adhoc

completed
2026-09-22T17:38:49.762658+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
292.8 s
total steps
303
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls in a row. I’ll approach the teal bowl with the left gripper and aim to grasp one side of its rim for stacking onto the middle bowl.
move_to
left_x0.3800left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7944, 0.6048, -0.379, -0.0227, -0.033, 0.9966, -0.0208, 0.7925, 0.6022, -0.379, -0.0158, -0.033, 0.997] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997 state[joint_eff]: [-0.4581, -1.5111, 10.1402, 1.7851, -0.0122, 0.1929, -0.3639, -0.3624, -1.388, 10.2496, 1.9072, -0.1001, 0.1587, -0.3199] 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":0.38,"left_y":-0.14,"left_z":0.15,"left_gripper":1},"note":"I see three upright bowls in a row. I’ll approach the teal bowl with the left gripper and aim to grasp one side of its rim for stacking onto the middle bowl."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe teal bowl is just left of the jaw column in the wrist view, with its right rim close to the grasp line. I’ll lower beside that rim so one finger can sit inside and the other outside.
move_to
left_x0.3800left_y-0.1550left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5514, 1.3922, 0.7845, -0.1051, -0.4408, -0.3363, 0.9966, -0.0216, 0.7979, 0.6003, -0.3889, -0.0158, -0.0303, 0.9969] state[eef_state]: left_x=0.3672 left_y=-0.1331 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0649 left_roll=0.0283 left_gripper=0.9966 right_x=0.2934 right_y=0.0001 right_z=0.1753 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0026 right_gripper=0.9969 state[joint_eff]: [-0.335, -6.1197, 8.9778, 1.6923, -0.2369, 0.0317, -0.359, 0.0342, -1.5932, 7.2, 1.8046, -0.0659, -0.0855, -0.0269] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.155,"left_z":0.045},"note":"The teal bowl is just left of the jaw column in the wrist view, with its right rim close to the grasp line. I’ll lower beside that rim so one finger can sit inside and the other outside."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe right-hand wall of the teal bowl lies between the open fingers. I’ll close on that wall, then check the grip before lifting.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5877, 1.6745, 0.6811, 0.1986, -0.469, -0.3573, 0.9964, -0.0216, 0.8013, 0.5999, -0.3927, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.3715 left_y=-0.1473 left_z=0.0397 left_yaw=-0.019 left_pitch=-0.124 left_roll=0.0712 left_gripper=0.9964 right_x=0.293 right_y=0.0001 right_z=0.1734 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9969 state[joint_eff]: [-0.759, -7.3504, 4.7385, 1.7802, -0.2222, -0.0952, -0.0366, -0.0889, -1.5385, 7.1316, 1.7509, -0.0513, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The right-hand wall of the teal bowl lies between the open fingers. I’ll close on that wall, then check the grip before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe fingers closed almost completely, so the grasp may be empty. I’ll make a short lift to see whether the teal bowl follows rather than trying to transport it.
move_to
left_z0.1050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5892, 1.6829, 0.6739, 0.1997, -0.4839, -0.3561, 0.0214, -0.0216, 0.8024, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.3695 left_y=-0.1438 left_z=0.0352 left_yaw=-0.0087 left_pitch=-0.1305 left_roll=0.0891 left_gripper=0.0214 right_x=0.293 right_y=0.0 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [-0.1709, -6.9812, 6.3932, 1.453, -0.0073, -0.0317, 1.2576, -0.0752, -1.2376, 7.0085, 1.7656, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.105},"note":"The fingers closed almost completely, so the grasp may be empty. I’ll make a short lift to see whether the teal bowl follows rather than trying to transport it."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe teal bowl stayed on the table; the fingers were just outside its rim. I’ll reopen and move slightly forward and toward the bowl before retrying.
move_to
left_x0.4000left_y-0.1250left_z0.0900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5892, 1.5349, 0.7872, -0.0696, -0.4881, -0.3645, 0.0344, -0.0216, 0.8032, 0.5999, -0.3931, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.3687 left_y=-0.1425 left_z=0.0885 left_yaw=-0.0003 left_pitch=-0.135 left_roll=0.0897 left_gripper=0.0344 right_x=0.2931 right_y=0.0001 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9969 state[joint_eff]: [-0.2393, -7.8974, 8.5538, 1.3993, -0.1734, 0.0415, 1.033, -0.0615, -1.2513, 7.0359, 1.7216, -0.0757, -0.0562, -0.0171] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.40,"left_y":-0.125,"left_z":0.09,"left_gripper":1},"note":"The teal bowl stayed on the table; the fingers were just outside its rim. I’ll reopen and move slightly forward and toward the bowl before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe bowl is now centered in the wrist view. I’ll offset toward its right wall and lower to catch that wall rather than closing across the entire opening.
move_to
left_y-0.1400left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4877, 1.5929, 0.8143, -0.0616, -0.4267, -0.3027, 0.9947, -0.0216, 0.8036, 0.5999, -0.3931, -0.0158, -0.0338, 0.9969] state[eef_state]: left_x=0.3862 left_y=-0.1181 left_z=0.0748 left_yaw=0.0219 left_pitch=-0.1818 left_roll=0.1095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9969 state[joint_eff]: [0.5402, -6.2564, 8.8821, 1.7265, -0.1636, 0.1587, -0.1294, -0.0342, -1.2923, 7.1453, 1.7265, -0.0171, -0.0415, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.14,"left_z":0.045},"note":"The bowl is now centered in the wrist view. I’ll offset toward its right wall and lower to catch that wall rather than closing across the entire opening."})
tool
executing move_to over 2 steps (0.2s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe descent stopped at rim height, suggesting a finger has reached the bowl. I’ll close gently through the gripper controller and check whether it captures the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5167, 1.6485, 0.8207, -0.0044, -0.4473, -0.3305, 0.9955, -0.0216, 0.8032, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.3916 left_y=-0.1305 left_z=0.0659 left_yaw=0.0234 left_pitch=-0.1655 left_roll=0.098 left_gripper=0.9955 right_x=0.2931 right_y=0.0 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0271 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [-0.841, -5.9692, 4.5197, 1.3407, -0.3199, 0.0024, 0.0757, -0.0615, -1.2786, 7.1726, 1.7021, -0.0464, -0.0611, -0.0122] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped at rim height, suggesting a finger has reached the bowl. I’ll close gently through the gripper controller and check whether it captures the rim."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe second close was also empty, so I’ll clear the bowl and recheck its position from above instead of repeating the same approach.
move_to
left_x0.2900left_y0.0000left_z0.1900left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5171, 1.6634, 0.7971, -0.0101, -0.4438, -0.3378, 0.0089, -0.0216, 0.8043, 0.5999, -0.3935, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.3833 left_y=-0.1266 left_z=0.0507 left_yaw=0.0286 left_pitch=-0.2043 left_roll=0.1136 left_gripper=0.0089 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [-0.1709, -8.5402, 8.1983, 1.4969, -0.2662, 0.0562, 0.6374, -0.2256, -1.2513, 7.2137, 1.7607, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.19,"left_gripper":1},"note":"The second close was also empty, so I’ll clear the bowl and recheck its position from above instead of repeating the same approach."})
tool
executing move_to over 12 steps (1.2s)
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 teal bowl has shifted left slightly during the attempts. I’ll now align over its center and try gripping its narrower lower body rather than the thin rim.
move_to
left_x0.4000left_y-0.0750left_z0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.139, 0.9668, 0.7998, -0.6186, -0.2138, -0.0849, 0.9953, -0.0216, 0.8093, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.2962 left_y=0.0 left_z=0.1762 left_yaw=0.0733 left_pitch=-0.1995 left_roll=0.1037 left_gripper=0.9953 right_x=0.2934 right_y=-0.0 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9969 state[joint_eff]: [0.2667, -2.5094, 10.0991, 1.4628, -0.0562, 0.2027, -0.0269, -0.0479, -1.5248, 7.0085, 1.7216, -0.0366, -0.0317, -0.0122] 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_x":0.4,"left_y":-0.075,"left_z":0.13,"left_gripper":1},"note":"The teal bowl has shifted left slightly during the attempts. I’ll now align over its center and try gripping its narrower lower body rather than the thin rim."})
tool
executing move_to over 8 steps (0.8s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe teal bowl is aligned with the jaw column. I’ll move slightly forward and descend with the jaws fully open around its lower sides.
move_to
left_x0.4150left_y-0.0750left_z0.0200
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3401, 1.4815, 0.931, -0.3634, -0.3351, -0.2298, 0.9966, -0.0216, 0.8116, 0.5999, -0.3935, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.3801 left_y=-0.0691 left_z=0.1105 left_yaw=0.0636 left_pitch=-0.2841 left_roll=0.13 left_gripper=0.9966 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=-0.0001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9969 state[joint_eff]: [-0.3214, -7.1179, 8.8137, 1.4432, -0.2515, 0.0073, -0.359, -0.1026, -1.4564, 7.241, 1.6972, -0.0708, -0.0611, -0.0171] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.075,"left_z":0.02},"note":"The teal bowl is aligned with the jaw column. I’ll move slightly forward and descend with the jaws fully open around its lower sides."})
tool
executing move_to over 6 steps (0.6s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteBoth fingers are now down beside the teal bowl’s lower body. I’ll close to secure it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.326, 1.7763, 0.8589, -0.0608, -0.3302, -0.2321, 0.9964, -0.0216, 0.8162, 0.5999, -0.3969, -0.0154, -0.0345, 0.9969] state[eef_state]: left_x=0.4012 left_y=-0.0714 left_z=0.0157 left_yaw=0.0832 left_pitch=-0.3447 left_roll=0.1514 left_gripper=0.9964 right_x=0.2933 right_y=-0.0 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0439 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [0.4581, -8.4034, 5.1761, 1.5116, -0.105, 0.149, -0.0366, -0.212, -1.7573, 7.0085, 1.7656, -0.0513, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"Both fingers are now down beside the teal bowl’s lower body. I’ll close to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteThe bowl again slid aside instead of being held. Its visible rim suggests the fingers are still too close to the near edge, so I’ll move farther forward and realign with the shifted bowl.
move_to
left_x0.4500left_y-0.0450left_z0.1000left_gripper1.0000left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3275, 1.7863, 0.8536, -0.0479, -0.3527, -0.2276, 0.0321, -0.0216, 0.8173, 0.598, -0.3969, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.4013 left_y=-0.0681 left_z=0.013 left_yaw=0.098 left_pitch=-0.3396 left_roll=0.1735 left_gripper=0.0321 right_x=0.2931 right_y=0.0 right_z=0.1674 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9969 state[joint_eff]: [-0.1573, -8.6769, 6.4342, 1.0379, 0.0415, -0.0317, 1.409, -0.0479, -1.4838, 7.1726, 1.7167, -0.022, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.45,"left_y":-0.045,"left_z":0.10,"left_gripper":1,"left_pitch":0.2},"note":"The bowl again slid aside instead of being held. Its visible rim suggests the fingers are still too close to the near edge, so I’ll move farther forward and realign with the shifted bowl."})
tool
executing move_to over 18 steps (1.8s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteWith the tool tilted forward, the bowl is now mostly below the wrist view, indicating I have passed its center. I’ll come back toward the base and lower at its left-side rim.
move_to
left_x0.4100left_y-0.0350left_z0.0350left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2867, 1.7344, 0.6739, 0.5747, -0.4473, -0.0483, 0.9958, -0.0216, 0.8173, 0.5957, -0.4118, -0.0154, -0.0341, 0.9969] state[eef_state]: left_x=0.4427 left_y=-0.0471 left_z=0.0811 left_yaw=0.0979 left_pitch=0.1233 left_roll=0.1787 left_gripper=0.9958 right_x=0.2906 right_y=0.0001 right_z=0.1633 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9969 state[joint_eff]: [0.5265, -8.0889, 5.2855, 2.1074, -0.2125, 0.1197, -0.3736, -0.1026, -1.347, 7.2137, 1.7998, -0.0317, -0.0073, -0.0122] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.41,"left_y":-0.035,"left_z":0.035,"left_pitch":0.2},"note":"With the tool tilted forward, the bowl is now mostly below the wrist view, indicating I have passed its center. I’ll come back toward the base and lower at its left-side rim."})
tool
executing move_to over 3 steps (0.3s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe bowl’s two sides now lie between the fingers at low height. I’ll close and check whether this alignment captures the body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2874, 1.8683, 0.4736, 0.9035, -0.4477, -0.0368, 0.9958, -0.0216, 0.8173, 0.5953, -0.4152, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.408 left_y=-0.0371 left_z=0.0257 left_yaw=0.0912 left_pitch=0.1172 left_roll=0.1913 left_gripper=0.9958 right_x=0.2901 right_y=0.0001 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9969 state[joint_eff]: [0.1436, -8.2393, 5.0393, 2.1319, -0.1636, -0.0171, -0.022, -0.0205, -1.3607, 7.0632, 1.6972, -0.0464, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl’s two sides now lie between the fingers at low height. I’ll close and check whether this alignment captures the body."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe gripper stopped halfway closed, indicating a substantial grasp. I’ll lift a few centimeters and confirm the teal bowl rises with it.
move_to
left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2863, 1.9018, 0.445, 1.0817, -0.474, 0.004, 0.5033, -0.0216, 0.8173, 0.5949, -0.4156, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.4122 left_y=-0.0336 left_z=0.042 left_yaw=0.1001 left_pitch=0.2244 left_roll=0.1959 left_gripper=0.5033 right_x=0.2899 right_y=0.0001 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=0.0005 right_gripper=0.9969 state[joint_eff]: [-0.0889, -6.9128, 3.3436, 1.5507, -0.0171, -0.2857, 1.0281, -0.1709, -1.3607, 7.0359, 1.6532, -0.0269, -0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.115},"note":"The gripper stopped halfway closed, indicating a substantial grasp. I’ll lift a few centimeters and confirm the teal bowl rises with it."})
tool
executing move_to over 5 steps (0.5s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe teal bowl lifted with the gripper. I’ll carry it above the middle blue bowl, keeping clearance from both remaining bowls and returning the idle arm to its parked height.
move_to
left_x0.4000left_y-0.2500left_z0.2100right_x0.2950right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2863, 1.5837, 0.4927, 0.7441, -0.4732, -0.0002, 0.4977, -0.0216, 0.8204, 0.5945, -0.4156, -0.0158, -0.0341, 0.9969] state[eef_state]: left_x=0.411 left_y=-0.0333 left_z=0.1092 left_yaw=0.1043 left_pitch=0.2509 left_roll=0.1806 left_gripper=0.4977 right_x=0.29 right_y=0.0001 right_z=0.1612 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9969 state[joint_eff]: [-0.3897, -6.5983, 8.0752, 1.9023, -0.149, 0.0073, -0.0952, -0.0342, -1.3607, 7.2684, 1.6484, -0.0464, -0.0757, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.25,"left_z":0.21,"right_x":0.295,"right_y":0,"right_z":0.18},"note":"The teal bowl lifted with the gripper. I’ll carry it above the middle blue bowl, keeping clearance from both remaining bowls and returning the idle arm to its parked height."})
tool
executing move_to over 20 steps (2.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe teal bowl is visible back on the table, so it did not remain secured during transport. I’ll park the left arm and use the right arm to approach the pink bowl with a more centered grasp.
move_to
left_x0.2950left_y0.0000left_z0.1900left_gripper1.0000right_x0.3900right_y0.1600right_z0.1400right_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.8822, 1.75, 1.2045, -0.0521, -0.9894, -0.3656, 0.4991, -0.0216, 0.8494, 0.6399, -0.4747, -0.0158, -0.0418, 0.9969] state[eef_state]: left_x=0.4001 left_y=-0.2482 left_z=0.2021 left_yaw=0.0895 left_pitch=0.2454 left_roll=0.1685 left_gripper=0.4991 right_x=0.2891 right_y=0.0002 right_z=0.1622 right_yaw=0.0041 right_pitch=-0.1148 right_roll=-0.0044 right_gripper=0.9969 state[joint_eff]: [-0.3214, -8.6769, 8.6906, 1.2723, -0.5397, 0.0806, 0.1343, -0.1162, -1.1556, 10.5504, 1.6825, -0.0415, 0.0464, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.19,"left_gripper":1,"right_x":0.39,"right_y":0.16,"right_z":0.14,"right_pitch":0.2},"note":"The teal bowl is visible back on the table, so it did not remain secured during transport. I’ll park the left arm and use the right arm to approach the pink bowl with a more centered grasp."})
tool
executing move_to over 23 steps (2.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe pink bowl is nearly centered between the open jaws. I’ll lower around its sides while keeping the same horizontal alignment.
