuzjWJ_nxzAl_lhktLByuEyPZD8rsu_GvUA5dn3jGv_ttmRjoGL404EFXhV0koMytoN_D3A-p7extbxNkoFHCXg4gSNuQMZu8pVfjCRu6Mbn8ZigQOus7-pLVzIkksdcZytmc-bFU7tpgdwQNLL7dETQq6p8ly20qZtIvOlaFldc1VKoPr7j85ojZiQeoxEwURaoLAoiZXhWJlUxvUD2Myy_ztPIwJg1IPHC1UE9ieOVpRUSbp0lPOPo-h05kGxhfKceh95gowf4oj9EdGgxsMeLuutapxlzKqtZO-wN7hO1BfX1z0tsO1pCgqHBXBqzdvWx5pFmFSRws-Id6mI4VodQqKfN6CbDvVIGCv-6IqfuIdiSoYnb6Ej2LB5KHAV-pP1TmbLvckYsajS5M_Q6C3XSrN9eJpy_EeniO0Wiw-AOhFiJj-pI5eHaTJqEiIUnLiEoHZoldWBgwXesDzAzhCCKgATxTt2r2Gb_Uz3S4_09a13DJvC5-AEqEuCIChmFJxJONlXrspue8rK_MWaNxj1R0Kbc7rSwJHQQ9c5z3nEOWuu7PC1k1SjeFxAclntYoLM_fQ8Bkm0tSlmkgmfNhN8dx-dQ5rM2_TwWPQwWE2udIQIX8ehwEBSw6yJzc8EADMvt10Y=",
  "id": "rs_0590f03f54f7621b016ab2b846695887d0a9b58bae486ea89b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The fingers closed almost completely, so the rim grasp is uncertain. I will make a short lift and check whether the bowl follows.\"}",
  "call_id": "call_ri7UCfX87NhsoVtp8yJQdVDn",
  "id": "fc_0590f03f54f7621b016ab2b84792b087d0b17768b3ee647c2d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ri7UCfX87NhsoVtp8yJQdVDn",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.5131, 0.7303, 0.017, -0.3935, -0.3191, 0.0197, -0.0216, 0.8101, 0.6411, -0.4721, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3772 left_y=-0.1187 left_z=0.0838 left_yaw=-0.0037 left_pitch=-0.1312 left_roll=0.0461 left_gripper=0.0197 right_x=0.2875 right_y=0.0001 right_z=0.1738 right_yaw=0.0046 right_pitch=-0.0729 right_roll=-0.0118 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -7.4188, 8.6359, 1.4969, -0.1783, 0.0562, 1.0281, 0.0205, -1.306, 6.9538, 1.6874, -0.0611, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd4058524633e060e9bd20efc3953060541fa9a87109c13fc50afcc18887aaab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f53b2c22a8164c6156c3d0336da28da4d8cdd201bafb657e2066b24cd25bd119",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19201cddb3051ae57601551d03beacc058238306d2983afda128deda06cc041a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 6.269 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]: [-0.4862, 1.6314, 0.6476, 0.223, -0.3973, -0.3138, 0.0169, -0.0216, 0.8101, 0.6411, -0.4717, -0.0151, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3788 left_y=-0.1188 left_z=0.0443 left_yaw=-0.0038 left_pitch=-0.1257 left_roll=0.0503 left_gripper=0.0169 right_x=0.2876 right_y=0.0001 right_z=0.1739 right_yaw=0.0043 right_pitch=-0.0725 right_roll=-0.0115 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -5.2034, 4.3966, 1.4335, -0.1294, 0.0317, 0.6862, 0.0889, -1.0188, 6.9812, 1.6972, -0.0757, 0.0073, -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": "gAAAAABqsrhORUeym_l6fXMLZ4oqhBT_q_pIeMopYX7wGN5kfAvZ-Sianwvhla_AZAPfH_-Ut2qvUAVvYruNyyhqqhag8nBjTanqHTso-iuDTbDVjcC1kccOr_OPxIpUhtyoirek4BKcNeq3Q2hTl1PKXhd9DZM5ZMqxueVe9hEm3wxPnyrGI2-tlXQgCDSiEg5evwrkx72eZkpWeuy9hWhQehLZjeBba9s3gVRBI6M_suiZMP3ysXda2X_cXCI4sH90oXv8W4M5LwsPvIc8OrkZheCp7Ufl9qImncVhK5sb9AF-wlQiR1cNdw-zlxIqcLOXJ209Y7I7t0zdNYRc0G0igog4Ud5IIz8P5EmPh2d2JrtvIk1r_76FPVK7Z1OXZSgweqA4hQfSWIHifJ76VeBaVXMpvnNfrfZrbmLD7-Cq3M6jZZn_045JQ9tJvOT_BXqhy7tsc9N78_zCTyezRoxSWc6CF1LNYmnI2DAA3Lfr5OIBdkCM5Q2K7kxdgVKDZrz4JzbK6Dvpj4b1dN61VZgvnG4VnLOa7IemJ0-H3ojU4ltL58RaF9_G5sEFtkOsToF7rQVVSPzLHGsUoEr0CljOdeeP9caHMY7UdjC_4C_RaPOkg13tc9FCx9dg3nDpOAoANLO2myc0kUYf621WLUiwvB6B5cJtIBgGHutPbsR4m3Mt152yRAfkPO4VzHESTGHxjHMpZM64mgsPUpSKOyBdbyCyLQ8w2CB-_LE2BXYVwzt2XiBzpqRwt906rtKlBwFUEu4Ym7BBD_fy9AbZMSfir-C5tfG8HmsniESGLuJqD1fM3iSVtDGHdVE3FxOMclDqqjIr-g7Rcev8Zu-m94ZWUrSaUbVwd5JPlX-2NV-g_ChdB_myz_mRkxDqsgzCwRTHuUyBkcPl2C3xlbAJFuUGkcTUzDP2I4fmdlFy7i_QtZu-TATw68jaciWMC82GScaZLr5Yq2w4sl66uSpC76dOnwNbaF0WzcsAF2uguoBkHJRhyJ8mIxf7OTqSvZkXG4kY-MuGQBO2BRiV7d6wbqxTqxmrVPEwGlT-dCUiLEhc0d75Nx-OOeAP-p9TJrdBdS-3r-VwnjMUNKTlwApZtWh8bmkFkdt3DRKzk7IhDoF38Vq7wA6y2dMA-isnrup2oEzUHt8DCnNKpD3m0y6z8uIz7qBbpady2tTyn0vh4z4N5YaijnuzwGgf1Qr9_w3gQ1G7QnVlDxKQMp4ZEPPqD6ZwQHEz47HV9rTkqTR_2Tk0qelJZUvBlES7mBmrfwYokHe42Hk15IYvjXhGu8tTB9YySEzvQ5ckk3NtuRadD_7V8D8pmA0hZqvTQhaPzWdVxMgMm8sMYcioAYEPjOuNEeY7vA6u8NoecOcOj7bLUSCGyCr-GltgOkFv0gHtIU8oCYaZXApGQEQ35i2FRLtNl3Atacs_-jho4DjvvizL9cfKBi80ycN977o=",
  "id": "rs_0590f03f54f7621b016ab2b84b1a4487d0a3b87ff5349a8cbc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19,\"left_y\":-0.18},\"note\":\"The green bowl appears to have followed the short lift despite its thin rim. I will raise it clear of the table and move a little toward the blue bowl to confirm it is secure.\"}",
  "call_id": "call_AItJvEF82WOOQiRA1ieNs997",
  "id": "fc_0590f03f54f7621b016ab2b84d0c4487d0abdf2d6a546675a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AItJvEF82WOOQiRA1ieNs997",
  "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]: [-0.5163, 1.4963, 0.7555, -0.0673, -0.3981, -0.3386, 0.0197, -0.0216, 0.8116, 0.6411, -0.4747, -0.0151, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3683 left_y=-0.1262 left_z=0.0859 left_yaw=-0.0167 left_pitch=-0.1664 left_roll=0.0543 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1728 right_yaw=0.0044 right_pitch=-0.0771 right_roll=-0.0114 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -6.0103, 8.6359, 1.5409, -0.3932, -0.0513, 1.0281, -0.0479, -1.4291, 6.9675, 1.707, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62b0587d4a0a7f4647926a8855d77db65040b2c1746b6b0914dea15fb7aa72eb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d6838a79d446e137414efde06096d26890fc28834f00a129a53fb438fd6186d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19f6d375277a248e3b9fee5fca03714d74f8619e4b298c6b7742e9242ee5f241",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.423 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4862, 1.5131, 0.7303, 0.017, -0.3935, -0.3191, 0.0197, -0.0216, 0.8101, 0.6411, -0.4721, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3772 left_y=-0.1187 left_z=0.0838 left_yaw=-0.0037 left_pitch=-0.1312 left_roll=0.0461 left_gripper=0.0197 right_x=0.2875 right_y=0.0001 right_z=0.1738 right_yaw=0.0046 right_pitch=-0.0729 right_roll=-0.0118 right_gripper=0.9975\nstate[joint_eff]: [-0.212, -7.4188, 8.6359, 1.4969, -0.1783, 0.0562, 1.0281, 0.0205, -1.306, 6.9538, 1.6874, -0.0611, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhVaExtm3TE84zZL1Cbs7v_z5zP5dvGtU5yXZIUr7ZkFMby2atwOtDD5GE6Z1TpEsGh5fywZF05MtQuUNLA-5QFkUXBS2USQlCI4nwtroBYlIajFC5letlJfgkMnUZ2vZAGxNcCOaZuz37QsdMkIWm97pYyAP5gDpaGXIE1IDS5iTCTt0JdJe0MG5Aykr-dM0U6B3_veDzcO_-K4E-vFWp6ZuKJNGMN5Ra-eLjLYzp9BbnLaX4tsaOVGfpJsNop6KOxZqtjpj37MtjgE-Cn6T7VqPo-FmLxnLtjJhrPaXnbhi1l-j4ApE_6efBOEgPMbebDIgfP588h-jpJ0D9-zRhNn4gEto9k5OzEqRtgopHz6RNm-RIgGxVPZ2OSBDZJraEXfB_cZTnT8synomBBzz20x2dNXioGAHMr8t93tz_MCeU1xl3EZWoBYO7uo4X_ldTcxrnyxMeBhLymFcMKYjEzsYu1vtg4HRVRvy3-A5gG_nLYznq_1Y5bXaaEBV7otdpCy4jqzK2eybkChCQh1xFQZulxHtR_admLBGTOpAEw2w5Y_hwJH646ZdD3EtXRMcRPd-DLWD7k7Bsk-EbKl50FlHIXr8nVgl9_K-VaV_cfTdCE7m4H9oeIyRFvSHPAft0loR6rjuj4xbPImTmbadwCiBv3YcZyubxnKBSe0GR15ZpAjbXpQW3rtG5nxEbh-n2Ama9lZVuL8YPJIS8GwRBOEjx5FUoEEG9Xm6YL4yB72St3JbnYnmPlKGbu_Tvs_N2BupNI7Woi9AtTMqWhEB9h2AiLlwjIv32wVWS24Jlp3X1NCNt4OqAVGAvrVGN1-mv1kzb621-e8lqSC9bCNPx92w9mtKKcxdAkIsHT1B71aKzqQPC9EMIhlDtw5_HHnADMV3whDfyBdF5RQ3Dblhz3H4PvffOpvYGi25EpgAfyd6w8znvdtL3RNfMdV9OpmaHG3kWgcG8NvR97aMeUzcm5MT7GuZBk5SIrbVqCSM7-bYLPuKerHm1dRrMitFWAC1t0qLoz3u8iWEVXM52h22HMyM0KB7dlKDDp_Vyp7AioAIlRNtORWeR20k94OYAW0t0jIQd7XHMnh_ZAN-N5Wcq9YFOD4H_-NxA_cHBZT26Quse20kOBDzlkmoj1LsBuvd_-EhJZ4CgLCWLTTQ5_n7J8kAoakYM3xIELbS8B6OO9UGC7_sR_mv95W3nAACuaVtlWaE82nJwQMsXIIF1-ZL4QHB_gPiHFV20EL8qOSf9GqOdgOklfvTzw8mrimTmZ6Y91wcQhsfQVv45G8SeQkmDdFRe5mJsWGhd_EFhoIwqFgGs=",