move_to
right_x0.3900right_y0.1600right_z0.0250
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2935, 0.7113, 0.411, -0.0433, -0.5034, -0.0402, 0.9957, 0.5995, 1.4986, 0.6373, 0.3271, 0.5205, 0.1921, 0.9969] state[eef_state]: left_x=0.2973 left_y=0.0029 left_z=0.1937 left_yaw=0.1453 left_pitch=0.2619 left_roll=0.1495 left_gripper=0.9957 right_x=0.3765 right_y=0.1552 right_z=0.115 right_yaw=0.0525 right_pitch=0.1103 right_roll=-0.0645 right_gripper=0.9969 state[joint_eff]: [0.2803, -0.8137, 7.1453, 1.7558, -0.0562, 0.2173, -0.4469, 0.2256, -6.1197, 8.7863, 2.0244, 0.4322, 0.1929, -0.0171] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.16,"right_z":0.025},"note":"The pink bowl is nearly centered between the open jaws. I’ll lower around its sides while keeping the same horizontal alignment."})
tool
executing move_to over 6 steps (0.6s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe left wall of the pink bowl is between the fingers at table level. I’ll close on it and test the hold with a short lift.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.7162, 0.4065, -0.0639, -0.4953, -0.0341, 0.9962, 0.5926, 1.8694, 0.5606, 0.6945, 0.5087, 0.1833, 0.9968] state[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1857 left_yaw=0.1315 left_pitch=0.2328 left_roll=0.1658 left_gripper=0.9962 right_x=0.3799 right_y=0.1564 right_z=0.014 right_yaw=0.0629 right_pitch=0.0378 right_roll=-0.1079 right_gripper=0.9968 state[joint_eff]: [-0.2393, -1.2239, 7.4598, 1.9512, -0.2418, -0.1099, 0.0415, -0.8, -7.788, 4.4239, 1.9365, 0.1343, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The left wall of the pink bowl is between the fingers at table level. I’ll close on it and test the hold with a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe bowl shifted right and the gripper nearly closed empty. I’ll reopen, move toward its new center, and reach a little farther forward.
move_to
right_x0.4200right_y0.1150right_z0.0900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2935, 0.7162, 0.4065, -0.0681, -0.495, -0.0338, 0.9962, 0.5915, 1.8568, 0.5571, 0.7387, 0.5407, 0.1551, 0.0404] state[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1848 left_yaw=0.1309 left_pitch=0.2289 left_roll=0.1678 left_gripper=0.9962 right_x=0.3854 right_y=0.1537 right_z=0.0276 right_yaw=0.0495 right_pitch=0.0911 right_roll=-0.1206 right_gripper=0.0404 state[joint_eff]: [-0.0615, -0.8, 7.2684, 1.8779, -0.149, -0.0562, -0.0073, -0.0889, -6.5573, 4.588, 1.1844, -0.2906, 0.2808, 1.5751] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":0.115,"right_z":0.09,"right_gripper":1},"note":"The bowl shifted right and the gripper nearly closed empty. I’ll reopen, move toward its new center, and reach a little farther forward."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe pink bowl is now close to centered under the gripper. I’ll advance slightly and lower around the narrower part of its body.
move_to
right_x0.4400right_y0.1050right_z0.0300
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.7166, 0.4065, -0.0746, -0.495, -0.0334, 0.9962, 0.4232, 1.6825, 0.6369, 0.4854, 0.3988, 0.0551, 0.9952] state[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.1833 left_yaw=0.1297 left_pitch=0.2226 left_roll=0.1711 left_gripper=0.9962 right_x=0.4111 right_y=0.1139 right_z=0.0689 right_yaw=0.0502 right_pitch=0.0512 right_roll=-0.1405 right_gripper=0.9952 state[joint_eff]: [-0.1026, -0.7863, 7.1726, 1.8828, -0.1734, -0.0171, -0.0073, -0.5538, -9.3197, 8.0752, 1.8046, 0.0904, 0.1343, 0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.105,"right_z":0.03},"note":"The pink bowl is now close to centered under the gripper. I’ll advance slightly and lower around the narrower part of its body."})
tool
executing move_to over 3 steps (0.3s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe fingers are down on either side of the pink bowl. I’ll close to try for a body grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2935, 0.7208, 0.4065, -0.0772, -0.495, -0.0338, 0.9962, 0.3695, 1.8793, 0.6662, 0.5911, 0.3553, 0.0277, 0.9955] state[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1817 left_yaw=0.1297 left_pitch=0.2164 left_roll=0.1736 left_gripper=0.9962 right_x=0.4255 right_y=0.1027 right_z=0.0179 right_yaw=0.0472 right_pitch=-0.0174 right_roll=-0.1621 right_gripper=0.9955 state[joint_eff]: [-0.1573, -0.6222, 7.0906, 1.8535, -0.0952, -0.0122, -0.0073, -0.253, -10.0444, 6.735, 2.2344, 0.0317, -0.0952, 0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingers are down on either side of the pink bowl. I’ll close to try for a body grasp."})
tool
executing move_to over 10 steps (1.0s)
step 210
top_cam
camera top_cam step 210
left_cam
camera left_cam step 210
right_cam
camera right_cam step 210
assistant
agent noteThe gripper stopped about halfway closed. I’ll lift straight up and check that the pink bowl actually leaves the table before moving sideways.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.7212, 0.4065, -0.0864, -0.495, -0.0338, 0.9962, 0.3588, 1.9038, 0.6727, 0.6788, 0.3389, -0.0013, 0.5091] state[eef_state]: left_x=0.2944 left_y=0.0023 left_z=0.1797 left_yaw=0.1284 left_pitch=0.2077 left_roll=0.1776 left_gripper=0.9962 right_x=0.4371 right_y=0.105 right_z=0.0265 right_yaw=0.0652 right_pitch=0.0438 right_roll=-0.1569 right_gripper=0.5091 state[joint_eff]: [-0.1983, -0.6906, 7.2137, 1.8242, -0.1538, -0.0757, -0.0122, -0.0752, -8.5265, 5.5453, 1.6093, 0.105, 0.1636, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.15},"note":"The gripper stopped about halfway closed. I’ll lift straight up and check that the pink bowl actually leaves the table before moving sideways."})
tool
executing move_to over 8 steps (0.8s)
step 218
top_cam
camera top_cam step 218
left_cam
camera left_cam step 218
right_cam
camera right_cam step 218
assistant
agent noteThe pink bowl has risen with the gripper and remains secured. I’ll carry it over the blue bowl with enough height to clear the rim.
move_to
right_x0.4400right_y0.3100right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.7258, 0.4065, -0.0933, -0.495, -0.0338, 0.9962, 0.3595, 1.5841, 0.8417, 0.1623, 0.3309, -0.0048, 0.509] state[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.177 left_yaw=0.1275 left_pitch=0.1973 left_roll=0.1824 left_gripper=0.9962 right_x=0.4337 right_y=0.1055 right_z=0.1248 right_yaw=0.0746 right_pitch=0.0156 right_roll=-0.1637 right_gripper=0.509 state[joint_eff]: [-0.1709, -0.9231, 7.0769, 1.8437, -0.1392, -0.0806, -0.0073, -0.1846, -9.1282, 9.3744, 1.8877, 0.2027, -0.0171, 0.9304] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.44,"right_y":0.31,"right_z":0.2},"note":"The pink bowl has risen with the gripper and remains secured. I’ll carry it over the blue bowl with enough height to clear the rim."})
tool
executing move_to over 18 steps (1.8s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
assistant
agent noteThe pink bowl is above the blue bowl but still slightly to its right. I’ll shift left and lower toward the blue bowl’s opening.
move_to
right_y0.3600right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.7277, 0.4065, -0.0937, -0.495, -0.0338, 0.9963, 0.8131, 1.9644, 1.6146, -0.4179, 0.6567, 0.2802, 0.5088] state[eef_state]: left_x=0.2942 left_y=0.0024 left_z=0.1765 left_yaw=0.1273 left_pitch=0.1952 left_roll=0.1834 left_gripper=0.9963 right_x=0.4353 right_y=0.3084 right_z=0.1825 right_yaw=0.1182 right_pitch=-0.0253 right_roll=-0.1911 right_gripper=0.5088 state[joint_eff]: [-0.1436, -0.9504, 7.1863, 1.7363, -0.1392, -0.0415, -0.0073, 0.335, -10.8923, 9.4291, 1.3993, 0.525, 0.2222, 0.8669] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_y":0.36,"right_z":0.095},"note":"The pink bowl is above the blue bowl but still slightly to its right. I’ll shift left and lower toward the blue bowl’s opening."})
tool
executing move_to over 6 steps (0.6s)
step 242
assistant
agent noteThe bowls are nearly aligned, with the pink bowl slightly farther forward. I’ll bring it back a little and lower until it seats in the blue bowl.
move_to
right_x0.4100right_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2935, 0.7311, 0.4065, -0.0937, -0.495, -0.0334, 0.9963, 0.8848, 2.191, 1.6039, -0.2905, 0.6773, 0.3264, 0.5091] state[eef_state]: left_x=0.2944 left_y=0.0024 left_z=0.1756 left_yaw=0.1272 left_pitch=0.192 left_roll=0.1852 left_gripper=0.9963 right_x=0.4271 right_y=0.3527 right_z=0.0814 right_yaw=0.1465 right_pitch=-0.0929 right_roll=-0.2374 right_gripper=0.5091 state[joint_eff]: [-0.0752, -1.0051, 7.1043, 1.7705, -0.1832, -0.0122, -0.0171, 0.4034, -12.6564, 8.0752, 1.58, 0.5104, 0.1685, 0.4371] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_z":0.045},"note":"The bowls are nearly aligned, with the pink bowl slightly farther forward. I’ll bring it back a little and lower until it seats in the blue bowl."})
tool
executing move_to over 3 steps (0.3s)
step 245
assistant
agent noteThe pink bowl is lowered onto the blue bowl’s opening. I’ll release it so it can settle into place.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9039, 2.204, 1.4982, -0.2066, 0.6769, 0.3416, 0.5093] state[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4112 right_y=0.3493 right_z=0.0474 right_yaw=0.1554 right_pitch=-0.1167 right_roll=-0.2488 right_gripper=0.5093 state[joint_eff]: [-0.2393, -0.759, 7.1043, 1.7314, -0.1587, -0.0464, -0.0122, 0.6769, -11.6991, 7.2137, 1.6337, 0.3346, 0.149, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl is lowered onto the blue bowl’s opening. I’ll release it so it can settle into place."})
tool
executing move_to over 5 steps (0.5s)
step 250
assistant
agent noteThe pink bowl has been released. I’ll clear the right arm to inspect the stack and bring the left gripper back toward the remaining teal bowl.
move_to
right_z0.1900right_y0.1000right_x0.3200left_x0.4100left_y-0.0350left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9146, 2.2082, 1.4857, -0.1833, 0.6762, 0.3447, 0.9958] state[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4074 right_y=0.3538 right_z=0.0437 right_yaw=0.1655 right_pitch=-0.1119 right_roll=-0.2415 right_gripper=0.9958 state[joint_eff]: [-0.3487, -0.7726, 7.1179, 1.746, -0.1587, -0.0513, -0.0171, -0.0479, -11.9316, 6.1744, 1.3993, 0.4567, 0.0366, -0.0855] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19,"right_y":0.1,"right_x":0.32,"left_x":0.41,"left_y":-0.035,"left_z":0.11},"note":"The pink bowl has been released. I’ll clear the right arm to inspect the stack and bring the left gripper back toward the remaining teal bowl."})
tool
executing move_to over 22 steps (2.2s)
step 272
assistant
agent noteThe overhead view does not confirm a stable stack, and the remaining bowl is closer to the base than my previous grasp points. I’ll correct the left approach toward the bowl’s center and keep the right arm clear.
move_to
left_x0.3300left_y-0.0350left_z0.0150right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2958, 1.536, 0.5117, 0.5312, -0.4992, -0.0341, 0.9963, 0.5026, 1.1301, 0.852, -0.4427, 0.4065, 0.0143, 0.9961] state[eef_state]: left_x=0.3968 left_y=-0.0288 left_z=0.0913 left_yaw=0.1239 left_pitch=0.1246 left_roll=0.217 left_gripper=0.9963 right_x=0.3247 right_y=0.1029 right_z=0.188 right_yaw=0.1435 right_pitch=-0.1013 right_roll=-0.236 right_gripper=0.9961 state[joint_eff]: [-0.8547, -5.8325, 7.8427, 2.083, -0.232, -0.1197, -0.0171, -0.1983, -3.7402, 6.8855, 1.663, 0.1197, -0.0415, 0.022] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.33,"left_y":-0.035,"left_z":0.015,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The overhead view does not confirm a stable stack, and the remaining bowl is closer to the base than my previous grasp points. I’ll correct the left approach toward the bowl’s center and keep the right arm clear."})
tool
executing move_to over 9 steps (0.9s)
step 281
assistant
agent noteThe descent stopped at the bowl’s rim, and the opening is now clearly between the fingers. I’ll close at this corrected position.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4206, 1.7309, 0.2276, 1.0931, -0.6189, -0.1024, 0.9962, 0.0185, 0.881, 0.77, -0.5495, 0.0765, -0.2676, 0.9961] state[eef_state]: left_x=0.349 left_y=-0.0399 left_z=0.0471 left_yaw=0.1425 left_pitch=0.2294 left_roll=0.1602 left_gripper=0.9962 right_x=0.2968 right_y=-0.0044 right_z=0.1972 right_yaw=0.0868 right_pitch=-0.1091 right_roll=-0.2403 right_gripper=0.9961 state[joint_eff]: [-0.3624, -2.5094, 1.1829, 0.0122, 0.1929, -0.1148, -0.0171, -0.0889, -2.1265, 6.9402, 1.7705, -0.1001, -0.0366, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The descent stopped at the bowl’s rim, and the opening is now clearly between the fingers. I’ll close at this corrected position."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteThe fingers closed inside the bowl without securing its rim. I’ll open and withdraw both arms; I cannot confirm a stack and will stop rather than keep shifting the bowls with unreliable grasps.
move_to
left_gripper1.0000left_z0.2000left_x0.2950left_y0.0000right_x0.2950right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4244, 1.7374, 0.2184, 1.103, -0.6254, -0.1089, 0.0094, 0.0177, 0.8848, 0.77, -0.5724, 0.0662, -0.2859, 0.9961] state[eef_state]: left_x=0.3463 left_y=-0.0391 left_z=0.0448 left_yaw=0.1469 left_pitch=0.2266 left_roll=0.1594 left_gripper=0.0094 right_x=0.2937 right_y=-0.0029 right_z=0.1917 right_yaw=0.1047 right_pitch=-0.1376 right_roll=-0.246 right_gripper=0.9961 state[joint_eff]: [0.2667, -5.9282, 3.8769, 1.6972, -0.0757, 0.0317, 0.569, -0.1162, -1.9624, 6.8718, 1.8584, 0.0855, 0.1587, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_z":0.2,"left_x":0.295,"left_y":0,"right_x":0.295,"right_y":0,"right_z":0.2},"note":"The fingers closed inside the bowl without securing its rim. I’ll open and withdraw both arms; I cannot confirm a stack and will stop rather than keep shifting the bowls with unreliable grasps."})
tool
executing move_to over 11 steps (1.1s)
step 302
assistant
agent noteI could not establish reliable bowl grasps or verify a stable stack. Several closes were empty or shifted the bowls, so I stopped and withdrew the arms with the grippers open.
give_up
hindsightThese bowls are wide enough that the open fingers can descend inside the opening and then close empty; a deliberate single-wall rim grasp is needed. A roughly half-open gripper reading did not reliably prove successful transport in this trial—verify that the original bowl location becomes empty before carrying. Actual tool pitch and roll drifted substantially from their initial orientation, affecting wrist-camera alignment.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3256, 0.7403, 0.4278, -0.0422, -0.5468, -0.0818, 0.9954, 0.0326, 0.897, 0.7704, -0.601, 0.0696, -0.2874, 0.9961] state[eef_state]: left_x=0.2997 left_y=-0.0004 left_z=0.1953 left_yaw=0.1721 left_pitch=0.2621 left_roll=0.1274 left_gripper=0.9954 right_x=0.29 right_y=0.0008 right_z=0.1832 right_yaw=0.118 right_pitch=-0.1783 right_roll=-0.2459 right_gripper=0.9961 state[joint_eff]: [0.294, -0.9915, 9.5385, 1.6435, -0.0122, 0.1294, -0.0952, 0.2256, -1.2376, 10.0581, 1.619, 0.1148, 0.0952, -0.0122] camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not establish reliable bowl grasps or verify a stable stack. Several closes were empty or shifted the bowls, so I stopped and withdrew the arms with the grippers open.","hindsight":"These bowls are wide enough that the open fingers can descend inside the opening and then close empty; a deliberate single-wall rim grasp is needed. A roughly half-open gripper reading did not reliably prove successful transport in this trial—verify that the original bowl location becomes empty before carrying. Actual tool pitch and roll drifted substantially from their initial orientation, affecting wrist-camera alignment."})
tool
give_up: I could not establish reliable bowl grasps or verify a stable stack. Several closes were empty or shifted the bowls, so I stopped and withdrew the arms with the grippers open.