  "id": "rs_0590f03f54f7621b016ab2b852931487d0a2116bf03dac6b2d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.335,\"left_y\":-0.12,\"left_z\":0.16,\"left_pitch\":0.1},\"note\":\"The arm did not reach the higher carrying pose. I will pull slightly back and change the tool pitch to reach a less stretched lifting posture.\"}",
  "call_id": "call_Myq100C9RsKj2a9jgT0w8A4Y",
  "id": "fc_0590f03f54f7621b016ab2b85390b887d08f30a030a3f1ee83",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Myq100C9RsKj2a9jgT0w8A4Y",
  "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]: [-0.6167, 1.1893, 0.6239, -0.0284, -0.5327, -0.321, 0.0197, -0.0216, 0.8158, 0.6403, -0.4755, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3355 left_y=-0.1234 left_z=0.1522 left_yaw=-0.0248 left_pitch=0.0612 left_roll=0.032 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1712 right_yaw=0.0046 right_pitch=-0.0828 right_roll=-0.0115 right_gripper=0.9975\nstate[joint_eff]: [-0.5949, -4.5197, 6.3111, 1.9267, -0.3248, 0.105, 1.0037, -0.1983, -1.0872, 7.2821, 1.6484, -0.0708, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3e217bf44d3c9dde6df7cd5fab0a72edbb1bb70643fc4ee9d6f09f549377580",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17f7b6182e3570bd2810a6ff22e0392d1c498ce902262ba74078403fb6bb9b04",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e896568a0457886a31d79802c1ed12c9995d353b7e302bc17727c91a672f1d78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 7.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5163, 1.4963, 0.7555, -0.0673, -0.3981, -0.3386, 0.0197, -0.0216, 0.8116, 0.6411, -0.4747, -0.0151, -0.0486, 0.9975]\nstate[eef_state]: left_x=0.3683 left_y=-0.1262 left_z=0.0859 left_yaw=-0.0167 left_pitch=-0.1664 left_roll=0.0543 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1728 right_yaw=0.0044 right_pitch=-0.0771 right_roll=-0.0114 right_gripper=0.9975\nstate[joint_eff]: [0.1299, -6.0103, 8.6359, 1.5409, -0.3932, -0.0513, 1.0281, -0.0479, -1.4291, 6.9675, 1.707, -0.0562, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhbYLFge1yRWAdmLSQTKKrU37oqoNq_Xez_H4KEbeO2vkFHzUvMoIOWDgXoUwSvawY17U3f95M2W6d7Cc8Q0vnZuBE2S9472nBrsEeJZLlxvZv3zcNBTIJuaNxY73DaVXnXM41hrE6K8RGIXkO86b_mXhKrVDUg747zLxumCUauwb62BySpk5yE2weFuwgmfp1P9pgQRl89Xcoh2a4nd0kzAJBMrn665caT5ylnTvXvHBbm0ackO72IP3yFTabxbYzZaDncCJa53dxz0PIrp8zAMCzZjXYQwSCL96D_S3kOxxO-oIC2gUQfWWMek7-7lbY6VybXjJPOf-snt5my1b1hwDPyTQNOwUlHjhjRBIWGOBz78otTuUBVgED5ZW_r7au4VymqNSqrjpTA8LHe-zz4C-ks62FW9AQr4DvA-987HvMVhyf9evEne9oz5IPQDOh-6nuKHfAwgRf67wShyDNzy-yH0gtIQK3nPxdYCGQg48cq3gsC2qCBnhEL4YotIuHU6hg1J3qXW6ioKBWYJS_jsPeqZKgGmyqBE_MqiHbL2EDB_BRPO-1lqoMCu3HJZNYp5xMm06J4ZtC7-porQl2HLu_S9WCAY7Vxg67Q7YnhaKfv_-Pnepazft-rC2bqwrp-KcYRxybSl6p02Jvp96CDclr5f5VRx41_tUDcPEEeLqg4WRR2f2SVSRKN2g4K8Mj3ns8kmNH2dRsbllDMhZHnrXdHAl1Cl3ki7L1t2oQaFZIbPb8YvAP2qvca5WuoQl2k5Pb9HfwAeWDFtG1ATHPAfahckJpCpObEYxL0cUYcv9r9S2RJDpr4VcoE--8d8___gao3lAOVaOfS9SHOtw_9ShT1YL2_ENVAvjpKBCCqqxDeHww4IWVSFpWmwUK7d79AihBZHlGQQrYvmDgF_HiYApd3J_oAoBwrok1PwB6hpCnbcNofVQid9jwlaY9ih1IjJAGuCIL7tQNvArpOeyLQctQVce21cldaicQJNFif_gUkV86fhVAjJnrbnVqRmXxUvteOLal-jrSYUJqS1k-DPvCXKn8k4RXeBR8Ly4fwdqCMJDda_DodO9JYcj19UencukGO-2jqvcK64takYHhfXlzjloaoSM6VT52PAiJrgMpbMu3zwxym55Bno1oAx9eUsGFQJmLQW2PmrJgnOkY409Gje3UH29w_VzCJHHKHQ5aYgsXgaIomIERYZmovNLh9oguXQ8614m7dVQo3u37hjEdQCivJ0zKW5Fye-X2Fhl-mJ7dlSVsVcpwTWnk7Qs-6SWxTM5mNUkXgbs57jEtR4Ig08TRC60NyyE14adfMpp4RG7tKgMBMaqzXIykoM7rIdk-_AfRfJJ9PEKs69DUQku5_hadbQYVqXXVpq2CwXbWxc-U8ZobvUhKflMTyBMajaFDlJz24hn92cplP6uImJWCjHknaeMXopLNo6mAau5PtVEq0BBJnfN4xrwU_BVKn",
  "id": "rs_0590f03f54f7621b016ab2b857fc0c87d0b2a791a26ecda216",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.31,\"left_z\":0.2,\"left_pitch\":0.1},\"note\":\"The green bowl is now clearly lifted by its rim. I will carry it above the blue bowl, keeping clearance above both bowls.\"}",
  "call_id": "call_3Ch50Q4rts10OcKCN2QTZT6T",
  "id": "fc_0590f03f54f7621b016ab2b85a2c7487d0823bb9368caf879b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3Ch50Q4rts10OcKCN2QTZT6T",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.973, 1.7725, 1.3174, -0.3016, -0.8101, -0.5785, 0.0197, -0.0216, 0.8173, 0.6403, -0.4755, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.367 left_y=-0.3053 left_z=0.1853 left_yaw=-0.0405 left_pitch=0.0707 left_roll=0.0428 left_gripper=0.0197 right_x=0.2873 right_y=0.0001 right_z=0.1708 right_yaw=0.0046 right_pitch=-0.0843 right_roll=-0.0115 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -9.4291, 9.0188, 1.3309, -0.6081, -0.0269, 1.0037, -0.1299, -1.4427, 6.9812, 1.663, -0.0366, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:56a019e7722883ef34867254047630ef2077528afc84f74e25012f18de3a3d1a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57aa81ab24f6becf9c4ebd3357bb737f780c9ffa23abf993e225cc49ca4d1441",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80e6156f6afa2970925df902228c7c533f950240a0aa109f58d89a55e18cf193",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.918 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6167, 1.1893, 0.6239, -0.0284, -0.5327, -0.321, 0.0197, -0.0216, 0.8158, 0.6403, -0.4755, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3355 left_y=-0.1234 left_z=0.1522 left_yaw=-0.0248 left_pitch=0.0612 left_roll=0.032 left_gripper=0.0197 right_x=0.2872 right_y=0.0001 right_z=0.1712 right_yaw=0.0046 right_pitch=-0.0828 right_roll=-0.0115 right_gripper=0.9975\nstate[joint_eff]: [-0.5949, -4.5197, 6.3111, 1.9267, -0.3248, 0.105, 1.0037, -0.1983, -1.0872, 7.2821, 1.6484, -0.0708, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhkwDAC3zRbk8RHPhbgefDI6XB6ptB_LIVlQB8v_EYeQ9U8eRCvKbxsZda397Hy0R5Pnb99XbNqFLBQlHHs346JQciLIdji50AEhmCX3GmEGTXQTXB0wkJhOK0ro9GYIDUsyhhoDvWQ0nKUVHpjzD5Vo8qdXjsqf_zJKtrQSs1pRJDv_7_VcGuewLqr-A1Pcdc78yLg0NTRkyaeLby5j4s2rvbkUXZIToHNMgV9A3s2Hk6Iox_gOzeQG0IarMl2rzbU-okbf_AKiaRPahKiJR2y-o3AwroDPHSJ_2zgeQFqDUmEDAhziktcPSVq9JWRiEdhASHBiSzq2nWPn_bvFQisImrZkADj0cSv4QD2BxxSuaTjkN3dvhLvjMMd7vPrtRdpZRxo3BbNWIN6u4Mi6MTq4njExAaH45ZXIj81Pq9aicPWySHhQ6_G_PYS4rJi2ssTW65xvPdZkMY-PhbFWhRR_8EUiRCflXWzGFGX9hzGemnTJkrYTSOqzXOUmu3Rop6tl3r0U6ebWItBJVKN_I3oMe-3Gd7SGaplgIaLSsWJVzKXBxwU73ZSm1J_8OuCl9jlSirwz8kDIyYOTrOjLzIJTpvhnXowbS82M9BqHSJi-aXt7vrSKmcyRlEM29Da8t2QwIfnne41koruiw6ObeeB7CBZD5Ugs0CsWzm8tr3hOfduX9igsoHcWZ-l_EwmaINPGvLVxzAy2tgUKoJkOMs1eifbgoC3842QCD3HSEBL4INsumbfos1PM11rSpPuDIYH16HbwIBS9ay1WGkKI1WSWyhblIcFs28QLLeI4i-Eq4xcydP8ZKoZTALbIqZVnbo0J4yaq1Oa1ykVQOIqN6zeNX3THLnYxC08K-RUx2amFKSk6mLV0W5S-BUZMhP18XYbJK6_WdQAukm5loaHBeRTc-So84MWGFn-oCIbyl30-jrRBhuYHJf99E4zdTbiIfqD0W85j7F9lpMOQkcOpO86qkK8J_m67U4UL5600xSlxURl0bjSWIHg-PnSw7jR0zAD3AFzD1E-HhB4RbLnqUHUIuUcF_RUqU01ThX2Ywo0tpy_jFM3k1kymXldOjMwUkW_7vXdM2qoXAHGYfafAoZEDqjxb3bqahkJrmI7wJ7NxB04FoiigMwutdGTOiDjJjGaYZ2DVnwO0kA7hheUQhZbPktAASysmDS2OmdLTnrQeYC46Ezr-lOGq04wfq4ioeL6IUUCFn7yXGrDqeIB-SG98oeJhpcIzm_bUugA11ArpaeSlLzqCXJCwIX6DTj6BB4puL7hswwbZnHnUe5KZNa_xxqGgCSKe3SoCyV91sV7fLopDQegUbG0K9Guc11_rdSbYCzOIZrwT0sl3qrZPp4TJGaiNY5LAh-aco3wFltQBD5tifi52gxubvkwro8EXMQcr_yAvzgX301PndxK-2MwrsivuBoeVq0ZAEJFGsalApYdg3DYIaBI4h7BWi40SpY0_ZDKToHZkrCK4pI4cb4bst9y6FA9GeK-2U_87AIffcK--H8jn8JnCyM5uOcSfl6dvCmcU5WkhuyzyWMXN7iS7R6TtJF-712c-CgqxzufFkaclHN6E-5ouyrBB1AfTIcz8yDFjHCqcgDTE3qPkh3CEA==",