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 · 12.69 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, 0.7944, 0.6048, -0.379, -0.0227, -0.033, 0.9966, -0.0208, 0.7925, 0.6022, -0.379, -0.0158, -0.033, 0.997]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4581, -1.5111, 10.1402, 1.7851, -0.0122, 0.1929, -0.3639, -0.3624, -1.388, 10.2496, 1.9072, -0.1001, 0.1587, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6390d0cb351c7143c2fbbf86172f666a6a9eb8e8c3ce5f41d4655975141615cb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c249faf077923753105b72dc460b80fa7b217cbe3669cbee2aff2a9c2849c2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d987984204473b7c8bf69084f86bacbb2eba20046e171934ccf8d73911543063",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 8.088 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1DSH5hpKV0g5-45I0r-8Pg3LipN59TMUhPoo45dpqYciI879YrumK4XE5hJjd0qqN_lBw4d-lZnrRhLxO85ek2FYw1ZWfZWTLH6EsfAhWJQzkzZVYV5UK93uoK_zcUuTldmyzateMolz9zPGrMgg6ee3D4evHVjpQIIbVawIZkXh45axca-OUyVm-DG89Akj9pRLypDJI6bSngrYBE2xie8HYxHpRowdzKtXbFh7R-O_TfDVTc1Qt6HoaJ5-fhOawqLyKQiSaxdHUmeEWpFUr9cgQUloPPOeVJrfFc_d5AZGE-TLG852tEnlwGtxDCzA7FEz9AIBa3bImFxA-bkqrqP0ImX0jaTAAQ14XCdaxlS6QUJYEvFOQFxt67K2xC5KA07OwIcxrIgGjjFo26Dh6zDCBtvUGqcrEOUBSSNKDiybSoHM3QLYtRurPtveakavmiOqLYkwHrcm_ep0PQbY9OoB1xxZsCzId4mZ-6NtwAt5u5a9H-074gaK2Uf42medhSBbDcnRSQNG7EOfTfy4FcuTdYtruDs8ClDqWsYeb_fEtdLOMnPrYopfdEMhBZrwLxqeKeLmesmvfonDKODVR7Jgzzd49MDEWfq5-mu9Iv0252H7Asb4OvjDUkC1g2B9gQxR-T98pWzxDCVjH5l6aPIEvUfiN86yz4O9sdF_dopnhiJ2-tQ7jl8iFYvMqpVcAp5VXqXu8QBzRbxfYkZ3mJqqoUG9bBcZfPCl3OMNimdIUyUhFPJLxvlGY9S0SBu7zcO2hsc5IvwxJI4goScAfaY4iWBrPByaCxVdWZoZsyAYQFt54qjhP4Zei24I_dH3ORjaWfpkRmSqzTUAfhsd9Xcp2a0XKK0LySB7PphEn61qcY1sOWItnt5x14TEh_wl0UENANu6mQJmXYheEPP-xJumygfV_70hHtCMSOlBICwJj7m9t6y3sqD5n1Dw-UNi-3_4p7yQfvZkcSV9qcB6krcyDbvdQ0Gw5m1XmpBPLGA1b8c18O7JILJ1oQ45Ug6Z0AreKec0DC8tt-4ys2LHTkbQCIXESySt5aA4BeRVIMXWncLYTeLvz7CD4O4Bq3vBQu1puDznlGGzlKLJESvJ2lUlB4Gd-oSikTpP6fUEaIv6HnGOu-ajWVrF1cIOPFSvKIQ-F6bd-kMNvKQgHjoUEpEiZ8sTKriiKBh8cVxBDkw3cVKpwt_umIWmDz_leMMvGCFeHRhGCBAStFOMYCu20ZBnzAzlYJ-Wou7rq6cPig2P5feGJSKl5B6rGGbpTOUfITx_Bvs8u6FrnqSHE0B6CkHNsddaMAR2MAhnT7nkYlOozUmIQ33XtbCz8qh839g4-qQEqJHHiD1JWWPyrXncRN4fjT7BFUMFMt_uzlyTjjkhsA3AMSsWeOL6rFZPo5wi3KTN9nXu8pZ-TPZ2JcgGq4G6qiv9yHWqG6XkF0XJDmxtQ5rjC_N2tSk-9T294cQhW5fJPNUuSv5IfPV1-i1TugqXFK22UqtZi_aGLxJ3ud7qNT0tmaERtMeh9F5nmFJspLvhRsaKeu_yaFPPjOlT2IV87m95Y_--hhCF1bHc6MngbtLHIOBEXBZAqcWG6oU3W0P5g3v6SRJqBB-jg6XoCRm_h3zsQ7tMs87OVJY9e0XJCb9uBAP8Edhh-9J9T-lh1-ARNXKro01Lv_A8RFWPw0W0Phsj0z15XLfbSqedIgazgq9R6x1CeOqi4RE9PpSW_Lecgmt68hVlAs380FraNL32Qev-P1puAS75nuvps4TokjNo-azf9rdRfUIuD7-XSHw0AP-wTslU3UerDvfvBlH1bMKcgmoMIuvsdw4wi1wwQJ8lkaUKDewWJrLzyNdahCUc2GI1lpdCfxzfHAFJ1ZY1Y4_6LZNbaN8YLi4vix0dnA0Lk3l5yu1sayhxtDiT3D6NGlzbfh0CNLXsFqUmI1VevULGK-Pj3L5HLMUF5Hj3gKY7uES0zVAgFhWi3gL2WY9ctrskQW5vuPOQTE2sxv8A==",
  "id": "rs_029389094824538a016ab2bd3a981087d0953b9da3b4e07fb7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"I see three upright bowls in a row. I’ll approach the teal bowl with the left gripper and aim to grasp one side of its rim for stacking onto the middle bowl.\"}",
  "call_id": "call_53jXxZGk0wNjjoi3weUbJwKx",
  "id": "fc_029389094824538a016ab2bd41373c87d09e1d090bc8cbaae0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_53jXxZGk0wNjjoi3weUbJwKx",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5514, 1.3922, 0.7845, -0.1051, -0.4408, -0.3363, 0.9966, -0.0216, 0.7979, 0.6003, -0.3889, -0.0158, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1331 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0649 left_roll=0.0283 left_gripper=0.9966 right_x=0.2934 right_y=0.0001 right_z=0.1753 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -6.1197, 8.9778, 1.6923, -0.2369, 0.0317, -0.359, 0.0342, -1.5932, 7.2, 1.8046, -0.0659, -0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a519db7f9b7a074f4876506935b01404bd38f5f429e0e1f5cf2528cbbc5462fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa53d20cd24bde69e48366dfc0b9c674ad57b1bf8c514d04c3ed6b78c0c84d31",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fbcb5aa365a2c0c0bc57f7c1a6145d41901f1d5ef67e27e5df9a6fe7609f09ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 4.016 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, 0.7944, 0.6048, -0.379, -0.0227, -0.033, 0.9966, -0.0208, 0.7925, 0.6022, -0.379, -0.0158, -0.033, 0.997]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1804 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9966 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4581, -1.5111, 10.1402, 1.7851, -0.0122, 0.1929, -0.3639, -0.3624, -1.388, 10.2496, 1.9072, -0.1001, 0.1587, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1MP0WOCX-7YY5rxC91WQR7t7Es7CQxmGG67L1Wx0eNXpjSkmj-oziQB4LKv0Da2kH5vBTIDFILFyd_4ipiVwQ3mDrk5L_Ksgpq0tKnhX8Fj5WnJdc3Z3cuBdZIS8rlwKz-9xFO7b36FEOTV1lS4GVaAroUUAn9qrW1HFeEfL7avHsox6bovCw5zNK79RxSC_Br6PHH4I2IsJGbvPiX1hSJba5jaCL8lf0F4fML2Q4ZRr8i9vdkLg45yh9hLY8eaW-1sDfrtOsUSijB-jkAk7mffz0bw2j-XFdAT6OPYvemfufQpMAHf55attuOBSuv1Fg1yoHYAmjDkTzjJ5ud4kYriEdlzN9TeTSaw9kw3pU5xmd48N2pK6g-RM7MEUlmUmhCAnxGbZNE8qeNIvnCZpgMeTxn_hQM3ujdWiKxsFHvdLTDYf_Qwd-XOmXDAewbeBH7PvcSYyblwOZY1snIiSZuEMfiG-6JpG8qU-3EfJPk1W8aCkOROVJUHRzjVdxQP8qIt2g-9AtBdNH2eq3FxNiFHl8YCDKaI7yyEmDUKFSMP68553w_pln4KVrTpyAIypBlxC2g_j18Raw9Bu9U55-LLz3SanPMAr36JERYIpo_ONo_TUBmynH_jKOvUE-Gu3ClpqcZaPFTptD4PTfNZZO6OQquZXjpGJ_D5eWIOpXXNMbxHv0kcyz17lADT0pEIRQthNv9RhgCN030nE1pSIVFwDExI3TA4jDLlgAeOUnEhsm2ahYzFGDLYoUxsAr-y_zhJnARz5_DI95OjDEa_wxwYuzYDzFk8FMtEsstqZ1Vti1GDGPnRCr1-QJAV25hoTcQmw2CMmrOssdJDeUalmyGmzFLiGsxdHnqAd-BiONikumvFykSO-eJmDfgaoz_M-THxVfILfyYXmA-S2ML7AVNXtxpDIRnHDW9V1GfkE-mh7NG2_w2E0qFmq9dxkgGZ_yRTWxuPeVPaeD7ueksMTJF_iy8WruyoiIz2U1gDi1r2_mjxUOY2OeVLjq7sAT58el3t_LEBX3t2TTqt2FqC6DkJrCFzGB4WvT88ehwHY6obwYxzB9eFtH0ekrwNiN7JEYM_OVFqMqTmfixK3Qw_oIOT92Ig2eIKFeyb68j9PYz3zd0xwuPSGGjg-qrjePron25xy23RsIIJX0iA8dJ_OPYkiUcq0SLWosTwJ8udqxbyACsKbLGKHUUJ0KC5t524R1A6rnKH9YcI71259oo4g0XO338yq8olmkFnym962SVht9hOKNgfM0Hk_qifG1ysW5JhNZEMe-oI1nrBuO2N0h1wijg6a2tqjaeCO_llK9rmO3PJLtiQmXyFGUn5tKyMX2Irz9pbDslN4TRnitl3WYlLaC-Wdv5wr1FFRyhF5u8B_W2uf9pOwG5jS8_SJ5z6CzqF73qSNFOZADZncblKQoUWUUTa8PB1GhWIdRJc3E16WcoBZCyrlJFt003g56Za_hCxN4336fACb-m66dyo3yqmGWC7x597zWPG6verlWKYRNmwgRoGuAgUpZ1md5QElf_UEjX484M7UWpGSaduh45WsyqN2eCTgJtTe9ejcI659vHz8ShkOSl4aHvTrpcibFBpzH8I7w-Z9dDaPJQBCBi5w==",
  "id": "rs_029389094824538a016ab2bd4667e487d08be15123039b68c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.155,\"left_z\":0.045},\"note\":\"The teal bowl is just left of the jaw column in the wrist view, with its right rim close to the grasp line. I’ll lower beside that rim so one finger can sit inside and the other outside.\"}",
  "call_id": "call_OCYun1n7lZcbPnvS7b7J6k2q",
  "id": "fc_029389094824538a016ab2bd4a710087d0ab4773245c622a8b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OCYun1n7lZcbPnvS7b7J6k2q",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5877, 1.6745, 0.6811, 0.1986, -0.469, -0.3573, 0.9964, -0.0216, 0.8013, 0.5999, -0.3927, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3715 left_y=-0.1473 left_z=0.0397 left_yaw=-0.019 left_pitch=-0.124 left_roll=0.0712 left_gripper=0.9964 right_x=0.293 right_y=0.0001 right_z=0.1734 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.759, -7.3504, 4.7385, 1.7802, -0.2222, -0.0952, -0.0366, -0.0889, -1.5385, 7.1316, 1.7509, -0.0513, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9449b8e085e8a54661b40bff31b64ed2d2def1b5c6a2e54d2714e9cd8043eeb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f8f4a5491c9459b0571a94017e6a15c9c1005f81427e3e2a4bb90427fb5e709",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85a7e74e9295cff1af826e19a96e02ce88c298cc90ddd3c2dd5e3335452e17a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 11.46 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]: [-0.5514, 1.3922, 0.7845, -0.1051, -0.4408, -0.3363, 0.9966, -0.0216, 0.7979, 0.6003, -0.3889, -0.0158, -0.0303, 0.9969]\nstate[eef_state]: left_x=0.3672 left_y=-0.1331 left_z=0.131 left_yaw=-0.0203 left_pitch=-0.0649 left_roll=0.0283 left_gripper=0.9966 right_x=0.2934 right_y=0.0001 right_z=0.1753 right_yaw=-0.0022 right_pitch=-0.0172 right_roll=0.0026 right_gripper=0.9969\nstate[joint_eff]: [-0.335, -6.1197, 8.9778, 1.6923, -0.2369, 0.0317, -0.359, 0.0342, -1.5932, 7.2, 1.8046, -0.0659, -0.0855, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The right-hand wall of the teal bowl lies between the open fingers. I’ll close on that wall, then check the grip before lifting.\"}",
  "call_id": "call_9vFAdcHUCyPS5PxktS6O4ZnZ",
  "id": "fc_029389094824538a016ab2bd4fa20487d08c7150243d35f000",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9vFAdcHUCyPS5PxktS6O4ZnZ",
  "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]: [-0.5892, 1.6829, 0.6739, 0.1997, -0.4839, -0.3561, 0.0214, -0.0216, 0.8024, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3695 left_y=-0.1438 left_z=0.0352 left_yaw=-0.0087 left_pitch=-0.1305 left_roll=0.0891 left_gripper=0.0214 right_x=0.293 right_y=0.0 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9812, 6.3932, 1.453, -0.0073, -0.0317, 1.2576, -0.0752, -1.2376, 7.0085, 1.7656, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8de9a32cbaa6e1b7a5ad32a283c1f93eae30c918d9b50db426dea195319247ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9eff6c826e708d4850df15d3afc93d1d0d4c09c9e9c706b42d8013fcfc745713",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f772b8454c67e299586b820f2350fbffa27c627320b57b76e12dd1a9057fdf0c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 5.641 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]: [-0.5877, 1.6745, 0.6811, 0.1986, -0.469, -0.3573, 0.9964, -0.0216, 0.8013, 0.5999, -0.3927, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3715 left_y=-0.1473 left_z=0.0397 left_yaw=-0.019 left_pitch=-0.124 left_roll=0.0712 left_gripper=0.9964 right_x=0.293 right_y=0.0001 right_z=0.1734 right_yaw=-0.0001 right_pitch=-0.0248 right_roll=-0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.759, -7.3504, 4.7385, 1.7802, -0.2222, -0.0952, -0.0366, -0.0889, -1.5385, 7.1316, 1.7509, -0.0513, -0.022, -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": "gAAAAABqsr1dXPvAGzUtinp9AEcJ79wXfuVP0LxdQgVT97_3d_lvW7pqc6peQIGUBZm_VBWNv83hMVv8iRXz1Cmmi5HG3H8T5qCSzaw9nmLtki_0E2DKfX2FHafwEfWZeDLRIsjkt-RTDgHGkbNEOhbQtC16_TqETf60fy2I1OOn0bwLCqx3U3ccgFO9nIEYTi2J6Aa_sYlCDkaULnTT9xWLI3qxnyXS1CGzbk9kIgXDJ000hKhpFyMpqCAd9_8CapoaFY2NODaO4HrvhBgBYbew6HzBYPk8_dRExrSq1ZDBNzZCTNLHDgwhg8KrFwCklWMk5RQ27hUx_xvayn3gSwBwfCTfi4uH3f3lhb32ubzeNyKMkhSgzf4ETDSJtKmtSXhPYXzHn8WnYxYS80IMWtPhCudX5yWmVlfPYPdMYMUpzKkWFlkf8ll9MdKiE5QtlNbWSudL5TALiE60xWmWHL0wkSY2tH8rks5PUDgnhml4VdNzkRRz4jXFqrgBmi2PU69oyPzPGKePeUyx5qrx9UJiKwcjFUbclkPYzBP-xWst66rmCys2A5mtRdL6anpIbZae6c1fTAANfKBirKqwecUnK1nvaTodVUcmpCnGDH37fY3NvMPMxWgNjBPUbUaHPynO4na3rnn0lTSabRO-9syWyE45Gy7ochNobIg-x2Fe7bM00CmFTEQozq-LphsXXZkiWbVCHrTB-tngXrizK2JapF04tNhigsAHZiIqydkLeXlVForQEOsj1qe0EQY8wdgEZeP08VtIFT57B0dKmcyUyOaN0lMP-rNOi6SX7FVzko-GgpXh5pWjc-A8mtcMf4fSO5hyAP2021LuMlg4kXmbmkTa3EW6Bt3ulp5XsviKIuR7TlbhF-UVNZIcm2BwWI_GtlBgjMqyuHeMxEXn4dFZEVG4S5h3bXPFblVirlmqo7ncCjYNkLIE2S12K2xIOroaFDGnZh5bMDBGvRt8ZnPPVGEWSS2jYoX0smwuCoVysDzbhDdd_MIvSV6tkW6yaykLtUXUjRRhl5WZsDXf0gPuGrCYriMoRRY607nsCKMtT4gV0oMaSUNhd1Ok12kn1_u9YTQb13PtaEsBOB6466b4dhSP3AmBipRtVYl8j4dwIWL4Fi1OSPPyGdqhYxqbMJ9l4Cq2CDXNkMXr3SHm5gq9AE9h3KFpdJMCdv0IKR_MTlv668y8l9lA8s4r1N5hqKdyUwDAWO8dh0zhyRxzPLbvW02Uz43yn1-RMiI-3qX1C4fZ2yRwF2h3XyBaK14_WoLN61F_97LM",