  "id": "rs_0590f03f54f7621b016ab2b85fa0d887d0a7e66d57cf41b3fe",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.385,\"left_y\":-0.35,\"left_z\":0.125,\"left_pitch\":0.1},\"note\":\"The lifted bowl is slightly left of the blue bowl. I will centre it farther right and lower partway toward the stack.\"}",
  "call_id": "call_z9vRaCQBwGhXuL9YH77lfB1k",
  "id": "fc_0590f03f54f7621b016ab2b8632b1087d0ac0c19294225615b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_z9vRaCQBwGhXuL9YH77lfB1k",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9955, 2.0041, 1.335, -0.1661, -0.8276, -0.5919, 0.0197, -0.0216, 0.8196, 0.6395, -0.4786, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3774 left_y=-0.3363 left_z=0.1063 left_yaw=-0.0474 left_pitch=0.0351 left_roll=0.1021 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.1693 right_yaw=0.0046 right_pitch=-0.0904 right_roll=-0.0113 right_gripper=0.9976\nstate[joint_eff]: [-0.7316, -12.8889, 8.7316, 1.7802, -0.5153, 0.0562, 1.0085, -0.0889, -1.4974, 7.1453, 1.7021, -0.0708, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a322be505dcc21eaa918821706f4db1589ecd3fcc7db6aa2883aa5ff2b3acbb5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9b8dc1c29ba5e308bd7bae3d4c0a4ed59a5f78348c98e252624ffe4e48e211a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ce37e7973a9b497bf95d8227d3f192369c90e45d2030b01d6263431148946a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.418 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.973, 1.7725, 1.3174, -0.3016, -0.8101, -0.5785, 0.0197, -0.0216, 0.8173, 0.6403, -0.4755, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.367 left_y=-0.3053 left_z=0.1853 left_yaw=-0.0405 left_pitch=0.0707 left_roll=0.0428 left_gripper=0.0197 right_x=0.2873 right_y=0.0001 right_z=0.1708 right_yaw=0.0046 right_pitch=-0.0843 right_roll=-0.0115 right_gripper=0.9976\nstate[joint_eff]: [-0.4444, -9.4291, 9.0188, 1.3309, -0.6081, -0.0269, 1.0037, -0.1299, -1.4427, 6.9812, 1.663, -0.0366, -0.0122, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhp07D1jCKnVKf9V7PkEN3gMcAUN7IHiii-AcdIlVlx5LOakcRiPAN3Npb1WhHYpN_Pv-kWp6xBJavJeBZ7ZYIJj4Ig6cRbAIp2QvqF0HOMRvQef-7TNy5OtEDrd-Jcw9rJMRWEorMI8gweKrDw5_jLHr474J7CBdHSeP3RQqBhjvK9OsWP67kdcOOEOYT_YHQggYdkoN1J6A8GrQslIxtI11Ewyj_E6R00it_Xzkuzpz31sJtGnpSA9WL_qkYGnkOzS-5Y60EI6W6J65WEK1lrHkzKDGmCFWJo75736WaNRabwmKcxuIlafVuPNtMV7xuPh48_OWCCnvs_odJ1xQIotybIFASTpWUZ8GQPqnpzpg38O4EV1iLEZg2J2v4mgRDwxgiZVtsERmb-XAoSGt2nkYDj06Z1B7yhMsM_RmijMHPZoiabNLhGZB8A0xvROSpjmuu5_2R2rwP654I0U823x-UQtxUw-Av299lX4l4ZXGGfw2Afe1TM13WIfA4OcrGPK8e-eFggWv-oaQ9yjryBtieqmneNNQmjALdHStOAXiSE785aZ66q7DOf-hp8KKppvLE9RPSPDqV4ud6IrQI_yb_lSASPo40K1NKXdfzuz4fKdaI_vNoeSuWkrJ2fs4qIHnSVe3oCWUKXBfKwzJOhZJV4uHmTKoHJjlMy4kAuOZpXm88BFXzdJ3gKthudcM2Pj78v6U0FHQeBielRt-dnYUe5EV9kmmaK3T1EAl6V6sdybbXkmWAQp_SmbBKoQmyGubsLujNLBn9bdP-Wy-g6zjWIc_LHNB7BQQ_vhUVW4Knu3yv9rmBuJGoWNCXBaV3fWsXfPixl37rSeRVlEgpt-6Z-g8FQTcoIsDtmlvT55MWJal7aFtFzpjzx2RScvUMoMiXcbaZTWki3yGu4dw7VRkO3hLZPe06TjV6Z6CLdahIUDUGuJF-zag-4qnALO9YBqLfBxqQApCBoR8McCa-ip72blbqWBYRy1rJYUvHgIhELy4MkJlLdTzsIPYGuip1qehx1-Ueba2si1_MmfT-K_faRCXr-7c0-7a0R4Xwu0US1Ge3-BQa_6SHgQQpI5yBX_I4xEFkTco26scCYpTrMbPlja1b-WXJRBaclP47o76R16C7sACnF8zcIR67ymaRDFoi2sp7uMm57zcfdIY14nMIXr3WRzP0-qSZsJpz4slvJOT1LPhNwDnNRN67MyQ9ZNTYjfXOhfiWR7VHXCby3isTwpl5IXjzwhCHD-fxdbzSEJJyhX68qLeApo6pYrP44qmjo2DiPSUeuvETmo6iOG2GI3LWNkSwUqXHJ78rKcXtJHaaXgcnLveNLLcAoM8wXxODO8IEsLPdlTbKmZGA7Tg==",
  "id": "rs_0590f03f54f7621b016ab2b86767e887d0b471f7a0b2ffa83c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.363,\"left_z\":0.065},\"note\":\"The two bowl rims are nearly aligned, with the blue rim still visible just to the right. I will make a small final centring adjustment and lower the green bowl into it.\"}",
  "call_id": "call_5hHefgaxfzKdZu4FHQoWE4pM",
  "id": "fc_0590f03f54f7621b016ab2b86894a887d089663f06610100e3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5hHefgaxfzKdZu4FHQoWE4pM",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0008, 2.0384, 1.338, -0.1211, -0.8364, -0.5922, 0.0197, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3797 left_y=-0.3427 left_z=0.0978 left_yaw=-0.0463 left_pitch=0.0484 left_roll=0.0944 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9976\nstate[joint_eff]: [-0.4991, -13.2444, 8.7726, 1.6093, -0.5006, 0.0415, 1.0037, -0.0479, -1.3744, 7.2, 1.6288, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c68b82d25485c75e7740a3de17694e9ef129c856a73bb46f4a01cfc14d2947d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dc7d58b91ae5512f8cb95342276498ecd9b89797bb8f19d908c6467ee57dce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6372d6d24beafc2dac57b9532f80f8c0fe683f924846f1bf727ab2f4629b24e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 5.915 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9955, 2.0041, 1.335, -0.1661, -0.8276, -0.5919, 0.0197, -0.0216, 0.8196, 0.6395, -0.4786, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3774 left_y=-0.3363 left_z=0.1063 left_yaw=-0.0474 left_pitch=0.0351 left_roll=0.1021 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.1693 right_yaw=0.0046 right_pitch=-0.0904 right_roll=-0.0113 right_gripper=0.9976\nstate[joint_eff]: [-0.7316, -12.8889, 8.7316, 1.7802, -0.5153, 0.0562, 1.0085, -0.0889, -1.4974, 7.1453, 1.7021, -0.0708, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrhtTByTdUcS_fEhMBZhTf73bmwOu2uBkK1eEZ_usDsmLTuxLWTYvAKGRQCBwZQ6sS7QJrLMOLr1waCz2cM_zS3S6Cu-PqHjmtsJ7U_V5IwXZuk_p8lk9TPedjgcDNyp4SiajQ1TPVpEDvdODXy5e1MUk6_YhmYfBryZ8p9dtvqn_DVSZkDTuyWerJN8fE_hpzhploHHliL9bKQH5WFyXDTQMcG2u16FuiFFXzcNtrjxA3kunOUrFrLQtT_kma7cUZMRn3Z-ULsOpBMUqEjzckkaVuMINrAYjZFafSsxvJAUsvVITDzuq_bYX7eVf4DyCZrP53bbwoz1Uq0YXuazopIFJPYPNP7JbtyM3-8EeoPMbbNS8tO2kviuFt0DIX4zKTa-2JQWNpgzJCxYnZ8Kn3HWujqp0okSvtUfuUetdu5gAR7t-wkhP8RmxwXf-jqVyxiBnf726WLDAKfZe8yPmPNdrcvIX_zFdq_XhzNSnCHGFhwP4Zfk7PVHobbPMh6eqFqckU5a_-n05viioe2w16zzPxAEYYp-8KLQyaEAV0HogegE2Z39da13apHx6O-gHBDRvvaOxVWXY__kmtUskJkj_yzS3j8UcylepMPGctF1EIhknz4IxN6XSdw7tcK7ab-mAMjZuDZEWtjFvNy0zMYoZkhwAzzqd755K9y6KOjOuof0jdapQCHFOzsDBis85cdU_TwThL3AqrPwtUyt_N1Wx_66xe1R2-AhFrtgnmhOBCe3UNz0Au7krOI2_4Yr75pftwTCcY8coJ_BrWceTL2Do0KU_0QzuWA_bTHbX1bzzq2kPyri2CU1KSfab3XPdVmf5hSv33R3A92SDVKEfzQgJZ77dxndwPcgGFJ3t0Gf35eceStVe2Mh9_5GC1PQntkCn6rSigTDnG4XMRuR6XLnItqx90pu9FbhkbtwWixpwCKFeLjULMBvocS0TFqWjuoEhKV4Db_-DLUJ_kza6yXjtccFxnW9Y4LJoCuSghSW67f3Ctsq4XMs_BMsYsYLf17wPMgbjpVQ8RJK_GzLUfWysVd2Jq_yoZoXnWZ0WHNIWZ5yGbKVx5leuhl0TeHsqCkpLxDZfkx8uKsFR6l1ImTmNl5Ob0dzh83YOEzE_RcfcdrDvpEeUskCpx4HrqSRjYOHnH_vCjAymcxNVAi1E6RkT0CEcl7tbomLG_NyiTdd4KOS1R86QPgAUnhKcG063HGWILf7013Q45mt9A_flxeMg0S7RZasVJ1uvLLWR4w5ZKQ=",
  "id": "rs_0590f03f54f7621b016ab2b86bfa9c87d0a3e2158272c71b38",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.8},\"note\":\"The descent has stopped above the target, indicating that the bowls are touching. I will release the rim so the upper bowl can settle into the lower one.\"}",
  "call_id": "call_asXu5a45vcR8Q19MMr51u5f1",
  "id": "fc_0590f03f54f7621b016ab2b86c6ea887d0827d8ddae46ff4a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_asXu5a45vcR8Q19MMr51u5f1",