  "id": "rs_029389094824538a016ab2bd54189487d084913f50c4d5c0f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.105},\"note\":\"The fingers closed almost completely, so the grasp may be empty. I’ll make a short lift to see whether the teal bowl follows rather than trying to transport it.\"}",
  "call_id": "call_qgM3Ei6NZu8jaWpVTQ5fhogd",
  "id": "fc_029389094824538a016ab2bd54e52087d0abd84b3ed2aac822",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qgM3Ei6NZu8jaWpVTQ5fhogd",
  "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]: [-0.5892, 1.5349, 0.7872, -0.0696, -0.4881, -0.3645, 0.0344, -0.0216, 0.8032, 0.5999, -0.3931, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3687 left_y=-0.1425 left_z=0.0885 left_yaw=-0.0003 left_pitch=-0.135 left_roll=0.0897 left_gripper=0.0344 right_x=0.2931 right_y=0.0001 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -7.8974, 8.5538, 1.3993, -0.1734, 0.0415, 1.033, -0.0615, -1.2513, 7.0359, 1.7216, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b016f1d4b71d024af3a4f3895ca414acf9d28a9918c9343b7ba2df039111784",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5084c783967b3a8dae7f3d8903f3ee69b6ca5ad8319d3083c0facf2e10dd9d79",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0af56aedc407227c461e14c5be913903a0f0ff09c65a9ad287f0532784634dc8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /responses · status 200 · 9.176 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5892, 1.6829, 0.6739, 0.1997, -0.4839, -0.3561, 0.0214, -0.0216, 0.8024, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3695 left_y=-0.1438 left_z=0.0352 left_yaw=-0.0087 left_pitch=-0.1305 left_roll=0.0891 left_gripper=0.0214 right_x=0.293 right_y=0.0 right_z=0.1731 right_yaw=-0.0005 right_pitch=-0.0263 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -6.9812, 6.3932, 1.453, -0.0073, -0.0317, 1.2576, -0.0752, -1.2376, 7.0085, 1.7656, -0.0317, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1j4U21j2NVMigKNkoPzMxFn3y_G65kv-jbBrXYqsqAIj9Xve2fvgqPl_gmUOWDvZXqIqeEsKTPrdtGAYMRwHrQOqC3a5ChGpiHazLrCws6ANZ9MKgQrKfphuL4AMiniGvtoQ8EdOChOfF_9FMq7m_q3wFDBw5MYOmNf9o0fNiPg7SDxFZGvbRf3M65rbbrVXKwKf3s5F1XvN7JfxuMzBDjUGPWdR68EtIp_JGYll6jlpKrK-6faDnmr9jRBgKesU1KQ4236Qu60enBIrzEmw8badiQ99mwg9e-3W-_HcBqKK8OZhYgRbiHHxPSetuUnrd8mxyDUJAwfy_wIwmkl7bd149T2zabwtmNVLckNIJLIqngguzmgkzFVd-UOhbnmiyg4E0Cl4KUEvyrGRM0aMBzeKvh7RLgg96ItpnLVIEpHHAjALfimtrlergBoKE2alcXsz2r_X_y9iI62KLmElstdgQmLvcRIrGumnMAp1gDkCaabzjfOpfI2e6u2P94dQxTf5YgbUtGkY3R1HsvPAgO2s0KfEf5NNGAl7BAo2TcblBaYIXAvkO0eakD8doS7Z0bQESiCnPIpCfoAKHr6ihUogTHju9vkk9Gkl1B4vn0GJmHTX5qOlwciTWo_NtQG8kmTHVpIs5o6-2AZBsZggePzuCJa9F177FZU8rLQr46DKuiinj0WpbzXm6TbMQY770rLTeWIc7KwCR0l3efdGH4Ft2UEb2NT2NT_NGsWo9_-EyYKp0VAmFfdYdjnmBZ19vLxYP591PBH_iTREypldRV8oE2It0iqMdiedg8D2arXwQqQqT_rpSTQtsTRIo4d0-bs7hf8-2idyPVUaoqgGey9LHrZ_kIiykcgFMVHa8bcCZ7_GILqr2Jgcb7zH55-ybkwqxu9V7ZUs-lmRgm_0Dke-HY37zVFn9wBUtkbdZUrX5QdWOfiJVjjpQVvzVtaeE4V3LCHdvD31co5n-tGouhQJUB02juRiRMyF6sFxb77a4DxSaZ1X91vpWd_Xb3rtx740XsP9QTcGJciQgyWRxbmHX4usoOuY49nXRwlMxYsamZBE2-3Nr5rKRLLdIWH3hTU1piW_t3w4rY_xVtIcS1bsznWTMzc_fhhrIWT7ZoWNWs5VAOvHt4zQw6fEd_j7VBedYyummPwXH_QR5KvKtl9ew__oa7Akgv3DKOQnWZsDkhttPlooLPiYvLAHxOFwCOnUeQQVA0wDlTxzVfZphCgjmufW0T9_ShPmuKqoqoE9iVeVCziwsPqHZbWo_jAvmBd9d1tRP2lk3XYRtpseZNttkSLRlwxTeb0cljFAJN8rCObkqGfNWFmi-DstaVx0F-GleNtxH2rxZevLahtbfyiUEtscHPGCAOmdJXshkxxuS_eaUTCkv92l63fZuvq-W6",
  "id": "rs_029389094824538a016ab2bd60422c87d0a0bbbbadb6ebfe9c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.40,\"left_y\":-0.125,\"left_z\":0.09,\"left_gripper\":1},\"note\":\"The teal bowl stayed on the table; the fingers were just outside its rim. I’ll reopen and move slightly forward and toward the bowl before retrying.\"}",
  "call_id": "call_bYDqPxy8FPXnCnE2vkeb77wF",
  "id": "fc_029389094824538a016ab2bd61e3a487d08f6bb585ecec3904",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_bYDqPxy8FPXnCnE2vkeb77wF",
  "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]: [-0.4877, 1.5929, 0.8143, -0.0616, -0.4267, -0.3027, 0.9947, -0.0216, 0.8036, 0.5999, -0.3931, -0.0158, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3862 left_y=-0.1181 left_z=0.0748 left_yaw=0.0219 left_pitch=-0.1818 left_roll=0.1095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9969\nstate[joint_eff]: [0.5402, -6.2564, 8.8821, 1.7265, -0.1636, 0.1587, -0.1294, -0.0342, -1.2923, 7.1453, 1.7265, -0.0171, -0.0415, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c04413a3f885ab8d28255fd6f1b36f75bfa44dc95d3dea42423e39f2d7605cdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1321e0585f4ab992a8adc518fbbe2cf404aff582009b68c4a4915db128358cf4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:741a6cffff8d64a8632c93132174f2413560796cda0305033f77ac40a0510f1a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 5.361 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5892, 1.5349, 0.7872, -0.0696, -0.4881, -0.3645, 0.0344, -0.0216, 0.8032, 0.5999, -0.3931, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3687 left_y=-0.1425 left_z=0.0885 left_yaw=-0.0003 left_pitch=-0.135 left_roll=0.0897 left_gripper=0.0344 right_x=0.2931 right_y=0.0001 right_z=0.1728 right_yaw=-0.0001 right_pitch=-0.0271 right_roll=-0.0004 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -7.8974, 8.5538, 1.3993, -0.1734, 0.0415, 1.033, -0.0615, -1.2513, 7.0359, 1.7216, -0.0757, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1t32zlD-SMz7PFXVSX5mnzFvwEahrAxkYl3Kj8nXhLUqE0LxPio3UmxjgToD1kJq8pMrgz9_jV9IFfSMNyeRdgUA1b1RhON4Lq6Lv9WaMzf5MFBIZtMtL2h4DHgM5wqP5vJF6arMXiOHiN8blfA_gHgyP_Mu53lPohXzenT9gHhfvGL3HgyKQHgwEvEbNTBcmQTl-OCrj7db5a4ew3BQHmtJlUowMTKfZx6wROTESQo2wiWE_V8iOsaCcqtuXqtbcaQ1VMax3izTOpi1koFLLkhcEObHeveFLb0J3J_FrdpcF_DqCvOtU3vKpmFwds9CD7OcsVttv4atUHpzsZRAyX26zKR7wCg-wSqy4e_Cjv5CIxcRhirvbmhikN5GkJ2Us7NkE7tBHPz5DeF-Ds-ELAGWQzHl9CC5yKmM2fVxXaf-yyq3OOkMNJ4c2HhwDjkPf9OOGVYcxhNVzCEnYyr1T0jCkl_T6bxQCgscDsmgaBZ0lJl2kJv1sMqACv8bUTPmBedTMg1HiGpzDlbTQlEQfrtdthta0bUOFWTH9ojjvNGzRhL654kENY_hIYLM4XRAzhgV1645D-ImQBZrtmMsEHZu4EowBA2uuF1h0T6SFlBaQieY3aHBCKYcWpjJkd85MPMmc7YYjmS4HfYpVSThioRaRUUXjg3T2BY-6kxuK9SfJSnNhSzDOgpFG_2qQoTPLRC5htaz3u7QOe7PCCa6FR_7ZMRb640YiIbY8ndTqN4qoowLxRqtHHfAU5D0AULpoXq2wnnNGcr0TUdDRPIKGDoqfobLCSiiVcSvAq4TBbsnCIROu6TbQTIKhRMGngO0dVZRp9-4S9dG1qCqxnWrttNjOrH7HbpwjkbjBPwala2IEa_vqx4xj4Yoy71y5pvq9g2V5krAsI8M9fn-N-1VhUHTQi8K4TOjmeUnzmCDLm2gVFQuw6ue4oUgI5WK8MN9hf7MJwSHRkwC7qyu-hMzDYgvY2pgYudh71sRvGODRgQEBWoKpvyLjMT1r8letcWgqV6UqopgmHWSZ0ZYd8F3ZhLOa5Zh1YbhmkyLTaEwh6LuFVVyxIAUroeaoAf7y6YW8kW5Uxpy758de_6l-HwlzrAXj3YeoFz249SqICnAUBXXro7EXzpEcB_ZcnVMlFL703W2PS96vY_kUVdRcfHo4gyVQYy7OFva6sQvnO-dB9icVL79xOVc8TGi4DgMh9PfYk9ExDFGMkDbLQNL3xylmmf6dcA_inrtIwEL5XQI09jzozzmrpPqLZZbZrNicEkU_tbz8BPcnY7trRwEQO8c5GuoznRLiO-7lZSGiTwwS3cuglhotQSOQ0TWSwJ6zY2CV-dQb6xPC-PDY5PPhFsRFo02F1qojVe9nYktWr7ERhGZXpvmQG3GypfBhtDB5JNufuJy_w0aEndzgHv_Fnxg4rK5BkztgQUMycJd6CPu5w4H3WFJTCWUHXwqtIZheJYFnUcM1lYHeDaLD_VjUmrwbzUCXJQ_TOvlrGqtiRFu3f5SY-UgZquAyIuOn74NwAEPUUhmtMDJ7Mu24vIxv1vZokESl3Fn9j7w5T5aUiLhIOC6RJFoc-QneicMdFoLd1gfqdYc7IHTEr4fu2zJJhsYQKrCcatGMues9ut2OtwNr7Nr8vTrIzwjpvJjZKLfEIxyQHJGx2fuc5HMTG0ZgBAs-mdXNYTp1i9D-_YfUonDD9FiMrr50IQbXEn5CbPOPTbCFHtx4L-Ccga9xJxk8SfxvqkMABKIab_9xppU3pQqAmxf0-BljmuCnAc6bYN5lE6vlyCHBB_oI52DA7_KbOgt7SHDV9NsNqm4olaoeFs-NF2p9khmoloz5ta8VkBD-vgH4tWrUsK92D-pG2yvjXWaPCu6dMdYOyQzallrAdhKfzJd62QxB-gRHlVW1t3ZGkVSQfs1L-6EzN3yVPmh_XOf5ghQ==",
  "id": "rs_029389094824538a016ab2bd6670cc87d0930c385125c9070c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.14,\"left_z\":0.045},\"note\":\"The bowl is now centered in the wrist view. I’ll offset toward its right wall and lower to catch that wall rather than closing across the entire opening.\"}",
  "call_id": "call_ZtJtxyFQjiAvCovNoYYfUnjS",
  "id": "fc_029389094824538a016ab2bd6c2f1087d0859d8e787693e9d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZtJtxyFQjiAvCovNoYYfUnjS",
  "output": "executing move_to over 2 steps (0.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5167, 1.6485, 0.8207, -0.0044, -0.4473, -0.3305, 0.9955, -0.0216, 0.8032, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1305 left_z=0.0659 left_yaw=0.0234 left_pitch=-0.1655 left_roll=0.098 left_gripper=0.9955 right_x=0.2931 right_y=0.0 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0271 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.841, -5.9692, 4.5197, 1.3407, -0.3199, 0.0024, 0.0757, -0.0615, -1.2786, 7.1726, 1.7021, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f59d9c648e6560307130f29bdf0b771683ace2f3850881e56d19ef074e9ed111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3c15c3ec4c97095f053846f00205921bee914a5cb9315bf2b986ff886eb131a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e8911d0fda3c89eb4fe510dd62b70f4a78f4874b46465645189447d2fcb4201",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 6.661 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4877, 1.5929, 0.8143, -0.0616, -0.4267, -0.3027, 0.9947, -0.0216, 0.8036, 0.5999, -0.3931, -0.0158, -0.0338, 0.9969]\nstate[eef_state]: left_x=0.3862 left_y=-0.1181 left_z=0.0748 left_yaw=0.0219 left_pitch=-0.1818 left_roll=0.1095 left_gripper=0.9947 right_x=0.2931 right_y=0.0001 right_z=0.1727 right_yaw=-0.0003 right_pitch=-0.0275 right_roll=-0.0001 right_gripper=0.9969\nstate[joint_eff]: [0.5402, -6.2564, 8.8821, 1.7265, -0.1636, 0.1587, -0.1294, -0.0342, -1.2923, 7.1453, 1.7265, -0.0171, -0.0415, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1zq_rxjcmGhsdDBw08fNtGAwlM8At1f2qg4zt5IziaKGZCV3TqNASc4hTuCdcefw7XbIaHlHLh8CT6qYoSow9mrY7ILs0u0BZ65Jy2bHvVnoHaVAU9DCtSDZ0HwMMS1PvBTxvTqg7nnvmRWLDlV42e10IxFBF8Bg3Og4Ar9qvVchb_m2NuOpDNWPPMyrcJdmiGF3qmCmY4U2L8sYLpWWV1DbeSPIXK7Z3SFxXuTQYtMnTicFga8hKmp8wcrbESvE_1ieCz60IdO_RbNk3RMJNIs2LPoFM3Tg54ZTzY8oQdQU6nGRALjobBc3sRcGljCGnnZ42T2eyKYZO9EIgZpJrvOjrG9JcFRcjI9QsSv-n76y_KJNJEG2Ua29KftVhTfEt6BER9y0eBLXqv7W6bXBZmYf3Ho9Hv2lFXWV_JUgmv9VBIvLfKRczmWAZ00wnMW6o4-zByubaWMs5NtL9NuTCgoNYWWG57a5dN24VGvqxmy5W_-V3Rr0ve2hnc6W82Pn-6CrG9UgrQl0PueYrW3UMKypzy2w86t7bFTBpaGTdV2vKRJlJsYTl5uv8yPggePAhCgSfDGhLbPvrTth7Imd-M7Vq_3wug0myoIUh8Mc7rDLPPfVFESJZObSiNwlQruWtK_Vx0jZST8e1UopRNlA18-TO_CJGlIwZEvkriUJTbhhAU3_TJqW1j38dB6XfvspwvM6FHBwMImRghyzs4ynHElZFtVJke_0OqkRmZRXgiGVrtXgf1mCjhtmwk5Jye_CmMy6-Wf20sf2GgX5dPvzYIIU6LgVUAO9dQu0ZUKL-EZW63S0JuZVaOvxdXXeonyLXAb1-GLoXfKkh1GDeY9B0X5b1idUM5vUj4VLVXzdQlQandqkJduT4mHBvHCrAYw6nl-wgSRE49yVMCmJvxBLBPKH_m1ZDUvbJ0p1GFKEu0oxKfh16OW-i2R6wM-dHBB5Jp1EGAaAbcpuAESqp-4BkXXLdGOXcNnOYYexpoYTwce3suPXUruJprdYTyzeSA8wuz5JYjMk-dg3ynOTBHTVOSk4ry1pyE2IYlUbvQDdzuHoHv17lECwtKGTSa9EHdZy-TnOCApE7qwvBwYQxixp024ZPbWAmEvsexurmQn5AFDnWnboTzLlDOYZEP0BCdKLQBsOUtETm9Q6fMcbZ3YfruFlCx8I5hGRJsC9w6t1fpQouUvpmDwPJFOuQsqD3WE8b6U37KQuY_lVo1XOqaKpSG4w==",