  "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]: [-1.0008, 2.0384, 1.338, -0.1143, -0.8394, -0.5919, 0.7946, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3803 left_y=-0.3431 left_z=0.099 left_yaw=-0.0441 left_pitch=0.0541 left_roll=0.0904 left_gripper=0.7946 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9975\nstate[joint_eff]: [-0.4991, -13.2444, 8.3897, 1.4969, -0.4176, 0.0855, 0.0171, -0.1709, -1.265, 7.0632, 1.6337, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3015e7439bc51bd0e5531ed2665a5183cf7de1f95d9028a8a62d89b693524386",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2d37d29c4374d77095614fc94292f487a19c37a9007288641ee28f77a1559ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e2f81afe9bd52223f0f4f08b020bfd2d223a78eaa948e3ca7211c0337885da4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 7.852 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0008, 2.0384, 1.338, -0.1211, -0.8364, -0.5922, 0.0197, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3797 left_y=-0.3427 left_z=0.0978 left_yaw=-0.0463 left_pitch=0.0484 left_roll=0.0944 left_gripper=0.0197 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9976\nstate[joint_eff]: [-0.4991, -13.2444, 8.7726, 1.6093, -0.5006, 0.0415, 1.0037, -0.0479, -1.3744, 7.2, 1.6288, -0.022, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.30,\"left_y\":-0.23,\"left_z\":0.22},\"note\":\"The released bowl has settled downward. I will lift away and clear the view before picking up the remaining pink bowl.\"}",
  "call_id": "call_O9l7rQ4qPCxUydrHW8gZRyaH",
  "id": "fc_0590f03f54f7621b016ab2b872aec087d08c09c646ed47b117",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O9l7rQ4qPCxUydrHW8gZRyaH",
  "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]: [-1.0206, 1.4403, 1.1069, -0.4706, -0.8398, -0.6067, 0.7953, -0.0216, 0.823, 0.6395, -0.4831, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3072 left_y=-0.2425 left_z=0.215 left_yaw=-0.0553 left_pitch=0.0612 left_roll=0.0687 left_gripper=0.7953 right_x=0.2864 right_y=0.0001 right_z=0.1675 right_yaw=0.0046 right_pitch=-0.0984 right_roll=-0.0111 right_gripper=0.9976\nstate[joint_eff]: [-0.6632, -6.8444, 6.4479, 1.3358, -0.5201, -0.022, 0.0611, -0.0889, -1.4564, 6.9538, 1.6972, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb9cc0b107a9314148372af73462640ccff267484dca963d6e5f7730c50e3e0c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49a134e9316d9c2bca0d10dacadc2147dd4829b2e5d9d7a574f44279ef3055b4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afe8b16db95d80b928642c551735952ba054036c6c720f81c12a95fc744dab2a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.463 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0008, 2.0384, 1.338, -0.1143, -0.8394, -0.5919, 0.7946, -0.0216, 0.8204, 0.6395, -0.4789, -0.0151, -0.049, 0.9975]\nstate[eef_state]: left_x=0.3803 left_y=-0.3431 left_z=0.099 left_yaw=-0.0441 left_pitch=0.0541 left_roll=0.0904 left_gripper=0.7946 right_x=0.2869 right_y=0.0001 right_z=0.169 right_yaw=0.0046 right_pitch=-0.0916 right_roll=-0.0113 right_gripper=0.9975\nstate[joint_eff]: [-0.4991, -13.2444, 8.3897, 1.4969, -0.4176, 0.0855, 0.0171, -0.1709, -1.265, 7.0632, 1.6337, -0.0464, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrh9rdwxluZ8tZhnzYORdSFxUil-T6YopXElOliO3bLT6oYJPPf3bHJRkzz-5o8r-iONpUjKrRtuXFoX3K2-Wgu3Waz_ZJaR518-mFfx8ux8gXa3KvXIASafM46QuXhUk-7dtFG2yWJ6L7gCPUTmP21oZJPM5A77TWhbtN8RY4YrM0WFbbN1jwTJhG5bGmwCIxHn5Q0ahSMX_H5k1_JmGocZORyC0JCSwJx5nXgt_iGoi7zF9wCqPxWdIrIVdeQrX4Tu643tjw8SSvcqLqC6stTxWFKsTHIr2nAPVv84wurKGV53J-qCOVeviL9rHoh6nFp7n9AuRDqp0ZRzARFIrtVB4vEyPUbVa6mX8stgdYcHVIbvg_KyAM9Cw9Z-Kibh0FTLeQPe40g-P8LUwAk6NkvZs1klVh4yaJnzmWoFKOTjMGo7izgsuZDE5EicFPvbshbCjqfaeIh6srQvvoeCnB0YqvoSOocwzgHj6spn6umbG4yead_H28P0ZQYp4E2iqmIViqMH6IU4KATIbifuc3bUzMbERMDyhxRznejHwGqJdAhQ2dTZUp6maOH0W3lQRtMWGpC7ImdfMC-IXvP5j_IutLVqGEUI41jT8WEhl1WPevfYe4317-YtHVd5-BrxHPId99eVBrP8iL6mmF92XQVK4efNJGGSqRVlwvxdcE6a5n0DZTYNJV1kZ6V0-t_6HyhqJKBAR-Fe2UFMiyL0ANKjVD_ZBl_QdevVXcGqozudzOQvEbyiNeUHiz7Zckj_UHeyuiFIqk5TTv7N3bVWc9nvguWIgl4s39wtd6okifd9Fw_JrsG5JgglPNlKiMkzfrAU8cJDsgD8hjoXmgtBx0kFa9B89C-CPeCJuoeeOIibsALmGQM0wFlX0ghy7AZ2oc0uethpIoc8D5-HF3438hSxRK8-i7H_xM18ERvbnoIS11RERFBs8gI29L8phzKv8kZyiQYp498Lis2dyLwn-vwI-ItWtDaYh1RQMq7OXTvdtfaOcN5pZwAT8QjCl3KvroDj6zPP65m5EhvwMZINEb4O-n7fpFmG9QBeUNvl2REmsdiV57Z72D9sNrnzRogzB6lSRa-9-Tvx42ok4dBacA9P2DZI6uh7dZSuu_URGKEEVdLcw0puhcRlehmsZXmc7kF8IzMFMqDL3_yNJeHi7EjJLP5_D6xDp5_zYgsviEe17_TYtIH1DaM64C8G20u3iPLLsCP1P5ivQ-Eyfs5P64HiuSRsCNshk7_JtKnh80ZN-tU747JOLsVNhbcM23RZZDv-0rD1ekvSBEijBEYJ9uNpSj0YhrPkey5kl8eGLQD84HpwYBzc-dy15Q_u4MALZyEqgkW6KuzFKHm0jpJhI5HyBk7i-4Cvdv1ls9w8os1TLUNscQzLfs18SwfP08b6Li-FFfjowbS4bUmrUdjo18qDXnWNTbIHwolM0QC4AKMcdlVWkaqlf-qdrJd6JJv3nNqC",
  "id": "rs_0590f03f54f7621b016ab2b8790c7887d083c2e9e36ebf7d50",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.35,\"right_y\":0.075,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The first two bowls are together in the middle. I will park the left arm and bring the right gripper above the right-hand rim of the pink bowl.\"}",
  "call_id": "call_ykLqsVCh0sCyiJw7hTwkglFo",
  "id": "fc_0590f03f54f7621b016ab2b87b2a0487d09984c3fcfeb020a9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ykLqsVCh0sCyiJw7hTwkglFo",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0467, 0.7643, 0.6231, -0.3771, -0.0925, -0.012, 0.7954, 0.3214, 1.1946, 0.7052, -0.2771, 0.231, 0.1432, 0.9977]\nstate[eef_state]: left_x=0.2949 left_y=0.0061 left_z=0.198 left_yaw=0.0164 left_pitch=0.0473 left_roll=0.0589 left_gripper=0.7954 right_x=0.336 right_y=0.073 right_z=0.1276 right_yaw=0.0328 right_pitch=-0.1737 right_roll=-0.038 right_gripper=0.9977\nstate[joint_eff]: [0.0068, -1.6342, 6.8991, 1.9219, 0.0904, 0.2808, -0.0073, 0.5538, -4.041, 10.0581, 1.9414, 0.2857, 0.2662, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7453bcb7962cb455c961e75d921c2763020a65b3f2799c61e1cef7e6a8878950",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742b43a4a3da4d5d9f1bc431b7b0374d23c3423ace6855d222b579dd784b49a8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebf7939d072e7de471a2bd163d9794ae2340c46db7fdd2b539f507e1dc204d27",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.053 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-1.0206, 1.4403, 1.1069, -0.4706, -0.8398, -0.6067, 0.7953, -0.0216, 0.823, 0.6395, -0.4831, -0.0151, -0.049, 0.9976]\nstate[eef_state]: left_x=0.3072 left_y=-0.2425 left_z=0.215 left_yaw=-0.0553 left_pitch=0.0612 left_roll=0.0687 left_gripper=0.7953 right_x=0.2864 right_y=0.0001 right_z=0.1675 right_yaw=0.0046 right_pitch=-0.0984 right_roll=-0.0111 right_gripper=0.9976\nstate[joint_eff]: [-0.6632, -6.8444, 6.4479, 1.3358, -0.5201, -0.022, 0.0611, -0.0889, -1.4564, 6.9538, 1.6972, -0.0855, -0.0806, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriEBJNh_7WM8fE_m-pGyayEAoO3RQHQc_ng3P4PnBeiYEwwM_wk7lwP0Rg6OrOmJexzQhQgNOv22VUViB_FxRdFoPtdTSz5GxyKrnP7HxD85D6Ium_z9fTF2KzxE92xavuuo6ZMXln6lK_l-7LIl98KS_S0q-oSucsLgv04W0-gZTLTOWbEme7TGZsMeQFmjysX9ZVHCoxoqZM36y0iIVDDVpuqPKmHzRtDnQJ131ppgWR5MSy9TTJK3_2InNtAsQih0nX-Gj6ZU55lddxXz__XreRNqS4lYWsKh9ez5s7y6l3uHV73PaoooRLqsFxflFL4uHmi_k7Fumi8QMuIVQSXluRQ6VoeUYwDRIS2DseBIe3zYDbp_bMpH2B4aqLWPSftYYkfodOg1bpj53GGeViu6s6Q1lTb-D7gJbsj95dSP8Tomd7XlS_XyRRmBkyFf6JqSxNyBrEYg4rtvN4gfjjsR-f_7xoEFiCBgR9HXBNAgd5-PBNPnSNxb06zAD2uJwCLB3_9m_LC9bTFwAeMvRgZY46dGsX2-anc9J6cXi6iPGm-Dh9zHBobH9HqTNgnegxHcowWG30gi06MU2nFzCNTbyBTP5D7VI0zDczEnOsQv028VAk9SwfJNt5yIMN__eOyZ7OmNmYog4Muvq0Sk5Oi_ozXrQyWkfDAhAR0OE0CImGYyq-AsISnPEDecjvWMcYXzoGLW-EF_P5cn0oL_x9HZ2TWHLfAxoPlTSXYoXswI1_xlGbRBrwVM-ABisYIC68Z-nK9AR1kElyJ7fVReLEpxhUAVPFncit5AIjxiy_JOhvF5J9Y3PMdzGOB3iy8gh2ZlHzptCTDSU7luoeCifZKhtVcfxrwMNjYacDAwsKQJDXkZGlNI78TshQjg0uSuaix14AFZJ9pdUgrORrq-JGdRxNWGOM1JML9oMpt7uQPR8hQ0n-jZ0_OVMN8AnzAT3YG-FVB8rqY7kM3PnnByI5fg4GLKpKnGM00l5yNlXRRXwoOXXAyN2avHCScRiF81l5RJgjLLBghpxo-vc8Yx4TLOb1BI4z7KBCdKyqTb8km4AjHmtzRhfNiT9YZwydJZsWCKpy_t3XMl5hAg1YNqzNV1p6TNtEEZTeEDQRaIE7Q6DWXxYnz48jbJTuFOXW3MJi5ZMr8a_KZcOq9in3CKBhz6lhSVZIC8q_sE25lmFLiLC9NwiMUs4ebTa97wLqWFgtHsW2yTQSOZoJK0OBX3t-nd50hTiCg_8z5nkt0njJEz2-oktztP9uXth42Zq7zDEMod7c-g6UotbgsJLaa8GD4AJqaENPpKZSTseFP7cv0x7k2F-a_xYKg8KhshCnhBQkI",
  "id": "rs_0590f03f54f7621b016ab2b881751487d0abcf3a80df24922c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.05,\"right_z\":0.055,\"right_pitch\":0.1},\"note\":\"The pink bowl is visible just left of the jaw centre. I will lower toward its right rim, with one finger inside and one outside.\"}",
  "call_id": "call_XtycoRjH1beaiVx5AMhqzZeY",
  "id": "fc_0590f03f54f7621b016ab2b8832ddc87d0ba7f5c7e013ab16d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XtycoRjH1beaiVx5AMhqzZeY",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7704, 0.6174, -0.3809, -0.0837, -0.0082, 0.7954, 0.2073, 1.5467, 0.3592, 0.5835, 0.1783, 0.0349, 0.9976]\nstate[eef_state]: left_x=0.2944 left_y=0.0048 left_z=0.1928 left_yaw=0.0077 left_pitch=0.0313 left_roll=0.0587 left_gripper=0.7954 right_x=0.3598 right_y=0.0473 right_z=0.0327 right_yaw=0.0254 right_pitch=-0.0259 right_roll=-0.0529 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -1.5521, 7.5829, 1.7656, -0.149, -0.1001, -0.0171, -0.3761, -5.6821, 4.588, 2.0733, 0.0708, -0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:373811ac075d3a6e9c909932c7e9f6ee2e3c1710950fe474244d44dba908b52c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97e2e1363bb2beb80b62da9a8d41521201b426a13fe701af830982b22702ac0c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d7593eb9028aff0f6069b95351aa8a7e3ea24457435c7c77481d4c5a84702ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.212 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0467, 0.7643, 0.6231, -0.3771, -0.0925, -0.012, 0.7954, 0.3214, 1.1946, 0.7052, -0.2771, 0.231, 0.1432, 0.9977]\nstate[eef_state]: left_x=0.2949 left_y=0.0061 left_z=0.198 left_yaw=0.0164 left_pitch=0.0473 left_roll=0.0589 left_gripper=0.7954 right_x=0.336 right_y=0.073 right_z=0.1276 right_yaw=0.0328 right_pitch=-0.1737 right_roll=-0.038 right_gripper=0.9977\nstate[joint_eff]: [0.0068, -1.6342, 6.8991, 1.9219, 0.0904, 0.2808, -0.0073, 0.5538, -4.041, 10.0581, 1.9414, 0.2857, 0.2662, -0.2515]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriN56WpsDP13NMy8Lr4C11pnIMigbA52SOcz_AvvlL95ixzZuCLBQqf0mGUKMLo9zAr_1NFh-tYILsbv6Jnb5wFfWME71tscbYb2lfOgdWHxvYOEB7UR7T86n2iIh7zNvx5rbNMS74ebdR3lWpCUIsBSXsdDdyZ7fwbKisEhQPZiyXHM3o__09KIcd1U8mpsSq9NGwXLYcvI4wR5rP9RNQE2X8N4absg-bP4nZ73kokU5JewvI89q2BNVe2hJIGUbGajAC5Zgy3h7BghcjkYWYt6EZwUM0JZp8HIzgPJJ726QVwMMzRInfyw_PbX52-nomYu38HHhITFFuNYyjr6zcBrs0G6a1p6PmwMleW5_PxQ5dDdB40NkDvpUtxaABByjhGC9s-4ut3J38KCEvcrxk1UcHnaWMSQZLZYLvqeChkKXGYzawUBrsYnVCRsefJVMODea_1z4A__R7-mA7MO3U4r8YxHUpavwgKJeyCKHj_g2o8le4XBUEnGWXifpRJ_ER89j5qDT9nI2AccUyAjsv1W1rj3E5RonB3nultRJH9cjxHl_S-T0D8KvPCmctgObkr0T0mfVusQji2VK9l7ilFXyANjf557IepQFLo8qpnFzy_3kjHD5llCq5yL5JoyowtkiUe9c8ymAIsl_2kr7KgEvhVQV-Elo-OEKNe_ycU33kXFVm4l-7zVNgCFXaxxUthi00c5f9Wg9qlaN-Pq52RG-uDj9KPROmQmM72RkShkbXpzTuWIi-EOJRM2G_omqgWgcDNzV41p-QoDVJ6pUsIOeOui0fvMwVNuK3yNj9AWa_oYywXa7vFeZxPoyBQEW6M7ZkH1N7kXoZgDU6sjgwFwh9LQRBKggMIuzbOriXX2XXGumYP0CCv2x_fjh0zJdYZajFCmT_P14Iw0C2RoTPVGgrgCDcugU3HTp6G79oXMCSrH6fAtyvE5SUorXhTk4uXM5xR1iqzNsnqsBOHdNHTPOkrGZVDGabv1IMawHpUqu2H4IVO1zKKSu3AZ0elJjKnzOUJyBhaayH2xsiguXx4b5TQgvlobKnXTioEqwkOpZzl_aY6ezcnHSjLAiQaroi81OgGxLvNj6xStHkncDn_obf1cqj9aizblhWcKbzplXjmPfzh8fIxSFQJVFoIf0NZh0VNH5yZOZSKvYkgyDa9_JF07X-UJ2WIyIaL6YbUWLoCaMGGyMLg1OTr6ZBAs8cNrUcl_Mhy3OvujxkvtAnQWREXLiLMxUiAVdDHIGzpuJq6jzLd4tE5Qt2CECIYwMfB",
  "id": "rs_0590f03f54f7621b016ab2b88af5c087d09dc2f1c92e55c409",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink rim is now between the fingertips at a suitable height. I will close on the thin rim.\"}",
  "call_id": "call_bt0AhMiwOdOmk8BqRRGfcKZH",
  "id": "fc_0590f03f54f7621b016ab2b88c163487d0bb66112b21d4ec6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bt0AhMiwOdOmk8BqRRGfcKZH",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7708, 0.6174, -0.3809, -0.0826, -0.0154, 0.7954, 0.2092, 1.5417, 0.3553, 0.6212, 0.157, 0.0418, 0.0405]\nstate[eef_state]: left_x=0.2944 left_y=0.0046 left_z=0.1926 left_yaw=0.0106 left_pitch=0.0312 left_roll=0.0519 left_gripper=0.7954 right_x=0.3635 right_y=0.0526 right_z=0.0405 right_yaw=0.0416 right_pitch=0.0105 right_roll=-0.0288 right_gripper=0.0405\nstate[joint_eff]: [-0.1983, -0.9778, 7.2, 1.746, -0.0366, -0.0073, -0.0171, -0.1573, -4.547, 5.4222, 1.1941, 0.3101, -0.105, 0.8718]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7023fd6f07b0cb4a81161d68afb04c0d7c44f8d37fc72e3bfed11181b8f808ac",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f279e35ab71374d86f6069d43235e628ad9476bf696616ca05a82829c2653452",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0021b7fb8ecf2298330ca74cbf9cd8dcd3dd4a3c04028bf3e01b4a0a7cab6e89",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 4.501 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7704, 0.6174, -0.3809, -0.0837, -0.0082, 0.7954, 0.2073, 1.5467, 0.3592, 0.5835, 0.1783, 0.0349, 0.9976]\nstate[eef_state]: left_x=0.2944 left_y=0.0048 left_z=0.1928 left_yaw=0.0077 left_pitch=0.0313 left_roll=0.0587 left_gripper=0.7954 right_x=0.3598 right_y=0.0473 right_z=0.0327 right_yaw=0.0254 right_pitch=-0.0259 right_roll=-0.0529 right_gripper=0.9976\nstate[joint_eff]: [-0.0889, -1.5521, 7.5829, 1.7656, -0.149, -0.1001, -0.0171, -0.3761, -5.6821, 4.588, 2.0733, 0.0708, -0.0366, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105},\"note\":\"The gripper has closed on a few millimetres of material. I will lift a short distance to verify that the pink bowl is held.\"}",
  "call_id": "call_ySDnfZlEKk66FdUE8llE2DXn",
  "id": "fc_0590f03f54f7621b016ab2b89268c087d0a3a83e81eb137144",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ySDnfZlEKk66FdUE8llE2DXn",