  "id": "rs_029389094824538a016ab2bd70e38487d08a8a7ff1b86dd0af",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped at rim height, suggesting a finger has reached the bowl. I’ll close gently through the gripper controller and check whether it captures the rim.\"}",
  "call_id": "call_LKLGzxqHvKwZM4TzA1EMqPpz",
  "id": "fc_029389094824538a016ab2bd71858487d08a6f278cd2575308",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LKLGzxqHvKwZM4TzA1EMqPpz",
  "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]: [-0.5171, 1.6634, 0.7971, -0.0101, -0.4438, -0.3378, 0.0089, -0.0216, 0.8043, 0.5999, -0.3935, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3833 left_y=-0.1266 left_z=0.0507 left_yaw=0.0286 left_pitch=-0.2043 left_roll=0.1136 left_gripper=0.0089 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -8.5402, 8.1983, 1.4969, -0.2662, 0.0562, 0.6374, -0.2256, -1.2513, 7.2137, 1.7607, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5b4fec5ba7d1626d7012cee5c8ab427bf4a64ccb75b3d273326a6f69c93df39",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd75d4d9a884ac69fbf06b99e1a601c749bdfa2cb6450c3733d30f36a1cc98e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2aa9c5d1075bd9405f829e6590cb9fb4706a38cdc4fd37388dcd879387494c1f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 12.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5167, 1.6485, 0.8207, -0.0044, -0.4473, -0.3305, 0.9955, -0.0216, 0.8032, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3916 left_y=-0.1305 left_z=0.0659 left_yaw=0.0234 left_pitch=-0.1655 left_roll=0.098 left_gripper=0.9955 right_x=0.2931 right_y=0.0 right_z=0.1728 right_yaw=-0.0005 right_pitch=-0.0271 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.841, -5.9692, 4.5197, 1.3407, -0.3199, 0.0024, 0.0757, -0.0615, -1.2786, 7.1726, 1.7021, -0.0464, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr16uMH959YAgYRlk94Zgszm7Vt2YzZ3YmI8ASAzM7AM-E_6yh_HEjyeuCkbAXezRISZ66PChunEsMxJbe6lXF-VNbSJZhIjdWYETepNijYBHoAQVGVD2AQPBo1mONf4SXuJbx1o8uLt7GxdXREtRljV8kQQJLknkt72WWMIkeiplV0h14WUTNkc_0e-4wkXeeDL5ajEymu80bQFyr6FEufTAZZhNCiu8qLr33bLAcuftcnxNePfxDttrYT2chEabVL0XRP9XbLIrbI0HLsJTM7GFAlUtbu2ts6m6Qe38mpv4YWj00_V-J8N1UmOQEa_4EvFz1Cf0vG8aPHcw0qEotKFb0TGphK2yZYrOMZfZrnCM-EUiYko-Tfpy33vtJi_P7kXU3tudTOvLvjFwTSbFoinZcpkjlxSuCvxY6Bl77oVaugmqUYb5y-fnTc-_tg5v5lYjtiHZMzyAwNa0lVrO4XFVeTjChYGx6dhOk5nranfmLkOsFYHMfVWyIgk-5Bo-FJhJ40vbei28KVebgxPxDYW5NK0IIFdyVfYcM4WKCOCCWH3LU1wVYjSKyF1eJeJxybv5TezvgRKroW-_f_h-G-BMcCcRPceXYv3MDGHa2omUotJQIePUHvKQoeKHHbL3HwI8oYl85d3JFn5KELFNlDtKD3ux64nOHsyJ1vgG6EoE0nIZvzNFl-6qwgYcO2rxctqNd9AlyRH9ACd4-Y95slpR68Xb7rxJJH0450ANZk3Z_Mg3ng5ukiWOGYWQC8KNN2gv11lzHrk8Pw7QmodpX6jx6jfszh-ib5dWeA6REYKgvSbMOr9J-QgpFJ5KFBjwqehDjoKA-UTESMt-9S3d27zf8OoJmDB8e-x_EzNkVPI5hUnlG4YDHYy10XXs-b5Ll6YAbi68BK6MdwD2fdFWeJqUWb-N9P-aflKLjLOxFnU8YFaUptuyI7xBs6aKDxddr0xlDTh_2TeJXTXDmznFP1B9liRHmHNUxqHaMwjs6QQLzCygJkJTxFhE4fsTdQ7xBjD4RlDuWtLpTACt-qiIGkSthcv90kGHy8Gk1aUs9ab0VPVkCw6YQDxgYSFsMO7QsRBQrPzlXyQbhQ_ZKSYB70bV9AM2WcQ_Fy6fBvBPMWtmfmcBugvcWRQ2e4sfuIVW0FtSWPl6xCdXtiDHl9fzQkTik_7h8RaQYekyJDQsIrUIJKxYHYoDJHD1onMyMQCZ5TfgXYJ2vLMc82QsWlFN8rYtCX72klNARdlSv5urMIaLwbk7K87kcySdcLnsAHY-rx9CwN4yH71VIamMX4GEfSZaK68sCtaJgwjUlIue8cnsBM7pqxbMvh-thdsqEUPwb6Q_R9-zUeZPW7XGK2Qnd8sPWppfPw3KUC16ryXvvE7FZnwAgIDIBHqtXQHZFnF95TmZtj2htV-5km0Yq7iQt66V2opzGkOgKljfwBx-kMwZd_a9EKr8ACJCDISmd5cBdFU1tNUjFkFz-V_ERUxMv7JqNet5LpmuO1zXv5wXhGfj-_3nl2i_jrp75VEWRcuuYW5J6inJYRJ7d2Ck1Gnb8zt5hmg5mJ6juiWPywIDtaDBa6xMfF0m7NBMbU9NgKvqh3ePedygE4-hSQQFBVBR8UsZ8dVF3G3PRx6ZMp9aQjftK9hhx0jgwEBAC_t4_GC4E6RXnD8MfHR-sHBC7BrGmIBxTfCxRi_4uUcP6JohSwBcAR96ZvWr6OrHnW--GbM2Hkvc5qal0izjPmPJaYbKV-74iOMfnsJM5oUlq4fPAlt1YRXSJADBebHSbDLYU_AZ90PESsdU2AIL8i71nwZaZvVaFsweDn_f3jpMVc9NA3HA4dswWLEliQWgpdwxrgwXX9uEXOYL78zQHYATyldFb2-tcWSMYVF_Svsa4HbpCFd5Y8=",
  "id": "rs_029389094824538a016ab2bd75b8f087d08e27b78f07570f5c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1},\"note\":\"The second close was also empty, so I’ll clear the bowl and recheck its position from above instead of repeating the same approach.\"}",
  "call_id": "call_P2axDNp1HN5OwL0f56p0PCE6",
  "id": "fc_029389094824538a016ab2bd796da887d080a6ab008eba5b5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P2axDNp1HN5OwL0f56p0PCE6",
  "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]: [-0.139, 0.9668, 0.7998, -0.6186, -0.2138, -0.0849, 0.9953, -0.0216, 0.8093, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2962 left_y=0.0 left_z=0.1762 left_yaw=0.0733 left_pitch=-0.1995 left_roll=0.1037 left_gripper=0.9953 right_x=0.2934 right_y=-0.0 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -2.5094, 10.0991, 1.4628, -0.0562, 0.2027, -0.0269, -0.0479, -1.5248, 7.0085, 1.7216, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec77c39a9303f422736966cd8309919d351a3049da16bb11dbbc215b168aa63c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ee635babbd2644e9ee6e3c381ba0184c367e36beddf22cbc6feef1b2c96d2b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2d9a0158681b13412605ee93aceec9fa40251302f03d8ac165ec772aaa6ea5c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.007 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5171, 1.6634, 0.7971, -0.0101, -0.4438, -0.3378, 0.0089, -0.0216, 0.8043, 0.5999, -0.3935, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3833 left_y=-0.1266 left_z=0.0507 left_yaw=0.0286 left_pitch=-0.2043 left_roll=0.1136 left_gripper=0.0089 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=-0.0005 right_pitch=-0.0286 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -8.5402, 8.1983, 1.4969, -0.2662, 0.0562, 0.6374, -0.2256, -1.2513, 7.2137, 1.7607, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2I5TUwWB4gkBdIfNyn45Ij5_GhbNjpfrMtyx2qZSNjuYWWOs73JfqDucqL2JJZxVsFp2m1DNyL9MCQA1_mPDMp_fLcVlakQPsjxa7h3Vbtda84ciFaCwwwZcH-02VHlQ_SfrNRBJD-QyEP8I_NUPF3eS7y_fhReCLlJz8CCN9SsjuDRrd503gFdejnz2nwPIRxGxvr6DIy43OKdozERdm6456ULMcMjXj-CJhTu-KewjnMppre9LxU3Rsgfik4pXJoQ7ifkovxXcBRZ9gS3nCQUVglhKOCZdEharP9HiZ8ulFsOn0DShJTRY0HCwk0VYm7jij1bN_jMn_iL0PNM8me2aTz3VBYO-gxpJNbTgWGxuM4sibIjTL15cEjRZCAMOheJ9Dh50LsHRJHBkpGHgzA5i8jysuSxI9COb_5Qr3RP3IBm9q_lUsms_tGCwf1ysGmYNrS1NQFMsFSCaKOaeic0iiOrpcoRcGcPDudmsv3_WvaLrKQ9krLpoqNRt8B2Wdr_3gfje6SVVDzgBmn8L-Durr8jNGHBIMGon3KUlPUSNHgcN1US2uURsQ1k9zn8wjHtG-Dt2PKF70AAaoSee0D657AsYk9UpabbQhrcaSC8RXy904-mgRi-SK27PDXoSTyQunbUSMRsGxTytzvuHpv94wwCJyjJVCU2EJeBDGDPttxwK_yIAbW06TVvffQzkGvwL_ZRFRQL42Bbcmf4ph3oteKlyyjEgAuqTSaMWTDEitLI_4-_ueADgvg1QIbPxJl7sGDS9hvoqIGivYScByH2zwd4JJKWMuV07_BL2QqCwGbg2TWl6-heITOgvT-R3GF7hbBuWhscMzuGbu4I-WnWlV1ErY-hrq60fNhql-2F5UUcH17Mf8adXnOUXKUP-tLE-ggFJF-hbmRxAZfTXa_j5HW2UIe-dKnE1GPNcWQuB7sEK2_2nRVWJaz_OF_moRej25GDQR4KTaavxJBjcAt6d8XZQ7Z4AMy7OMM2CSNhreKr65Cp4iqFAxSveLDPsW5YbDXTavyNi5GtPy6vnM-HoADtsCmfQmE74coa6KGWEYSBB_Mgt6YTFBCz1T1lEoU2v_CPxDoFEqptof83nBO30-wYDJUuvSPYkr25mtU1nNkcepijvOrlQN4mRKrWvIo75t88PwUNdV2oIs55Of1mrA5fKw-tn9J7evo4xzStxsqMakUqKxhKqMDhxsjYfzjoQfHmfVwLSYJwV3_yvq80OCHEcTSLVhRBeN-ZIS3rZNz6djHDronfT0YZvJkSdpDvyLTMsvgK1sbv6xzBHySzGOE90XYmtRBN4bHSe963K9sECPWAXY_QZ0FmwEHMVkntG1m8q9Z2of0L8r7G0rVtWN7aacHEQZ-c7L8_0eR5xrav_LnTDzre3YuzRBoE2XbByOn6C98oCgM3ODFyguJjdNhV-TUlznmDP_mqaug3NONJ6PjpwAyLF8MhtJiEb9gPw-v3g9WPctEarIe9ihWCrRNnI-I7zIhoKx0Zo-wvmuuOTHCENNS-bB7CZAYtVS29Cegq4FaMvS60v_RU3XDNVlkRrXJZoEoPxBlbexVd6DJHs-SYBxa8OEHJMVbRcs3iYc-DudGOcka1aiu2p6Tu33vWGJEMnWUAaBLU_Vxe1VArHDIWQzfdvuUvT1SyCLa617MlLMSm7RjwETpV7oDktRSInxebp66c9UUaI86qEsoQ5R9cSiDDyFXoVwm8LQ7ZwvvekzaSt5T6VSwZsJhqpcEcl-CKitCJ4qFrt15VQ0ZEmS-xVHXd1niIpA7IcLfSGnxiXw3JMWL-cW73KiNZo4YvNK-763liIVM8IRLzxaln3N47E1KWy21mKNUECTlJV9cHXwjQRCWxEiraMHrJlNTowsSjh1YI9TQzStILZyEtXNHGh0-cB0d-Y5tkJbAWFFM7cp6Sso55eFOQiDIzR7XtLNnYugibeut7JAUBczWqZW-DGRm3S0wuUYS6Q3RiIvs5LIuiOOyeqnjGrFzboIO26d3C9S_n423qfbT9tpoeFCsr6JDiBis27qKthbvs050yMTyp6uMtLCGv0LhgDKVcM9owe6x88WLDhyNuXhKbCl_AM8S-NTundM8DEJ0n3JCTqxTN0pZlTjfi8FIyAjF2nRMUfAIpQaiwzkEo6TSPKhP_KYuFPgbdoLRKnqZOKydJX_6Oz5FgH752p2zfxC76gpt41J2yR7ayrqzGdnOIBB7qinvRrDJk5GMVEQZjnmhzd5GrQckQI1LUL9be56LfCUxE7z1oqCts4cvuh7P1KEorM9L4GhuD_pFBoPof1-5lbv8ixRbWmoyODX3aJv3WS0c6F9oyokW8WIFzDA8pM4c0ghuUVeWM9YGd6AszUH0C17KeYSOwyv-tywM2cpSrywZdNR_j7cPzpg_7NgiKVtNHsh3tsVp5qFWueEb",
  "id": "rs_029389094824538a016ab2bd7df2ac87d0b7f4a2525e7e01ec",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.075,\"left_z\":0.13,\"left_gripper\":1},\"note\":\"The teal bowl has shifted left slightly during the attempts. I’ll now align over its center and try gripping its narrower lower body rather than the thin rim.\"}",
  "call_id": "call_XlDOeV5HPYvUvNrA1QcbFsM5",
  "id": "fc_029389094824538a016ab2bd86f4ac87d08248de6652ae5bf1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XlDOeV5HPYvUvNrA1QcbFsM5",
  "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]: [-0.3401, 1.4815, 0.931, -0.3634, -0.3351, -0.2298, 0.9966, -0.0216, 0.8116, 0.5999, -0.3935, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3801 left_y=-0.0691 left_z=0.1105 left_yaw=0.0636 left_pitch=-0.2841 left_roll=0.13 left_gripper=0.9966 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=-0.0001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1179, 8.8137, 1.4432, -0.2515, 0.0073, -0.359, -0.1026, -1.4564, 7.241, 1.6972, -0.0708, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb5ee8aa70fe94cd1dca388b3fd7b2b743030afb1252c3a753cb1b17b909dc01",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b05d172bb37bfbf141c84392a5c8fa6e5b1930a3c269c3de922bee22879ffb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a58ba26159ac943cb4c6ff17f14ffaf043e7e04a05cc8e4372c4438efc0e4fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.008 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.139, 0.9668, 0.7998, -0.6186, -0.2138, -0.0849, 0.9953, -0.0216, 0.8093, 0.5999, -0.3931, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.2962 left_y=0.0 left_z=0.1762 left_yaw=0.0733 left_pitch=-0.1995 left_roll=0.1037 left_gripper=0.9953 right_x=0.2934 right_y=-0.0 right_z=0.1712 right_yaw=-0.0005 right_pitch=-0.0332 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.2667, -2.5094, 10.0991, 1.4628, -0.0562, 0.2027, -0.0269, -0.0479, -1.5248, 7.0085, 1.7216, -0.0366, -0.0317, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2Oj_1JztMqZ0MstN0-c5L3RIKu18ClTdCrnAUJQ27C6lK91nUZPdSYO2XF_Uv_YWqvw7Ni3nW3ZjeUQ4g6RHsxBKWcBqV5xF7s-OIjVJUaAJcAXNpSwIazqWCNV2VUq4RPo0DVnSNb5_oo81b597-Nr8zV9B8sUQ3XjxXEH737N-X9KaTrPzxZAHarrl4MTLXyyTfQ8y55FE-tHsAWoRVpBX3BdAtmoq_A-8n7Dkik553K0yMizb4UO79iNKYawLGxc2fQs0tVK5mbJsWTvkVUNHyTH1jphF79Qh3TVKEeqPXm5cmxHxZ7a_SMtOEaHBqM4TvwI9dUxHj5s06J5b2CeJy4GVD3-uCSRfDEho4tfuPRgm8L5bVcSelmZbUg2T-LDR7E1hlLchwQQm-uBCYMl3GeBV9Xhh0ywuar21EvTLbXXynVnKJCOaz_L_2LTwVtJytq1Zfja-Rt0xVbBKTCVOIoX_w2CBH4ZO6tlTJXeG9CAnHXUS5a0Jz8-qt-SqJiEW6AkeKYG0wfIK5nYxik_ERsIYgDjnrN5EzJGxfu3yQkauCsdrBHMVIjcczxbH86ZNzSEdqAJ7jvKms1XekJM-1ZbeNRdkVd4_LHk4p1HjiUt6WCSCy6uH4Ry8C-7NY1yYYQeEMwjGMD9F-T8nNki3jY0BrgmEOp_GHWaDHyGuIS4dRl-eBL35KMdllSmNcmAYi1qeirn-pL1EBE58kR4RBHYCRogstMZPPt-_jvr2YZScewn-AGPq4jjXRCoLDhMxPAHZoh8KJNv-pWfCKa8IUrmsElWToQDc980_07FbF62GSQD4yJ2SiPx5r9kqm5z7IG9eJUVGYW6TK05JI9NhxBd1odWe07vSEWmHhChMrMwYHmq5xqlOkZhmpHZW4IZYxc7zaBy04HTRI_xy1DLdN6o56-Zul_lF7EN11LFPgnO8GdKq6Kj10lilfGGu-Mk-4QskdoIxIIMkwKuXieRUvFB0ztEjS1AdTOZadDEw5Im4pOAcqx4NsPYSQeJ9Hc7XO2G3o7h09VT9q6NDvs8ojLx4TJHF57b9l1Ao5gSTeAjO_5VUyZCfiVmXp_XEItzyPJVKsdgUsUiR_Iy3X-pLlmrzxbDXAq160kal_LRvUg7fmL4iG3kjs6SgXDIlMtw4EV7tVu7wEdYF6QwERkn5HUWHgrJvpKgFPOWffRtEZe5KQkdjqdLBI_w7FiqXPMMW780L3tw7hua_XMB9jZq17bVfPjnuJU6FXwVmKQv5E=",
  "id": "rs_029389094824538a016ab2bd8b0fdc87d0b5323c3929e1eb97",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.075,\"left_z\":0.02},\"note\":\"The teal bowl is aligned with the jaw column. I’ll move slightly forward and descend with the jaws fully open around its lower sides.\"}",
  "call_id": "call_HCe8bnQH0dZ1wZ3GKC3WgAE8",
  "id": "fc_029389094824538a016ab2bd8bff6c87d08b90e15c904f5feb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HCe8bnQH0dZ1wZ3GKC3WgAE8",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.326, 1.7763, 0.8589, -0.0608, -0.3302, -0.2321, 0.9964, -0.0216, 0.8162, 0.5999, -0.3969, -0.0154, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.0714 left_z=0.0157 left_yaw=0.0832 left_pitch=-0.3447 left_roll=0.1514 left_gripper=0.9964 right_x=0.2933 right_y=-0.0 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0439 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.4581, -8.4034, 5.1761, 1.5116, -0.105, 0.149, -0.0366, -0.212, -1.7573, 7.0085, 1.7656, -0.0513, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6658561772f2d5b18102fa475ef09b989ceb0819adaaca4c055e0ed2efe49453",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d62ec9778448c43f4243739e6d9351a547367d62ce51b555af30f1ce73eeb21c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7584fa68eebbde7d07a5ae5921c55b7dafb0a462df03468a64fd637415217d56",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 8.958 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3401, 1.4815, 0.931, -0.3634, -0.3351, -0.2298, 0.9966, -0.0216, 0.8116, 0.5999, -0.3935, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.3801 left_y=-0.0691 left_z=0.1105 left_yaw=0.0636 left_pitch=-0.2841 left_roll=0.13 left_gripper=0.9966 right_x=0.2935 right_y=0.0001 right_z=0.1705 right_yaw=-0.0001 right_pitch=-0.0359 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -7.1179, 8.8137, 1.4432, -0.2515, 0.0073, -0.359, -0.1026, -1.4564, 7.241, 1.6972, -0.0708, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"Both fingers are now down beside the teal bowl’s lower body. I’ll close to secure it.\"}",
  "call_id": "call_vIO2e2dXZUrjyQfkwArAAmfX",
  "id": "fc_029389094824538a016ab2bd91b6c087d0a0b24aa635eec235",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vIO2e2dXZUrjyQfkwArAAmfX",
  "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]: [-0.3275, 1.7863, 0.8536, -0.0479, -0.3527, -0.2276, 0.0321, -0.0216, 0.8173, 0.598, -0.3969, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4013 left_y=-0.0681 left_z=0.013 left_yaw=0.098 left_pitch=-0.3396 left_roll=0.1735 left_gripper=0.0321 right_x=0.2931 right_y=0.0 right_z=0.1674 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -8.6769, 6.4342, 1.0379, 0.0415, -0.0317, 1.409, -0.0479, -1.4838, 7.1726, 1.7167, -0.022, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6a4b343efcb40b25bc9511badd4e770afcfa3b4589e8f56150d691a0abb184",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53a755c09fa666ee5109ce1b5c16f8fe4661e2dcf4dcf1e73a0b1d41e3a29128",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35fed358a7a84011ba21578cfaac522bc1f3e5eef687759ca9222ae70690ee86",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 10.88 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.326, 1.7763, 0.8589, -0.0608, -0.3302, -0.2321, 0.9964, -0.0216, 0.8162, 0.5999, -0.3969, -0.0154, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4012 left_y=-0.0714 left_z=0.0157 left_yaw=0.0832 left_pitch=-0.3447 left_roll=0.1514 left_gripper=0.9964 right_x=0.2933 right_y=-0.0 right_z=0.1685 right_yaw=-0.0002 right_pitch=-0.0439 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.4581, -8.4034, 5.1761, 1.5116, -0.105, 0.149, -0.0366, -0.212, -1.7573, 7.0085, 1.7656, -0.0513, -0.0806, -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": "gAAAAABqsr2cDe0bKNcv20NDX2qtZ9mveT40gHPODTVWqfDZOsCY8y1pQW5vkjjNJmAX_Gb3sRuB4uZrf3T2xzWtFf3ERAYsGccnVc7KIbBemMjdktT3Mr4HEqPl0u-0FNE-v9PCT7wk3yoUqcHa2FowsTORaXo8CDwpDG8xUWB4xWPnm0mt47Rs8f9PchC52ydkd53_e6ujSI0OEmLxX982ag3lUF5wbLVViVak8nXcenhAtnMhByYj3KpL16GnUnuIbBxnO8xDwIpYKfo-tNsgoCeLfqcSyqA_1IoNd_EnHC9_zL_ei4ebkQmE0NsrcQBhq1FeEeDoyF3KIaZo2NIJUniynYzHADVLCKzlCPh_xw4d4b0o5RNuOSkbDJfu5wi77ar4AwKe1raNutbK8N9uqN28Q8Okhah4blsJ-2gEOFZ-a_SVe3_cUoy6a5JRyijMlLenw9f9M_YVbblVOBCfDV2fyr-pfSKgR3bbK295SOUkB6Xr61XQx2AjcW9Ph9rs4q4lhCqqUsf1Xys2231VNZGaz0kK2HFyO0T-cahOUFqzgZ6KV2M9qjIJNjhoB_fmM7qpBKCaD6sEpIMp7Ig2OSj5MXaLRyfh_40RLjalKAnO3dLyPct4YIV4NdfniXCGsZC7k7JVz8Rii0QcUR27ELkpKlLtOsAk_G9O3EqucHVGTi7vnrlfUtqA5O110_vqpGbNVkcZoVGN5aO7z_iTrTJrKSHS_AM7cE-Cn_Jb5JUmH3rrZxUap9kp8RPFpwcqn-s5VkkXBXufQxuyCt3fRrJru5LreoF2mPs6tHwZKxGIZV6_t98gRdknfjSCk385HsJKs9xdyXymEw9aV903s92Imza0dFe6NzALIwwy4Uoxv8hYR90y71BHUgEWu9aKKD79XpaBcChRqM-P8rWz1Wh6UVbiCKmrDXPBddXE07BkM0sSJS7VXHNkmS7qXx4mL_Od4YbrAvF4Yg9JV7MeCd9kpDkhQM-_DrBMhrw2NwefkE0so0GmRNwqKHpqV4S-CAIOGJK3_UO8a5UuRoGg67FX3NmRK8Nh0LhZVDM29oxaedcutYG7TivmcPPw5RHhvTKTeOYMcbMMXlMEf3-hWsQWb9xNerELNhtZgz_D1oep2SrUTSc7JvJwszFmVTbJ1qxWWvBuY9Wmw3LZIOP3MiiBuIEQXYrSbbzrYPjZ4-rO7bPclFP2hX0qllFiNA-8sAyOPZjWn4OlDYZnWwSgmG2RIAYXUakPeq4R_AZb6Ss2RIuusAhKvnZyfhI9UdI0IdWZThxc2MtsD0SnKfy4Vxwaii23NC3z4e8DWcDpDg4eFxxXukNU-fuFGoiT9nbxsfzE4_naWTDlekOc0PuldCPRkQAUbOwMYA1VcQYewtn1wYVFFQSiGaLylQvIakZ3mtRrsGkOOJtoiZQHyCSex_m6oe09225n6boomSR8TzVsW-i3eYLJvryxfsnx93DCqc3qLfru9XCbG3VHXjWI14HhBpX-oQczywto7m4C9YXDEqF7yf4qegOrncty-8MynkFTi7vsD9FE4L7hNMvDdjaDrJkCO6687dcnXNA-F-1EnHLqleLNKcaNorofc-NZsd83AQ_V77BZ5fyPLJzHYoEnAGvnIiT9_UvFor4eugiyTV5FcYQT2Ji9ztk-xoEYlzkRWBKyvDbGl6rC_dLRP14_3XdEgA0-bcyGmTLiSami0j90d1f2MtCb4jwEsJEd2Y3kyRafxJ9q50_zQNYKUoQIXSpTHPqMojq9BFYrov9rgdZc5QnkSBM1ymKkD4Syk39ykcqj1GCnyRa5UstUwdaDTIBaVlIjQJseD0UJUvq4UF3T8jxeAIt3iE6C7Z7B5MgMU7cYtMzQMscHmX-GeQP0azekBsnKVDPLO9xnxItGxR-AUBTAokZv-iU1tDJLlCPzo9mkvzVVaDWTDsKUu9Pv4cdHZeWG37NY6_pWFGppTofPtVcI2dOIpSlylHOUM9_NHo4C",
  "id": "rs_029389094824538a016ab2bd9607cc87d098848b105a014427",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.045,\"left_z\":0.10,\"left_gripper\":1,\"left_pitch\":0.2},\"note\":\"The bowl again slid aside instead of being held. Its visible rim suggests the fingers are still too close to the near edge, so I’ll move farther forward and realign with the shifted bowl.\"}",
  "call_id": "call_TCwO8T8SJc3hamQy7pYiJYCQ",
  "id": "fc_029389094824538a016ab2bd9a9e7487d0901efe4765621fcc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TCwO8T8SJc3hamQy7pYiJYCQ",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2867, 1.7344, 0.6739, 0.5747, -0.4473, -0.0483, 0.9958, -0.0216, 0.8173, 0.5957, -0.4118, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4427 left_y=-0.0471 left_z=0.0811 left_yaw=0.0979 left_pitch=0.1233 left_roll=0.1787 left_gripper=0.9958 right_x=0.2906 right_y=0.0001 right_z=0.1633 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -8.0889, 5.2855, 2.1074, -0.2125, 0.1197, -0.3736, -0.1026, -1.347, 7.2137, 1.7998, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71dd9e13fdbc7d62d849ccd964238d4ddd700f539717a724878dd3050e11dfb9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:180f6535c4377e8956003db836b9fad9b65620bdc2436d5c22467d49d42d5e6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c08fdd4b3491ee0ed8268ad415c4131cccd8525a81429067ce322909fabd516",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 4.742 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3275, 1.7863, 0.8536, -0.0479, -0.3527, -0.2276, 0.0321, -0.0216, 0.8173, 0.598, -0.3969, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4013 left_y=-0.0681 left_z=0.013 left_yaw=0.098 left_pitch=-0.3396 left_roll=0.1735 left_gripper=0.0321 right_x=0.2931 right_y=0.0 right_z=0.1674 right_yaw=-0.0004 right_pitch=-0.0469 right_roll=-0.0002 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -8.6769, 6.4342, 1.0379, 0.0415, -0.0317, 1.409, -0.0479, -1.4838, 7.1726, 1.7167, -0.022, -0.0122, -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": "gAAAAABqsr2p7l6n8iB6IZM5RjabNhftLKqSiIMD4cQseo7x-4hAXTzLX26tvHBeHJH5Whhc_wUtfp5FyCUTQLY5mfr-Ji0NZcU7NI7maMGwe9gCxESA4uthymGMm-Tu5eS-JyYEmor7uvPp46ZYvzKJ8ojrMD5CimWR-ia8ETYkVaL4mNUJDuxHQizJkSXDbicKqHeutf7dFsIY9z_vf4igS_EKE4rY2sJOHCGd0tfWNssbaAZy0PYk6WsLdwuOx3B0k4sPZ9bYyivvZ-VaNhPBn2GL8t0qP3CaCL_--qWxhSfZM7WqLhIAaGNVjUSgiizxvN8yLHl_WC6xphdBgzyTqDxIfv_i_AYX4EhOMfNHrBxQlD-LYY96_d0W_Rp8ZtxvmCXa3rgYjr-YX4DSKtybTLEpV1eVy_qoY_oKkOc1UZuMDcK5zn3jQa7UrSO65RkuRoBzCW38T4jjO584bJikXVDphkP5OHY0rAuBBJZEKzL9jU_xZ3byb4oCr_KQBwVMLiQVl6_-EwRQio0yNqvPQLplfViP4iHz0eSJyHdIK_HYxDoJjXTo6PSUI3woXokrJVIvbRsw0heunwQHDWOJEm_bfv84ngC3vx7ZLon49S2qYdaFR4n-_Rf3Gaa5xrO0Q2DVJaXTkaptuTGBih1fTtRv5TH0jDyifxaUzrIcoKFUa-9eMyIGUpJe7ljYuEQfSED4OUqjxkf7n_Oj9bm8kb9SG0YET4mo0Bs2PxG4h322HVzsIoneCtqmMcAr2K_rwsJByroPNhN8Nr5rsP_mz-fPhF0PiICkGy0Mg7xzE-o7vuzp-kb39yFffnU2WbtXZlqC4hZgSIo1LNFp_rBamYEcrtji3-0j2Lo-gXv9zh-jNzP0E1cKAhT49Vqashla_s89HyyS3qYOexmwP_cb3GkWPdemDP23blW04c3HRI6ipbHXFd2P2v7jvfYbVwtU4zPebccdnxVBqxCZdes_CzsQQZDwCvr7jIqocX6F_N88t_02WjP5Y69yImmeyNImeno52UClkr9lceaSY_2DFADy0BocPnMeMeW7mBKdy80Ax7eih_D0zRb48NDStdTdIqdt4RIPl1O7yxBB-op7nawlq32oUUzNKasszc6c19UnMNq_fgLCKXHjm__8BrM2BAqyZHNsbXHg21LUD3Hys1vsofukO_IjzSJ7TXiYZPRXlwMoOPRxfu-pOKFZ-JvUyUaxsW01gcdgXxDbjnVAgksiaMPcKG5vF8gbumoMZFbf9Y7g5Co1VuaXq2nhVA7TanDDRvqIzQK1QyOUL9yyg4z7nd07xWqlI5qrpwMhutvC4MOrVT0X_d8MyW_9FW5GqTRXouijCPvVgavMfK2ET8MKUIygpzvkaMD5NuCBvI0GWQw5HNA7IhkBliuvvAcTjHgOrhXkEMv82ZOweqn6PqPv908VwoT0ta573352j9hIGEkzrSJJMK030cOdmDgehMm_2MwioFa1jnQbaa8qFjPeIuk9TXxTffKEP5OELn-j60DNDTotEs9L-97YDGnRBkeyNusCuirSkL0Zm5sSYfWvko9f19OGZ7ChA75mzeV0d1FffyYnk79crwTzSbCZCd3t-oitz5f9uPdop2zg_423viXTA0PfGL0__SEyQ5H4tAKA5ZdX8B9o2D2tAT3Ij8EIHf9Hz_AZV4Uk-HtLKNngDyJj41_W9uZ9MB72feftzCBBR9ZZiSryEz2bqYSnrpd39LoWiTAAq7wvEM4uOn83mjJIOaTw_FPK3W8rg4KfNRhahXofDFZYp888mE_CCiKgwALl3oIDbrrOzZZHWe2UjJaLcxbt-_QL5rlLTMtdVKW8UKVcaUK0U-q2n3umLCi3Vj8uOkHbMsHtuW8clhqTLMBXsP2JJ6YfnVzkV6Aw1smn6P85ZApbiQCg4KSPDpbb7RBZOjOTlIn8TFGZMonBjSU_a1tGuftM5BF4piQCKM3Q66iIGevj8uep006XqqOnGPMmqzZzn9qdQF9mZXbH2t6w-Yrpl49B8rOnnfdrIrz4dzdUlFjYxAcyDZpquKF-BjRhwI3QtqYT_KDyqB_SbKGLMBmeIl-Fqxt6yaJSxqNbgNwLe8IbX3aIWKZeuRRODSd6pb2LD1CpImKHpNyAllIXIICE2m9dPt74CA_aRArVH-4Ca_q9jkJ6FmycQkAXWHhbkxJH7xvVo4Vuy6HP9g22lbO_mDhnV0uwfHlgGav76fKM2F_8bzdt0GzGk375JAeTtZN7-V00zzAsW2V1Isx4KA==",