  "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]: [-0.046, 0.7753, 0.6174, -0.3813, -0.083, -0.0154, 0.7954, 0.2085, 1.3018, 0.4541, 0.2855, 0.149, 0.0368, 0.0445]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1913 left_yaw=0.0109 left_pitch=0.0262 left_roll=0.0524 left_gripper=0.7954 right_x=0.361 right_y=0.0532 right_z=0.0922 right_yaw=0.0502 right_pitch=0.0128 right_roll=-0.0283 right_gripper=0.0445\nstate[joint_eff]: [-0.0205, -1.4974, 7.0359, 1.7607, -0.0952, -0.0513, -0.0171, -0.2393, -4.9709, 9.0188, 1.956, 0.0952, 0.105, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27a2d1985cbe8578ab34e4827c60b627022f8dc511181372a30bc1188541f44",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6090126d73d124c5c87546cfb13058099cc08db1c45932dc999cd527418c713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:049ba3c98843d91b27c9de026fb810d449eee794cb1d257db173e5d9ae859690",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.523 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7708, 0.6174, -0.3809, -0.0826, -0.0154, 0.7954, 0.2092, 1.5417, 0.3553, 0.6212, 0.157, 0.0418, 0.0405]\nstate[eef_state]: left_x=0.2944 left_y=0.0046 left_z=0.1926 left_yaw=0.0106 left_pitch=0.0312 left_roll=0.0519 left_gripper=0.7954 right_x=0.3635 right_y=0.0526 right_z=0.0405 right_yaw=0.0416 right_pitch=0.0105 right_roll=-0.0288 right_gripper=0.0405\nstate[joint_eff]: [-0.1983, -0.9778, 7.2, 1.746, -0.0366, -0.0073, -0.0171, -0.1573, -4.547, 5.4222, 1.1941, 0.3101, -0.105, 0.8718]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriYJgQRINf5uZhaW_O6LTn9HcuryT-KhNl3JCMMd-XA-qUb7-p-uT6zIhX-H0vDmC3hICd5Ddsi4Unf2zxuI0foQ5HB0dOvP8XhR7aod_Iv_kLHcIHkLnSeVa1GUjZf27mKdrJQrOMtoPQgI9ytTW4epZbBJvAtZTboEJZYKWQ2-eeVJi6Z4iLQYaBq2BK0ATkvTkWxwcvmX71mwzxOaSJQP8WJjkYlLXxBTVsPc5bkyGjVuO7jcOZVCvgQmDR1wUWMQB32QdxlN4dFANbfXcSoXYwQtwyCN-91kbcumjCxdQPC8VOGXNOsAVSvkKEA5kou3O7wnCSXzMpuf4rhvUtIAZZtopebByLuSdvBHAgDFqS8Ud9ATfTmHwIAyXizlBrS-tEaSolsmoDyqjlhobS_m4L-okWrtgRBFVYKnz0SMafgRDVR5Hq6PTPLiacroPiTNLNrnS7Bgfka5wh-R2TLq978Ks33x8qsn4bAlOYkQE9fxcAqeRYSHpk2FHT3z4482GyOI8yr3T9bv9_piBR-6wGN3ipOG65LxIVm1lv2SPsFtQcHFlpTfMHix8LDVQwBDoNuZYtHXYy5CWxWrN_4FmJMqPLEDgyQtFvkefmDuOGZPlBh2Nr7GoDnPSCaH9mBNH2J127wFqJh-LpNw639RH7REisSd8D0KAZtYRbRZaTSV_qAWLgQZOSRYQvt6eCDF1Z0hc98dBmL9RxjH149Zo75eTTw0ncQwoz5VvlXsbDA9463ikF5WXSboYT0mpGXrjY57gyXqgje_eMguEsCx8aQOStNCzuzYc025lRGcWI0zC83KAYpkubl_GPgoYLI2ltoSLmHlzzWPSnjKi3HuNNzKxGWQU3RyARJsbNzwPz-ghPJyChZUvPXp-wgF2GfF9dRFaKbgPXdoTVd2n1mjCaDEEfxofnk5o6XrR6Xn7FT3oJWSFL0Cd_8io14dahjYMMtiB9svrh1NK98USKJ1vdCgCFKlm98dQpa782YOhAWh6WMbyU6l7KFc61foTzZjpGpm482RstcwirwrvDy4QMBv2yGsGSErYWJmMeDkYHBCN9HS6TR-_kL1DdIkUmzOmPIk6eIXc0nFB9dzx5pjVUwEMEMX9mAgaj6c2dwCS7Jfr79OFY5tceDD1IR8kcl6EbyeIVwHRSQD1hUpitsjKddju28Q9HmE39zOBHREdts-Hq8JgFVNHLB-31puyktWckqnUug8_FhKw380MRtaBn6Yrs9H8VQ-1RMPb_HPKKSRJNusfNdiYzCqrWGJLeiHJV2BMqw5er2MDdo9cSUaVqbUAe7KjmkqTv1S3WDWYL9E3Ak4g7KVIPFTdNSDj01",
  "id": "rs_0590f03f54f7621b016ab2b8962b5887d08633817cf1905ca7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.065,\"right_z\":0.22},\"note\":\"The pink bowl moved upward with the gripper. I will raise it to carrying height before moving it over the central stack.\"}",
  "call_id": "call_vn31tHFwBHEGeX1GPkfxKeiu",
  "id": "fc_0590f03f54f7621b016ab2b897203487d0bc12a935f708504e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vn31tHFwBHEGeX1GPkfxKeiu",
  "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]: [-0.046, 0.778, 0.6174, -0.3813, -0.083, -0.0158, 0.7953, 0.2604, 1.1481, 0.8318, -0.2878, 0.1753, 0.0376, 0.0475]\nstate[eef_state]: left_x=0.2949 left_y=0.0047 left_z=0.1906 left_yaw=0.0111 left_pitch=0.0236 left_roll=0.0522 left_gripper=0.7953 right_x=0.3589 right_y=0.0674 right_z=0.1951 right_yaw=0.0796 right_pitch=-0.0261 right_roll=-0.049 right_gripper=0.0475\nstate[joint_eff]: [-0.0342, -1.1829, 7.0632, 1.7216, -0.0757, -0.0611, -0.0122, 0.1846, -5.4085, 9.812, 2.0049, 0.2173, 0.2418, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354265bc74d497702026f92858578d0731bd3a51eb910d7a09d5e9a7407b4703",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff661eb8727cf41461d051149ef546e64700e5b4970f7e44613e6a624c5a1e00",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bd8279313d2469c0bbb51bf1a9f788fc6963532422e7f63b87a46fb348ef9a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 6.609 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7753, 0.6174, -0.3813, -0.083, -0.0154, 0.7954, 0.2085, 1.3018, 0.4541, 0.2855, 0.149, 0.0368, 0.0445]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1913 left_yaw=0.0109 left_pitch=0.0262 left_roll=0.0524 left_gripper=0.7954 right_x=0.361 right_y=0.0532 right_z=0.0922 right_yaw=0.0502 right_pitch=0.0128 right_roll=-0.0283 right_gripper=0.0445\nstate[joint_eff]: [-0.0205, -1.4974, 7.0359, 1.7607, -0.0952, -0.0513, -0.0171, -0.2393, -4.9709, 9.0188, 1.956, 0.0952, 0.105, 0.7204]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrieQYy2L5DtgttQa4pPSZ5y_CkDl84Cdw7ptWY4TJDo6g6zFyuVzAkhZ8U8aA9eoU2KDEI4OO9GJPAY9L6KI5pfS-9d8usRsxcZZjy9__ByQP98YRx0jkgluZ0r4rDSx3YVjA1MdZdgIC0v1kdvqIg97DmQqDpH_TMHC_UeNpDip7aiNdSO2FfADfR6Ec4iybDhPYlNaLWr6VXGfX_htHtTvPxPSaVYwcIlPfRCDxFAByWW3TJU6-5khqDmOEUIWr8Bic5zOd4vFsHI7zE6hV_lwPFZy-rq-zfdYKJ2c2TaEFA-ytcgc5Dc5p1PAYR9_oRk6EgIUMEcLyvZnVkeENfglmyElOBZMTEXU8RKK26D8nhtnVBBl7Djnt6GiSJ4_lv6HwtVcZlxmmS9ulPmP8u9IJ4_o4vT65f67C0-Fb86N04i38yZlKVc2edIyfM3dHlCVf0xK69RoDewgsfuvEfzV0mOWOYSVlbioITd-ca8o15LROZQNdfadZafcSQIfwWqr5iTciQU-7aAXY9OtEqF4gBm-eqP8bWu44oP0TUQeEkzE416Ynxeb0xr1gwjWuqKBLhoT5f2xrbRoMSlVk9SkE5Who0LP45raf7jkd62RIJWEbAIgtGo-XrI8z1QG2PWfPnYW6G9FlXljdBCP0ztN5apQug0NIG7aZaA3GsA6Hjq0RrNvnktVV0qWTLIqhJ7NpizCk8O2BO5ypLfLhp0caRYw92Qtp9vq7kfivAyIzw_aJrcRinFst9KzuKDssq20VWS4dUZGkAnRPP9ekhHeaNidRBeJM18Ej5OU8IJ5zgrPArQCnKY8NDFSecG8HOBM0ciBuZlJFym2SbDib7-VhxpAl8LrxLVuZxMpxr3YzSUA5JwwbDKdIskWxVxYywejGtkJSsrNvsGvtuss3p4vntzXgNJR0iD09NUzAmminGMklEQciJ75EIzUK6WILRsqdhR8_W3XRVvh7GEGhmvjzc-zYhVSfPP28dg4yrGdwZmnH_SW_DTFpam0KTaSiCDxWFtJ9vvNqfO3OnUVA9b0Bu2MSvxlbmLGZqXIy_TIx1GjOvlEMa1FKFA7GknRTZY7zzIxfjxr8L_BkDghpHHQqOUYEUu5CK42IbxDXHywhPp-wCVEXq1ubdENWDLMdR2Jp5vV9nsAuTjAyEfiI7IGaxKY5HmlsAwnARglPfY2fkGDWql-G9dSmnzJ5TKR7za6hY_mLi8DQs3kwF_zgO70eHqGfX5z-XPaxN4EoLxD6kfR2JmAVm0zOYue-Aspbo7HS2zdiyJkeWoC5JwJrT07sFlJMkieJ083oCTvsVg4jQ=",
  "id": "rs_0590f03f54f7621b016ab2b89b57dc87d0a118248a2287440b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.295,\"right_z\":0.22},\"note\":\"The pink bowl is safely above the table. I will move it over the two nested bowls in the centre.\"}",
  "call_id": "call_I7uLUQW6auH5rJryMQNifvXv",
  "id": "fc_0590f03f54f7621b016ab2b89cd6ec87d0ae1b17aba2419083",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_I7uLUQW6auH5rJryMQNifvXv",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3851, -0.0826, -0.0158, 0.7954, 0.8631, 1.758, 1.4601, -0.5312, 0.6094, 0.4179, 0.0475]\nstate[eef_state]: left_x=0.2947 left_y=0.0046 left_z=0.1887 left_yaw=0.0108 left_pitch=0.0159 left_roll=0.0524 left_gripper=0.7954 right_x=0.3772 right_y=0.2908 right_z=0.1985 right_yaw=0.124 right_pitch=-0.0841 right_roll=-0.0938 right_gripper=0.0475\nstate[joint_eff]: [-0.1983, -1.3607, 7.0632, 1.7607, -0.0269, -0.0269, -0.0073, 0.1299, -9.388, 9.8256, 1.4188, 0.5104, 0.149, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:432750e4355002b53fc14625ca07abda7c3ae932d3cc75c2bdc61cf934005bd4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ff180173e3700006cca04adf7199028043d51c63f7673cf47aa638111d82db1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb4ecb3a68caba7bd7a899ab29b6ac771acdae93769a4fc6fbd12b0ac0924d22",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.221 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.778, 0.6174, -0.3813, -0.083, -0.0158, 0.7953, 0.2604, 1.1481, 0.8318, -0.2878, 0.1753, 0.0376, 0.0475]\nstate[eef_state]: left_x=0.2949 left_y=0.0047 left_z=0.1906 left_yaw=0.0111 left_pitch=0.0236 left_roll=0.0522 left_gripper=0.7953 right_x=0.3589 right_y=0.0674 right_z=0.1951 right_yaw=0.0796 right_pitch=-0.0261 right_roll=-0.049 right_gripper=0.0475\nstate[joint_eff]: [-0.0342, -1.1829, 7.0632, 1.7216, -0.0757, -0.0611, -0.0122, 0.1846, -5.4085, 9.812, 2.0049, 0.2173, 0.2418, 0.5983]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrimv44VA3bZI6t8pWsCQsY8cZ0IIRsMPQo82Cc5_cSGXb0Bp4841eiDgTy2am5BQ0pSDWXwhy3ESBvxaWl9o-X_As4H8OpdMtxxProBwbr7Dyw76TfyGhhfhs9sg7EVzdmV5TanNRMFgrCpJyx5jbep2NSfOIIwL_-9hRcqCNhoVdlh6UM3lVN11-0mG1PjIrS9To6v6Ppct2HbE10lkIQlQcB1KIIF__HmoVcmE-F5D6dfyoSZcQsyuhCAoh26H0Vx4XGOLaF7FhxyShAHLCGkKu_7MvcDT3T_giJ2YRbDLQu2vt6X7TySeH5XaO0HV22PZVI_GaLcl_W1fdHRr-ji5Y86DMov0U8n3Oc7Qmji_JsbBJQiE826_94YZoyjhr1cHPnwU9298nUKfvcSI_v8fdTVBBQ4UtryT_hDBG6wzgbMT61voMVz8g-eEin3jqRgxT1sqRMhpWm9nf2ikZDo8CT3yKAq1Z-wAS2CPIok16kqn_xoe6hYBF4-Z3ydB5WxvN9P0ekKGTsEYiI0QiWonks2B8uiTOfKe5cha5x7lrOFrhn_WXsDwUTu6ffTZrK0_w7B2D9OiIWhEe8fBAEmzbMDD4zsawAMSkKFQutKXINz4hgejOCLVdHz7dRspesogWtaab8_HhfzcONgS-iWIbWKqgYSCjFTz8x6VudUD7OGM7L2Fxmd3-rGlMvYo7LtN5lE_bruhWBZLUF_0WuqZq7stq-qj2QYbcxNBcTksKyj9QOZKrBNqif84iPHYc_rOplGjOqW4ZZeIa12elbVepykzaMPJg_5ucdRFr1ZVnPNymwIAjCmccbtet-eoE8ggBB8wGfj_09QCXnecotEWJRtbbSjmka2wMxrAVPOIYCrH02_XoRrdqcllEkjCSPyMwrmBTRAds2uct3407juvZjrUCVB34gw3gRPSduStfgoC3UA8nHx3BUSptWECEJuqGbGWcHBcTfQ6u2HAV4FmPIdbAD1iY72vCXXLD6Fdf56mdK_hBipeAoS1CUHFTqShxnzdo1EuJtjXs5xLn1wb6v5zX2DWVGaqqU5Hm1EpV7cgoR3I3Z-tgz9AcUmeVbFzqU54rqjWfb3IG8RthmrgqP28Mx7z9QZkVXcAmoWWtDMhQVGnK1hQrr_Uj7c9zGARsYJ2eYvZiGSmxft7wgwO1z6slp0jmr360ns88-ZChELQwMBjFGEqk6WYAWOIeRQeR-kBGo86UswEyET4FV9BP5fZg5U-fAavNZ9zYqBEa_ESN8UAYWLCd9FYLuFApxNIjERDKwi0rg6iqF9cUF72f01pfgv9mu_L2umTL27AuE0CRXwrYvlNNRzIoLThwGr-HDMoIG-n7UQ1EVucci2nimMHAUUHt3uMAeLqy4Ay6YcGh_oJaj8O88XX0LqRElE9eceje7trTeEPJWjA5y2RQ-7m23tTn3iUsM0BHY5h4XaOL0rkBJBRK8inGbpU07N0Dw_FdyNi6FFA8-Oo0Y1v4kggqC3ZbAgRXq-6z0R0Ufto6OwJUlMkg15o-fGEGcd-eRfh0kSyCaHi-6fjMimwpmrstJQ0tjGE2H8AVrMJv4=",
  "id": "rs_0590f03f54f7621b016ab2b8a1f19887d0b1ae9b245b4b2647",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.28,\"right_z\":0.14},\"note\":\"The pink bowl is almost centred over the stack, slightly to its left. I will shift it a little right and lower while watching the rim alignment.\"}",
  "call_id": "call_iYIaPYJfP03Ffs93PTvPqJwz",
  "id": "fc_0590f03f54f7621b016ab2b8a4ea9887d08ac39580c3fc63d8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iYIaPYJfP03Ffs93PTvPqJwz",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3855, -0.083, -0.0158, 0.7954, 0.8448, 1.7676, 1.2343, -0.384, 0.5919, 0.4042, 0.0503]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1886 left_yaw=0.0111 left_pitch=0.0156 left_roll=0.0527 left_gripper=0.7954 right_x=0.3664 right_y=0.2696 right_z=0.1261 right_yaw=0.1184 right_pitch=-0.1595 right_roll=-0.1538 right_gripper=0.0503\nstate[joint_eff]: [-0.1709, -1.1829, 7.0222, 1.7314, -0.1001, -0.0855, -0.0122, -0.0889, -8.8274, 8.1436, 1.8242, 0.2515, 0.0562, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2c14b6b3820cd9090921faf77c6e48a7f989697980c07b56a3dc692b1270f46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f948ea5f4c40c81fc9767e2d2b36f6a059e7098d5b96b99f35cfd5a548f08d73",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e44b745df4f0d8126caf2602bd7c3b1170e7635c62c05c16a7a4ca3833707aec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 4.825 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3851, -0.0826, -0.0158, 0.7954, 0.8631, 1.758, 1.4601, -0.5312, 0.6094, 0.4179, 0.0475]\nstate[eef_state]: left_x=0.2947 left_y=0.0046 left_z=0.1887 left_yaw=0.0108 left_pitch=0.0159 left_roll=0.0524 left_gripper=0.7954 right_x=0.3772 right_y=0.2908 right_z=0.1985 right_yaw=0.124 right_pitch=-0.0841 right_roll=-0.0938 right_gripper=0.0475\nstate[joint_eff]: [-0.1983, -1.3607, 7.0632, 1.7607, -0.0269, -0.0269, -0.0073, 0.1299, -9.388, 9.8256, 1.4188, 0.5104, 0.149, 0.6862]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrisxg8rCBtJqSU7ZsVJ0Ec6v67mcqiGLIa5G85IqCvzon8IsQUgPAV0-UxOVHKuT5hTzN31rdKQETcWmlTPEAlAvy0ojf1olzWQXrseU9-3vyNsku37s2ab_Ffb9HrD7pdUD7eJdDp3EEemBpqIjJUxqtEJILuV3jOUE4D1td8OskDNO2DhV90Mihc9V6j83tlVCTJ6eG0rSoAe6KKHS5-EQd8MDdmxQuKR3Mu2COYtbeExmI1cpCbryR-d8gRCdBczFTVJTOIA8zScCa-eW1pnoUilL1w3pJX4mecJKb7O0wMVZSVgW8K8afjCWJknifGRt538RwCK2RgCcKtxzD8tm25kWHESsg4pyh9atCcQ4hopA-HSWRDceodPLtQZqRNkvfHWhJpgKckfYuDuADFsZwyrpTHErQvLYv0ArzwRdKJDHlVdpkTrUupUWgVQCeF7NDtNXD_EKzIL0HbLx1QHgOkVrExe2-ZIo4Uv_me80l5BH1TNOtMAHETw326LDpUyo5LXG-Hm8SlLt1DeuEkKYBI_l9NPrsGAJhVlutZKd7FN9wvLIwn-yrmuhs-9mbhqHifLPxFYYG5Dh6U9V4EBNWR58UsC0omM3HSyWMqSf9A7ELSH7Cze-Vm8lHkOUDwTF-Hd0RWSeE2ifC3khw_aYm7g5R1tPB4dbzMhYCEWhMFJGu9y6hc6cmpGEZ6iW9d9-lJTeQYgLtgLTa34bQCiU2g8dR9izxnMCorc7toyI6pbcUfOhtRynsGQvlX4OQfmEwaSOccbQ4kaZzD5U5M-bRPPLRQNk-pBzYJ5a4tkhxv4KDdlAHlvAuDAmpHSzBxnMKCxCeqDvTgT0IZyGHOfwSEprS-Y9bvAifCRdS6GkAJRwsrvNvdxp58F4QePDdNUJ1JZCL5vdqYPqVXnCO6RqnPhMHYbJ5BlBklHLZ5DpNY5nxp3ZhuVR807od9kdyRdw2fZKO0W5Kggq5q_0B9IRTM5ViQK_TG_XGNTvPx-spBGAimZiUBA4fUg-fKO27Az5PJbYzzy3dBmPsNLJYcaeX3MhLFh9zEuagGw7xo5x1rBb2NRn_Zryupc80XA5mhUz67ak-LOH6J6jN7YE0bzuYNYXElSd1x8MXNqchLuTUb5TJVf2A5FstwHV4cq1gcDfa-BuRNRShpzFM00pZIb-6LpncWhP_o18JOqFJP87XrwgveJIWed3F5ZqDIRiqDAojbdOIx5mg9wTWflDSSBszMXhZdeM7M_48TpbPYlACOkyiWizjo5E750mj70wiaE",
  "id": "rs_0590f03f54f7621b016ab2b8a9437087d0953fc4f9ea626c0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.408,\"right_y\":0.272,\"right_z\":0.09,\"right_pitch\":0.18},\"note\":\"The lower rim shows just beyond the pink bowl. I will move slightly forward and lower the pink bowl into the stack.\"}",
  "call_id": "call_bxOpd0AlqhWQjAVkIzX9N3BQ",
  "id": "fc_0590f03f54f7621b016ab2b8a9c7cc87d0b62d5c0386e641e5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bxOpd0AlqhWQjAVkIzX9N3BQ",
  "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]: [-0.046, 0.7845, 0.6174, -0.3874, -0.083, -0.0154, 0.7954, 0.844, 1.7679, 1.2034, -0.3176, 0.5903, 0.3889, 0.0535]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1875 left_yaw=0.0109 left_pitch=0.011 left_roll=0.0532 left_gripper=0.7954 right_x=0.3689 right_y=0.2723 right_z=0.1232 right_yaw=0.1303 right_pitch=-0.1351 right_roll=-0.1411 right_gripper=0.0535\nstate[joint_eff]: [-0.1026, -1.4154, 7.0359, 1.7411, -0.0708, -0.022, -0.0171, -0.1026, -8.7316, 6.612, 1.2674, 0.3394, -0.0317, 0.315]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14fc5a7cf00f7eb80761581e8199b40fc9841dc8358975049155198cd59c960c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ecede940be284b744cab4e734a6c6815d9463fa0785a9db4c4d2d93bcc0e6d16",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74934cc86eeed82f65676f0ef77b61f84d0b67958e6e90bc13afcbba1a1b83b6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.732 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7818, 0.6174, -0.3855, -0.083, -0.0158, 0.7954, 0.8448, 1.7676, 1.2343, -0.384, 0.5919, 0.4042, 0.0503]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1886 left_yaw=0.0111 left_pitch=0.0156 left_roll=0.0527 left_gripper=0.7954 right_x=0.3664 right_y=0.2696 right_z=0.1261 right_yaw=0.1184 right_pitch=-0.1595 right_roll=-0.1538 right_gripper=0.0503\nstate[joint_eff]: [-0.1709, -1.1829, 7.0222, 1.7314, -0.1001, -0.0855, -0.0122, -0.0889, -8.8274, 8.1436, 1.8242, 0.2515, 0.0562, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsriyao-EQRDzbdo1SPovXnwAA_NH4mlqpe-fBEJVHNtZh_Ko7_8KZc06XZWgS8GjavQWuWCr3R8ogSrNCXjogNkwI6jX3mPhtPxsSDAIdg_WdzNoB1P5QhcTs91y0ohrB2wceaZOkD1Fo2HQ6L9eit2SoW89ZvnC0bKRXHWInl44VRcMU_RyitSdMMh0Xn9QwhGRgQj79KkjI9tuj8dFl8PfhGCy7okX7diCyUNPaVSHxUufePj8qOv016415DB0-blRntwe9jGdgrqjgaBTR5ri7kDNm-KAVDfnWYAPqEoBOlqMNujTN5JN7X0Kj68FMWEvjUn3Pt6zN0s575Z0gxZlFnBWQIORP7YCZZbE-BAP6WozWTckXhQHnFOllMCfInV6sP9v4m-o0gceKDDqfdNaq-Ch5Njh-RrjYzUyAWmzVKNghQ1wMSEy1HaS8tJqc71OAX8HI3Mnj6pmCES8QhScNI6hdz9643dXuDSgcJQjM34JTzXB93KMlnzO3g6UAfzJPlEYSygGgSMscCgpSk6KIgY-uEONF8z_9vOvkBe_qJ2hnhmC1PpyTLtQvG8kV51QeYo07pWAwvKAkrqPQ8_nN3CEKs5VmnL0fZcLqrXEiBt_quYkNjkZM2i_YdeZ22JAqo00eMuBuU9rGhPLW1a0C6vAcJwVJKgNgh2M5AwLXTIrHqd2soPn6ktfqJSARm813kdeSSzxGvtMXE8kvXDJ6O-dzSe_Amxw8cUwBe1jkEvc9T8POUAOhgWNfDTp4XHr_vBsr05RTQyG2Jtz48V8WokK9BivrvTilUMVrcuYagC-7Kw418HdZEK3InR2iwoR452Imk3whDXLAe1y6oqfVZj95VLdfujfTlO5_xR5OooyNxLepeZMvlWyCe7PhfWg5p1hxry1jufHG3oYGU6ee8Egl1A-u8JuZ25uHr8dnc_CFWcxskriEjiczVUACwAJGncg9QVBw7fT1vSA0hz2w3aRg6VFC9_UEUKUPJneXBKxQy3NGjzPAAzJLofYarvYjKJ216EA090HD7nJsrfNcKc8W05OJepvsuhuUhYLCEGBkGspZCge-Zny3uWrwqEuo4rR_le_qRJN0EClA9H0GqrUZgeHb0_OqIxvddIaD3vHY5UBjqmoR_qlTvK7qj8nma_qFSowTk8T7u7TSAsKiLo0vcj5XiYYxyD8S8N_STqDJpvgxdkop5CjFN8LPHwh",