  "id": "rs_029389094824538a016ab2bda039ec87d0a981c756174a1478",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.41,\"left_y\":-0.035,\"left_z\":0.035,\"left_pitch\":0.2},\"note\":\"With the tool tilted forward, the bowl is now mostly below the wrist view, indicating I have passed its center. I’ll come back toward the base and lower at its left-side rim.\"}",
  "call_id": "call_aLpMCurfSzLtg4akylCYpJLg",
  "id": "fc_029389094824538a016ab2bda761a487d0a0e0be32501d5064",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aLpMCurfSzLtg4akylCYpJLg",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2874, 1.8683, 0.4736, 0.9035, -0.4477, -0.0368, 0.9958, -0.0216, 0.8173, 0.5953, -0.4152, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.408 left_y=-0.0371 left_z=0.0257 left_yaw=0.0912 left_pitch=0.1172 left_roll=0.1913 left_gripper=0.9958 right_x=0.2901 right_y=0.0001 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -8.2393, 5.0393, 2.1319, -0.1636, -0.0171, -0.022, -0.0205, -1.3607, 7.0632, 1.6972, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e42723798fe91877dac1baf689f4cbcdad9384c322822550862b1810ed80fe69",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f69cfd56813b7ba033948dab2633446be55885990c018968e538d988eb5ce61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3ea93facceff3a2accedeedf8b33e0eba1015b2f5ad793eedd91fd22b686a5e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 5.326 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2867, 1.7344, 0.6739, 0.5747, -0.4473, -0.0483, 0.9958, -0.0216, 0.8173, 0.5957, -0.4118, -0.0154, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4427 left_y=-0.0471 left_z=0.0811 left_yaw=0.0979 left_pitch=0.1233 left_roll=0.1787 left_gripper=0.9958 right_x=0.2906 right_y=0.0001 right_z=0.1633 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [0.5265, -8.0889, 5.2855, 2.1074, -0.2125, 0.1197, -0.3736, -0.1026, -1.347, 7.2137, 1.7998, -0.0317, -0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2us0CgupsSbBPaoJ5h4v_4Fu_uNWs0RDfFWK_9BpbuFdI8M3c81kOYnntovZ8t-6AloIGse3Lwzs8Z5zi9ukrNAEXq6zTjNaFmpXk5F5aGBhlj4WtKCPnw7xN1njdrAwvU_VMJwbx1eOuK91B3ceIch7kN0VGRdbVFk2WCXBm4uxjwwR4Tx3oNQQBpASMWtuLd4P-fjA1siuhiBi2Gc9AqJnSZHO7HOi7VbkzqoXmEGF_vRHcyOKtAGcP0ZrTp0ZuMJbq5qfDI0SNBRQcL4pg3sAFy0gJzd1GCH7aJArPYGstw1vFpMdB5WuLFhBSVVyBeIp6qmgiuntijX67hFW8ViIjq4iSjizPiBfR_AWlbY7Tz2EkakaE3wSal8p3uxDQF-OCBiWunZLsGBKxXltNXWv3FzjMIDIjTxwbpP3dg3V-g74ZmgJkx--iVCHRHSP8GrPWre1igm5AjiuNHzYomd1xAeTcz4p6wbx87hKYtdXKnofqJq1DkkO18mfpYoi97eCDfrWWW79UeDYPvGTBW3QIaLbDCn-10SJ5_CRLeub_2LhccZEmrGbHKiEX5djcGNMMJfsNdjTS2DlbZu4q-POjeAtYtL7hrb08D9zawkW8vbUL1I-ISS5jU1dwkZ7HoWObQCsPoDwLvvGjvA99Zmf2gL7uuN7_jtfcS16bKakNDznkq4zTaDMV5KxWbw04yv8-W3tsTtrntGAOuRRQzPigiC74SM5H6mot_5NR8A9p-dH7kvFytZHQRZzR3avRSLjRUO0bZRoafEUUDcbgb9QRJ9O2VyD0sqZXw2cTS-rbqdbD10NsylkzfT4s3BrpOGt7XD5Y09DahM4susRi3SvEFoGHN_iaWyzQFdMD5RphPSNUKQ-eJmVtytmEsBTi7awinKpBw6JySO2S8FPJ9qlFvzCX16c1DgFhemgeLtDFx5kvqswqXlnnNel4Ffcn1q7kdYGI1CHsLp4BBUbKapzpjConVaYtb1O4p3dkFPxXZ2TD_2r2WFBAwp-l02KSk5rRcz0OmQxwxNKYa73p-W4Zb1fd8Fr7Cfvz2yWKWXfoTqZgJ8PTnS-T-4xYhrhCnEsydz_sDTNMV99fB6o4b0PeNe-Ih0BnGFb9euC0dYKNm3sSRZHR4X488EUaeC82S6mfwfCpj_qbJmsu-3oYnaEc0P-05irIr_SsOH48xXyCSFa1udg367bs7JA-iHYOk16jBHfKRpyydpOGcWEUxj1pEt8vpXJwMnqQKgGrUhCsdRVx26QwXnjA9K5LZ4Vgfd9uno4R0EmSkhOwNsuCp6g==",
  "id": "rs_029389094824538a016ab2bdab703487d08db7fe2818322bba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl’s two sides now lie between the fingers at low height. I’ll close and check whether this alignment captures the body.\"}",
  "call_id": "call_HWfKuzhYvSp8UWG3j50CVIfJ",
  "id": "fc_029389094824538a016ab2bdac792087d0ac20a26f6b046b33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HWfKuzhYvSp8UWG3j50CVIfJ",
  "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]: [-0.2863, 1.9018, 0.445, 1.0817, -0.474, 0.004, 0.5033, -0.0216, 0.8173, 0.5949, -0.4156, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4122 left_y=-0.0336 left_z=0.042 left_yaw=0.1001 left_pitch=0.2244 left_roll=0.1959 left_gripper=0.5033 right_x=0.2899 right_y=0.0001 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -6.9128, 3.3436, 1.5507, -0.0171, -0.2857, 1.0281, -0.1709, -1.3607, 7.0359, 1.6532, -0.0269, -0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67f1156f046824b52642bdc70d561eb8ed4b7fe10c1562b9cef9a05e055e0a35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d157f0e9ea92b02dee6dca8b29cf9c2ce38599ba9f8794466703c1019368a9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d28eaefa4fd5fe79bbd1f7bc47b375f5b937609f909d208a924fe22ac9a8535b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 12.09 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2874, 1.8683, 0.4736, 0.9035, -0.4477, -0.0368, 0.9958, -0.0216, 0.8173, 0.5953, -0.4152, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.408 left_y=-0.0371 left_z=0.0257 left_yaw=0.0912 left_pitch=0.1172 left_roll=0.1913 left_gripper=0.9958 right_x=0.2901 right_y=0.0001 right_z=0.1625 right_yaw=-0.0001 right_pitch=-0.0679 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [0.1436, -8.2393, 5.0393, 2.1319, -0.1636, -0.0171, -0.022, -0.0205, -1.3607, 7.0632, 1.6972, -0.0464, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The gripper stopped halfway closed, indicating a substantial grasp. I’ll lift a few centimeters and confirm the teal bowl rises with it.\"}",
  "call_id": "call_2knrwgn8xhhVIU77xxaF7ZCN",
  "id": "fc_029389094824538a016ab2bdb2cef087d08ae95fbe2cebcc8d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2knrwgn8xhhVIU77xxaF7ZCN",
  "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]: [-0.2863, 1.5837, 0.4927, 0.7441, -0.4732, -0.0002, 0.4977, -0.0216, 0.8204, 0.5945, -0.4156, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.411 left_y=-0.0333 left_z=0.1092 left_yaw=0.1043 left_pitch=0.2509 left_roll=0.1806 left_gripper=0.4977 right_x=0.29 right_y=0.0001 right_z=0.1612 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -6.5983, 8.0752, 1.9023, -0.149, 0.0073, -0.0952, -0.0342, -1.3607, 7.2684, 1.6484, -0.0464, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:445f3fd009b56e782bc265e7b49080c9989775ffa759816f98412e984ccd581f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f961529b8b6b2fbcc8dc53ad334208765130ebbf5cfbeb4468635afdf73d59ff",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:da0a935470763828bde222d606c011d150e12238df8ee1780f50c30a6bbf49bd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 17.66 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.9018, 0.445, 1.0817, -0.474, 0.004, 0.5033, -0.0216, 0.8173, 0.5949, -0.4156, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.4122 left_y=-0.0336 left_z=0.042 left_yaw=0.1001 left_pitch=0.2244 left_roll=0.1959 left_gripper=0.5033 right_x=0.2899 right_y=0.0001 right_z=0.1622 right_yaw=-0.0001 right_pitch=-0.0687 right_roll=0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.0889, -6.9128, 3.3436, 1.5507, -0.0171, -0.2857, 1.0281, -0.1709, -1.3607, 7.0359, 1.6532, -0.0269, -0.0269, -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": "gAAAAABqsr3BPjOmLA13Vliy3Q7B26ge6ggBkCcABwb_6le1EOsGAiKY9QqmdnIhWgnlxKZgn99KsC8UyBCnRGNWeIlT7-5oplpBlTtHCNVBq_XDIlSEtynQT_eqJIqcEHeIMXCeD3cCKEP7grOsxIAo-hwt8Wm4Sm1ItEgYTNYnOYtGs2O6qWbUlkYYoYUdaFxMeFmy2fC-6KXJ-XPrXQmmZU0Wmo_4UyCKfOupLgKJQ95jlohvnY4zuzonI19WcrvY-XpwLGyi-5vbT0Ytgwh6S34NTlhYTkShCHx2fYyrR_meId8WouxDkcWuYOr3iifRAvsswR-9GXT5C2510Wo4SHBB34Zh0LAQZ6s8-xX7H1zJ_WIYmf1S1DzrS_n1hK-bS6CfoTDjyvHjJOsZd_5UonjlyHWvv-Uf7_EIvJxao3iT6f_U_CLOToeI-C5J5WGOhdezSRf4akvspEnLkCqxt9KPE-b8LVLjlPRjhVeYntt3VpIlghvxMe7tOBbNoY3rpeYDCIoBLI8wyitWFe1ApyC0bkl9k7qTF6V2gHLfN-rVmVHGAQUIm7UnWiziOZcBVL50lEbrbrmX6ZXzyJ0OrBgbdzPqNP3xHfFSweyTnDfM1eGxj1pYXwjjJkO513Pku7DgxxTQ6O6MEpFB10MyqRkjnhyIx1FAwoEqUJmyHnMnKlqMUy9VTs1AHUWK25KmKfSgKtLen5yADVUUno9AimesSiGog6GoPEZ10o-_SALAMd92eU5Y4kuADI35uuBuFKXaGBnhPdyxZtsUNN8SkyLf27vv-L1p2_BRnCsAJSHR8ERRJ97Fx3ui0bNOHFI1IluiH6YjAjQVXRj_t-2kRzi-bKw9WJGNMo-OYOI89zLxsqNP6nEJx9Y224N16gqn1rnMebqFG9H76nKlZelzz355idpqRImaDRc2mR7WowdsufhhgWmqQR_FgmVS4q2AGFefFc2laG7Vv9gFN2qY92Nhttm20v7J3dUk_2pom99jWwhlLWxPMj5BCOMJxQPs2Gvv0hbRZz_e5rth57AtvlmyMB6AAvy-dBIbJW8TWE18iCjdzRuCTfGrYVi8nHWnGYIwQif5-wh_CrB6JkshprO0Nnz9ibuWCuE3hNn4hnVBmSUmaJtCYv0KWNVqJuaeHI3nF1HqWpy7jg2GgTJNfjj8d3ovNAVGK1V-kWh4cx_J8lC_Dc12-T-P2FRXw831sd_QLj82YDsWFbiu4Xb1QaX6D71Bn7fzgy4-RTI0MuHKkXfsrSJUg3fKrTTdlBpyKmwD_50CPjrmgi1fQfPSlw8edwNh-Md6U0jOk9wIN8iSmhlcZTwjxSK7oo0VccXpJeERwKMWlHloutTqaKSbiILU0R-FtYQ7N8GdaNPNsrWG4cvCVTFMV8g4pyUU75ItwKqNsEAugMo-biS0HkoqnZcA2CMNY6w-b5icjC-AqRYq4274L-7HIDdQP1VViJ-wDckRHJIy79T6lOZTdcJ5EW-_lBjUDZZ6Sc2Pq_eIifvJuGD6EZD1rjA-UZal-Dt8sTUFKignltVbErM-98xRq9hJMxk1L2Vi7zzMjgCXbZKvZT4WYL9DzqGRbB2uDXkkSeHtF_2Y-JXigi8AnVieSXGh7xuAKjrmxarR3UMCPUk-WveH50qLyrpVusfvhFRyuczpubD2lApEnYaoN46rx_lqTUnhE7eAiLvy080HMfULMu_19mzVh-mPzwJdGY3cRcYmxyTHTfdtFN_NSqBdsli8qQ7qJIa_EyRTSrgGimXpdS46hK82QaYU7sg29YAPVMPVPGfyWB2FIzlfcA3wKWoCc0732-Eh7QiFFAdv5_rf6AYpBbW4QV5rNqOlgFtCHoQAVD26zNBBup2u5f6-oK0b2wrH8K5cSnraCI_80rBqr5W8udLauBa-qmoHbGes-E9jnzW8",
  "id": "rs_029389094824538a016ab2bdb9985087d08a97137ec01e7416",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.25,\"left_z\":0.21,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.18},\"note\":\"The teal bowl lifted with the gripper. I’ll carry it above the middle blue bowl, keeping clearance from both remaining bowls and returning the idle arm to its parked height.\"}",
  "call_id": "call_VlynOjPwiYkKznuSg31fhFvy",