  "id": "rs_0590f03f54f7621b016ab2b8b019dc87d0903022d2e6620a23",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.85},\"note\":\"The pink bowl has contacted the stack and the arm has stopped descending. I will open the gripper and let it settle.\"}",
  "call_id": "call_FstWoHKTYQvRwQNYLVw20Cmu",
  "id": "fc_0590f03f54f7621b016ab2b8b0b3f887d09e69cebb6d13d57d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FstWoHKTYQvRwQNYLVw20Cmu",
  "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]: [-0.046, 0.7856, 0.6174, -0.3878, -0.083, -0.0158, 0.7954, 0.8459, 1.7592, 1.1809, -0.3099, 0.588, 0.3744, 0.8453]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1871 left_yaw=0.0111 left_pitch=0.0095 left_roll=0.053 left_gripper=0.7954 right_x=0.3653 right_y=0.27 right_z=0.1194 right_yaw=0.1411 right_pitch=-0.142 right_roll=-0.1549 right_gripper=0.8453\nstate[joint_eff]: [-0.1162, -1.1282, 7.0222, 1.7216, -0.0952, -0.0708, -0.0171, -0.4171, -7.9795, 8.335, 1.4188, 0.2613, 0.0562, -0.0806]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c714bf40339481e55802a6d93de2dcb0a0ab5e9199ffae672fbdbe32231edc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c803d9f2200b130aba32757c4e4c83479dd463f8dbe57245d3c10a9d749e8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dcbad523f2886cb2e4375fdd97da38eb8c48b1bf6364c128aa2a56e0a1a110a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 4.578 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7845, 0.6174, -0.3874, -0.083, -0.0154, 0.7954, 0.844, 1.7679, 1.2034, -0.3176, 0.5903, 0.3889, 0.0535]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1875 left_yaw=0.0109 left_pitch=0.011 left_roll=0.0532 left_gripper=0.7954 right_x=0.3689 right_y=0.2723 right_z=0.1232 right_yaw=0.1303 right_pitch=-0.1351 right_roll=-0.1411 right_gripper=0.0535\nstate[joint_eff]: [-0.1026, -1.4154, 7.0359, 1.7411, -0.0708, -0.022, -0.0171, -0.1026, -8.7316, 6.612, 1.2674, 0.3394, -0.0317, 0.315]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.32,\"right_y\":0.16,\"right_z\":0.23},\"note\":\"The pink bowl has settled after release. I will lift the gripper away to check that all three bowls are stably stacked.\"}",
  "call_id": "call_3piylqR73xFjqiyIX7nv4shO",
  "id": "fc_0590f03f54f7621b016ab2b8b4fff887d091559905894930d6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3piylqR73xFjqiyIX7nv4shO",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7895, 0.6174, -0.3878, -0.083, -0.0158, 0.7954, 0.6937, 1.3037, 1.1202, -0.6556, 0.4923, 0.2485, 0.8459]\nstate[eef_state]: left_x=0.295 left_y=0.0047 left_z=0.1861 left_yaw=0.0111 left_pitch=0.0057 left_roll=0.0532 left_gripper=0.7954 right_x=0.3225 right_y=0.1643 right_z=0.2131 right_yaw=0.132 right_pitch=-0.1561 right_roll=-0.1622 right_gripper=0.8459\nstate[joint_eff]: [-0.0615, -1.2239, 7.0359, 1.7509, -0.105, -0.0611, -0.0122, -0.294, -5.5316, 9.9077, 1.5458, 0.2125, -0.0855, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5deea3f5e4d7e0375e7991f03c070d3d3085de629a1d5860dd7e437ae2701a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a28fb8260b00ddddc1b42a587e090daa36963bccdafea19f51696ff7bffb3426",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c045018219c7d66269a796d9afe436a4e99d065dcb1cd96251a509228df04eeb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 8.437 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 80 changed as sent

message 80 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.046, 0.7856, 0.6174, -0.3878, -0.083, -0.0158, 0.7954, 0.8459, 1.7592, 1.1809, -0.3099, 0.588, 0.3744, 0.8453]\nstate[eef_state]: left_x=0.2947 left_y=0.0047 left_z=0.1871 left_yaw=0.0111 left_pitch=0.0095 left_roll=0.053 left_gripper=0.7954 right_x=0.3653 right_y=0.27 right_z=0.1194 right_yaw=0.1411 right_pitch=-0.142 right_roll=-0.1549 right_gripper=0.8453\nstate[joint_eff]: [-0.1162, -1.1282, 7.0222, 1.7216, -0.0952, -0.0708, -0.0171, -0.4171, -7.9795, 8.335, 1.4188, 0.2613, 0.0562, -0.0806]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsri8EE3mepda7KL_eBCT4asfG2Hgv7VPOficR6UvJsSGoh35PL_orUROA2PMtjySlekb1kiguazpkAZH2Izg64LFY-PCw2bFpqMieN3fZlBcfSoJgYHhkjwKmPmyic3bCWpBmPyMRhjxOq3ofia74oJ1jPoiOy4HwpOb8XvgTOfmYtN3kOXhT5o1iXirm4KaPegXYcDp5YD-dJnVLJekWiGZNVuu_6zyOsFG9Uvst2SFZq-ZDdMHua6dOxiDb2G9Bkh5dNDulGq2Ah_Gq8pyPRwoVIxbcgx_ynnWGgc1PSY0FG2m0BrY92yeSoQjXve1zwDQ9qiXmkhpz1-lWbJtz6rwwrtehoymc_rok_euibV5qtEC2m4kze-BrHyO2CBMPAxwGkqEXZKLgYMheDbcAlVH5hw8Vxj_OYjctrOGeyp5EctdwgP6qB2Zz0m_pj19xIBx2BwnfncWoZVQ4SpgJR2TbX6PaF176RyXqMreoRc_wqeoNAGX98gQnkvdAyOQETqvazwcu5RgYY0pa1dlNdW81mqxhYLJGtozJSmA8LYsTPsjTAdtkmluXeGAcAj-_BE4CDizLjy9g-AYQ2ZuMZg3B9grzY2xqt371IC4t4WclFhAQUIOBOIZY3yd9ZICO_KP1KRAOQd6z90VZuzfWNhIOHsUuUnKQM2cYQ2yQEshTHK8ApgB2MR2sobYpK3EQpkBILxv61kf4N94YDJK4Pm5HHP7ePFtKtF_g56gqzg0U29olrOnkhmCzTBBS0_PMTPg66QIaIyDjkdlcrQxbkRMLN5jcQ7DNTBUf7ZWu-5FGqNB_p_EeJsknG1ndRd9EvgrVn_6p8_6AoOrWVwburSIaQkHD-jJ274dcHYRUZ5IBcei64oIo1QYLQ3cxZw9QhGQk5T7oCkLYRI1Ohe5R_7_wrzzYyHY5Noep4n6s6EQnkdVL10q08kFo8nZI_JM7GnCTCdpJHzLhEeUGUHgimmhl6HQTotnS4ly163U6FMdZzmSuvxnk7i9Ef7GZYbIXYFmH4uunvehvB6vPhveuInfXSu3gotcfuu9Yst4XOgtS54ttS4IvGH-OZ_M_j1JRcLUXzyVofK_tgU01lc3y4Ki11wWhi0jm2NKiGa6qzg6sdOV6EsFTxVzE_FMaPQBJmvMJsZalptJtJsMWPTwvaTtWocSZCES-_ODgjM3xrqKU0j-qtuWcudBSLWUtl6uDew9QYIkBWcGnjSuCnU2dJV2F5Dt_Yxd6Px6MsadMq6o34INZFVnqiW4uSc9O7Cm4urp",
  "id": "rs_0590f03f54f7621b016ab2b8b9ab2487d0b9bb143a83f969a3",
  "summary": [],
  "type": "reasoning"
}
{
  "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},\"note\":\"All three bowls are now together in one upright stack. I will park both arms clear of the bowls.\"}",
  "call_id": "call_nGKKgDOrn1aRSgKT1L2uZHLb",
  "id": "fc_0590f03f54f7621b016ab2b8ba527487d080c8e7a57410c2f8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nGKKgDOrn1aRSgKT1L2uZHLb",
  "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]: [-0.0753, 0.7986, 0.6319, -0.4408, -0.1059, -0.0269, 0.7954, -0.028, 0.8101, 0.6796, -0.4725, 0.0078, -0.2142, 0.8459]\nstate[eef_state]: left_x=0.2901 left_y=0.0004 left_z=0.1795 left_yaw=0.007 left_pitch=-0.0406 left_roll=0.0599 left_gripper=0.7954 right_x=0.292 right_y=-0.006 right_z=0.1911 right_yaw=0.0672 right_pitch=-0.0432 right_roll=-0.1617 right_gripper=0.8459\nstate[joint_eff]: [-0.294, -1.1966, 10.5368, 1.707, -0.1001, -0.1197, -0.0171, -0.1026, -1.6068, 7.4051, 2.0684, -0.1538, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b7251ca04ae5e91bc651bb32ca33c9ec8bc0abea5c4f2746a748013d3820338",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8399b420579b5a3a8383e7370366dfc781569b5d5f729381d5e0f52dc416b86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41f6a84fe3105c916964595fa6ce20026f267696bf9b17dffd9e88eec307ca60",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]