  "id": "fc_029389094824538a016ab2bdbecbd487d0a42cc3bd0433c156",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VlynOjPwiYkKznuSg31fhFvy",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8822, 1.75, 1.2045, -0.0521, -0.9894, -0.3656, 0.4991, -0.0216, 0.8494, 0.6399, -0.4747, -0.0158, -0.0418, 0.9969]\nstate[eef_state]: left_x=0.4001 left_y=-0.2482 left_z=0.2021 left_yaw=0.0895 left_pitch=0.2454 left_roll=0.1685 left_gripper=0.4991 right_x=0.2891 right_y=0.0002 right_z=0.1622 right_yaw=0.0041 right_pitch=-0.1148 right_roll=-0.0044 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -8.6769, 8.6906, 1.2723, -0.5397, 0.0806, 0.1343, -0.1162, -1.1556, 10.5504, 1.6825, -0.0415, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38d5301f6fcde4ee0ae86677cbe87251e287ca0716d735dc40a7982aa0f2a7c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a268807598c3a3da3a14c27e974bddfba94ee400e6c2a8bb3ab0f217540b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cbf625fd0499858b7c841f50fb86a7922a0634beda7498546d1aa08f759a222",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /responses · status 200 · 5.068 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 59 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2863, 1.5837, 0.4927, 0.7441, -0.4732, -0.0002, 0.4977, -0.0216, 0.8204, 0.5945, -0.4156, -0.0158, -0.0341, 0.9969]\nstate[eef_state]: left_x=0.411 left_y=-0.0333 left_z=0.1092 left_yaw=0.1043 left_pitch=0.2509 left_roll=0.1806 left_gripper=0.4977 right_x=0.29 right_y=0.0001 right_z=0.1612 right_yaw=-0.0001 right_pitch=-0.0721 right_roll=0.0006 right_gripper=0.9969\nstate[joint_eff]: [-0.3897, -6.5983, 8.0752, 1.9023, -0.149, 0.0073, -0.0952, -0.0342, -1.3607, 7.2684, 1.6484, -0.0464, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3UVGhaqkdpkWzwvj5dO1kYbfmEP072PLvSe58KaNTg_Lu2W-Jph2tPYo3GW7y_050bBcCpY9FLcDYjMYc8T2iefSQ4t6eviysPcDhHhUx26fo2kmHCsnSS8maZZjMUyR2SDgnkb9U9mO6fzAipCwRCPQTTAoP3_SCa6GpD_UM08OJ0KACMtF65RzzsphZTIfUQNeF3zm8Iclo8UddTEZ8-k5GMSnuraLfNPV19jhZZiUT26EVJf4AGz3-fZEWDgprKmyTSrIjOBS2axloMbh8TtPkUlea08iR7k9KGsLgM4wz9Oxdwcv9TxVM6mhn8oRjSAa-Bq11cciG8N9dcYk3CX6gwTotx1N4hQP8B1p5EF1LEN1BZlYuND6_1hwPT9F-c9YNQ2dAz4tMNEg4OTOqGnTa9EFDHfsDY8224DRKTEbwvcVNaOdFPlaeFCOVg1VmtZlH7Ego3cIi5KO7JwnuQpGO983Koi88_qWaZQFKdKba07snjRMAr4wLie_haw7PpGxJzGy-VcSp7nD-t5JqVh6mR9ukjfbRxIx7jnVTPSpXnoy0obwLcHm35S5hncYiAhJAx9bNSloCPCUpPo7nuC76vkVItMtbdl5bgk4aOIRM2YVSNt-ZSeE9hIRqNpCrUsJ3WTMJx_LocsxV0D9L1bpAqKtVONGadvlD48vDMLvaepYMdg24FLAN3hNTAkduWrhVguXBvGFsu7Hc2HNRlPETdZsRYBy7jFA1fwD5-c1P1Akaj-YNkqcnSUgCeINQCt9cnB5sl4QKkTu7UarsW3NZaQbK_QX2D_GwcY_Fy4pMVT3OlsY9Kg6gYwBYOS-21b7ByGy82SwQJMO4ofTJOf3qIL9y36y7WfSPER1bZHAYU4l7f9EjYsnFERTJt7u8OPjRjaLE66xqxlhZvKj0LELezewGgFspCbND8IJbovoUzDMYBXW9bE1pqCrjc9SkY_EVLUyIGlkGNQC0CNyc9auMHdJYQOtxMRutDbTpAlNX_NR_YY41nUWBjnmA_PxL9z3A3hFAbTMctJuLxdX8_v38yWiNui_Uhtg7mcG4Ykb91BLeXF2XIvXJo6c11hwfzvE1cgkL6elNn9MXhVWjiWj4Rec_-9L10ymgXzVu4EPL3hwI8kiDEc09fX35_C-4yEErdi6zHBipMhqQazGV6WfXZAM1gIJlpjyGYPr3CiTx_boaK06XiebJMKp0_BkDBbluMWMZ-GCgH9-VX19q7rOymHV4aZJ4-_vCEmq7CfgrRV-LBWStqJiy7emEYO65VIbw7x_ACxY9tx8HpZsD0WisgSgvur_NG_MgWuHrqbjxrJAGZVuFt6lq3w-PpPqhUyrttOHWBDlJVdQEneFGet84OZQNxaqa-VIHzhh92TVjkIA9Fjf5LxmgK1iwst91ID3uxhIukPmdlxGUpHBB96Q7v_cGkVDOLv1t4MShryjMBvCnT1TGcIOjcuJUAtN0MT7r6c9UxQLa6SU5dvqg0ark0_ASlURt1h-7toQ6RHOSUdZ_EyrVg_Va7kU3MJoyx7rR4yAaWd8XYPyLXA9dVHveDSE-A3pwFHJg8HAwtvFFEz-1-714vejLWpLMrzsEgHW2fmwxbxwWkXgFcFQZggRFYw-BFuP6NtGPUEcNSTUP8m2f006svfOthMgZ-AKalAErUZ9012kNhpFiMam5pjtyidAXAL7Ffg7KD3zaX_OiKJHmrKA8cHrMi6DAttuLznqdpiWoUyIDrdaSd7-71VddeUJ2US7yjDBswmH4YWp8a1wjAIZkXqZeqv9r7ExDXdELj96b5vljeChPZRAn6Z6nxDM7iCCaUEEOLB96QMrgj605gbba3BHeSW6K8yibrxQ1oLyM8iJ0SnP6Q_Z8G3R3Lw9pR8FH4p3XpGoM1gbwcoXc6fxYza_L7E-K8dxg9fAjV5AK_uM2lhQhtnoNLIORzPFB6AvpH-_JJfPSZ88d19VNkGhLH7N_cmqj9PZvCo-9fQywKSQlBL47HUG5yfx-D7qF12HOq3ItJRQQemIW-eq4mbMjKbdyWKJrEvZ8AJxltfOjCg1Sc1CU_6NFkr-0ZnkdaoA1rD8DWEYShUdQqLsJ0mOO4xTii1U2Y0-NAhZyjKsIATmQkj0H70eWsHKYlualAuWstGgCCu45f6lt0IPwAgylpu9i-AwnDWhYB4XJCTFs3DD_Al4b-GMV-01oqcpafDh3jzjN3mGAA3Hzu7XI05qo_-X_oauM78W4EPNBycayKRVEgH9_aO9BiK91spP7iDk7GIhEfAhjGT0wDZ1pmc4rOT_HWQ8PgT5TnM6TkWpowRGdS4OMyXN5LY51ji8IKeDs4WMLTS5_whB4UcbOYtAVFYAM40A_ZOpa-Pq9js4n-hwdDUzBzg51p_BOyS5dsYtCym6G_ZTG5NtPeJCYnse_xrFE7OVWHwtJKM-JvHiwmH0Yk2KeEx6P5uXuQIUL8v6M3mFzxhx4cvuaL2shMu0xV4-Z0ao-nZQ2oWZlRtpqAZ_ZohmMwDVH3LYo4D_KRkNLxz24PG1SruV3nh3PT4caeELsj6PaEMdI68XiMZ6PBVxypeTWqCe1_MpUtxu2EzH1WkdaJUF4g55gBnNvDOktCJ8YG-NCKmwRZKYTvRQX_R2ecFcLE2_mzlwN8R5bzuwFQn8pm86m9_EY6SKU3xwJtmImkzfj-xoXhpJy135soRZcr_IQsX5S4RM7tunYMjwvrt-ns2RJ663yOi6WeQD54fiLmAWeVr1IP3bijSboJhX-Jk9Mv-RBbUNDd-e4keRW9pc6Ti5OdHoR6pUbNc6_Vsg-0j4xmg-qxjJb3mrSWylT067jBKlngSwRqmMVzBVENccpFAT76ie14sU66u5STG2isvjjFBzld60wIBGvMb6lSB4mEwIdsiogG2rej7PNNn5BY-PcVtX_K0EaBgZ-EGDDtka2oXXZNLMWx-jzDgV6AOlE0vMFd_8CSrs-SpnCeSijBYgWD29QYyOky4uqltI2I4LhaM3OjlOOcYtSvht_5P1wnhHbNwWkHUrcYIJLUNwddnQGQ_CSVhE87Ux-QTgNMM0LCpoNOIS62nBvpNor_9_uqcZFiL5_CC_BeiuOM-BYp9RILxyuF5m9y50YWkqWmGhwl-ObamZ0A9_xtfFaUBYvmqDurOw==",
  "id": "rs_029389094824538a016ab2bdc5bb5c87d0b6608924d47df84b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.19,\"left_gripper\":1,\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.14,\"right_pitch\":0.2},\"note\":\"The teal bowl is visible back on the table, so it did not remain secured during transport. I’ll park the left arm and use the right arm to approach the pink bowl with a more centered grasp.\"}",
  "call_id": "call_hW7ZVnEEkOuzffM1VujdXkkp",
  "id": "fc_029389094824538a016ab2bdd258a087d0a77c0870b9892c98",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_hW7ZVnEEkOuzffM1VujdXkkp",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7113, 0.411, -0.0433, -0.5034, -0.0402, 0.9957, 0.5995, 1.4986, 0.6373, 0.3271, 0.5205, 0.1921, 0.9969]\nstate[eef_state]: left_x=0.2973 left_y=0.0029 left_z=0.1937 left_yaw=0.1453 left_pitch=0.2619 left_roll=0.1495 left_gripper=0.9957 right_x=0.3765 right_y=0.1552 right_z=0.115 right_yaw=0.0525 right_pitch=0.1103 right_roll=-0.0645 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -0.8137, 7.1453, 1.7558, -0.0562, 0.2173, -0.4469, 0.2256, -6.1197, 8.7863, 2.0244, 0.4322, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1602a1098e7acf7ce973395cdcec0108fe01b5acb06a0ac3072833f7eb327098",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f979769b261e7ddae063c54caeb419508acb7ce8aff194c85d15f361ff8b22c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f5043b41c74a700243b2fe5e53183fe73cb53857ed38f5ee9cfd75538f86a21",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 7.37 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.8822, 1.75, 1.2045, -0.0521, -0.9894, -0.3656, 0.4991, -0.0216, 0.8494, 0.6399, -0.4747, -0.0158, -0.0418, 0.9969]\nstate[eef_state]: left_x=0.4001 left_y=-0.2482 left_z=0.2021 left_yaw=0.0895 left_pitch=0.2454 left_roll=0.1685 left_gripper=0.4991 right_x=0.2891 right_y=0.0002 right_z=0.1622 right_yaw=0.0041 right_pitch=-0.1148 right_roll=-0.0044 right_gripper=0.9969\nstate[joint_eff]: [-0.3214, -8.6769, 8.6906, 1.2723, -0.5397, 0.0806, 0.1343, -0.1162, -1.1556, 10.5504, 1.6825, -0.0415, 0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3bHvSoQF3EhPKihQaXXrd3bNCF9cN7u6NT_rKPf6DbKZzMDa2oWojNh9EpxFE4W4c0yFr6gdrN6rHZZBrXScaIyLycxgTHAKdTrjjVqbL0ZTkY7hAzCVPkak4iixWzUzjHEjBp7dLSX9qBfERzlMUuvfOhx0KTCqu9rSqts8KWcGwQ3-RA-kf9VaK6465AreR1gC5lfpzgrJ8QOq4Pi_wcWD6yATzpuUyzGI_L3OvJSwllk9qBOarQCCUg4PsIsJLO5ESIZJ29IlY0limlmexA5yaOdGaCH_R0i599U8oKWb9F5TeAoFMMKrE8FFcs2Ov5zVgglmPn6lp16PeeSfRM9AE7hVXHt7BjQPy3yIUThYvvXT1MNhmvBtUd5RJwACO9shBMBuBltEBd8UeuJ6cTnfQTe_SHZuoaJ_iSQ1RyN3rTfHoSyo9SswYQdxfZ9X79FgcOWKgfhPaXXPGFCFW9BxH_Dcj5d2stnaSGN4JwkNh3lZv-FhxVcZsokmupk9G_OItUPMZoUadDOFMKvyt2C3rsjy5t5QeXOwPOs79dKeoT9F08erVhc6gYkE_Ro8YRZcOz9SNofmJCn-Brfn4Ghmg5BHAqGQutZmi1nTDpdPB3QqY-360MYV4eYPpokjKbu-3U9-CeKx8DkgYRHXOqZ0zHjvxHTnda0hb1dWVyneW04GkQHSfc2__NZJLGXsvozf50ULl8MfV5VmIjq6sCOCxSLnenGLLYbendLYS3VX8gsSIHinmZ-EISNqR5DagE5k3GUZUVLcyuIsaAEQM6KxRFheNcbzaV6t0HGpNb-oz8WATzhQmsf50L9AMfv8AJD1YCwTYy-8o1eXwkqo_DP3wPduoFI9MHIllArBQC5p0VnKgY1sqNj46F3mwEweGl0u-2tN5yY0LBWZmsNOb6QJJ2rbCpajiOSbIkvyUEY_ilVDtYBNYTo8Ef2MuafcmrZoBWa5Aida9vBKvNxyhHug5TM9YVp7monFrLFPV315TUm40PYSeoSum7HwGPMKecCey0ca9llTnnO50iB9AqEAcUHLgap31pO0GDDeNgS1NOh0H40-Z8iuEpkEUy-69QRt1CdbO8lW3fdceUgnFUYF25psWQp2wT1QjQ1hQ4NpCYcAtFBB7_YbuLqe79FevQcvmOaN6U-ZIRDBEpKwBcQ6-3HXwV6vyzWmL5oI8stK_KrQzcRcMd9EeZC9hBB0kzzLksFUxIGmXUV4l3TgC-VKKipZJYfD9sBngERELZgrQu2GXUwpz4LBhR2Cia2_BFb4GN0w3AaKsUVW3oOqopSfTJLPfnDaBLaYl3Ft4yobytqpBxcmvhHqviXicN4h6Qqq6CxLgBlJplNbBgPFdaRrU3aH1U--r75eyadbhdiXQ=",
  "id": "rs_029389094824538a016ab2bdd9070887d0967b90dca66a1472",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.16,\"right_z\":0.025},\"note\":\"The pink bowl is nearly centered between the open jaws. I’ll lower around its sides while keeping the same horizontal alignment.\"}",
  "call_id": "call_B0J64BtUR2Puvk2LOBHtdzmx",
  "id": "fc_029389094824538a016ab2bdda926487d0aa2f27d6501bd1e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_B0J64BtUR2Puvk2LOBHtdzmx",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7162, 0.4065, -0.0639, -0.4953, -0.0341, 0.9962, 0.5926, 1.8694, 0.5606, 0.6945, 0.5087, 0.1833, 0.9968]\nstate[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1857 left_yaw=0.1315 left_pitch=0.2328 left_roll=0.1658 left_gripper=0.9962 right_x=0.3799 right_y=0.1564 right_z=0.014 right_yaw=0.0629 right_pitch=0.0378 right_roll=-0.1079 right_gripper=0.9968\nstate[joint_eff]: [-0.2393, -1.2239, 7.4598, 1.9512, -0.2418, -0.1099, 0.0415, -0.8, -7.788, 4.4239, 1.9365, 0.1343, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:91b14fa08aaafceafe742a6aada0a2b93cb3eb147fd26981231140d972d9395e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1528affdd0c8f978fdf839f04030ec45a806fac73fbd61b0956baa41de84cb2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cdeaab8707e2078f8fe83131b0a757254d5407fdd1f1f4acef3aed248d4d2ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 5.835 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7113, 0.411, -0.0433, -0.5034, -0.0402, 0.9957, 0.5995, 1.4986, 0.6373, 0.3271, 0.5205, 0.1921, 0.9969]\nstate[eef_state]: left_x=0.2973 left_y=0.0029 left_z=0.1937 left_yaw=0.1453 left_pitch=0.2619 left_roll=0.1495 left_gripper=0.9957 right_x=0.3765 right_y=0.1552 right_z=0.115 right_yaw=0.0525 right_pitch=0.1103 right_roll=-0.0645 right_gripper=0.9969\nstate[joint_eff]: [0.2803, -0.8137, 7.1453, 1.7558, -0.0562, 0.2173, -0.4469, 0.2256, -6.1197, 8.7863, 2.0244, 0.4322, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3j2YGg1pW2DOcXmsiBJ7GYbqtr9bX9tXIAONek9NePrazyEVP9Tmk_8JrjFEJCHjWbJrz_-_Qgv1zkmgsrkmyMN6b2eSPKiet_6C4dx2-g0UG7vNFqPBR95Ti1pdIWvXowg_Y7O1LiIDFDOEKTV-2lqDj6BNkA3DKLRMaHPlo8ktRCZKZ--FMfhLwJUGi-zyBYEBbPk7mBbIaMO0kkZ1gj748HR0PB-JUjyPTEk4qive_l4etxweqy1jlv-A3-b9ybcd4qfb9hewedLkSwKlJd58iLMVIK3ZdW3I205eHk3zy3hx5RZIBPQcktnEnraPCbhB2o44Hvvn2zR0GBH9FJ6JzZRKhCzEqJ-xIlV4SsBq-_p2zp-g-JxYTcbSHAqQ2Ho4k2XcQWB2VTh6lPFrAbaVry9Gj8A76kphlnwAlLepH-4gdTfB29l_IBXmt-ZeGIL7BW5dTNcNN9cmNjQD64T_xswMUaOpzLiI11QaTR_l1y5ZDN_VRFugPXbCSdcvJvyGwPYCilzKTiwLDuhWlxK9m2GR3uz9OiWzKjAFY1z8OfmkN8k2UTj15geFKUT_0casq3zcOm5DPDxZVQMnX7_svU7kqplA5XEBAdqzOMUpd0jNb0zRtqxNFA6pYEgIvaT2J_RXBcFpbNU4oh5UPTtAr62N-Ra3kQL7vTb3w9XawKs7ub0hJ8wNtcXVwrhBoWj2Wy2uvI_ePy4XLl1yt_Vd7sgPmJ78G-HhEv12ZfxAqBYNFIVmhm-JMdmOzH5BIqfUnLVk_jrUXlg_TAlAxnPtVCrfbtmCvPf_uhUQV6d7NQu8duMnJt1k4qLtrb28V7LE5FzYHPnQm5gEnZ4-xIIeLXm-9sMauJ-r8-IOtG64JME61z9gfEcACI2-KN43uBeSDMoU4fz6McoBtmgfN8ob3aCKWSpj8tvPaUDMM26DBRukqn83rkPtec4YNEVA-hzwutCRfUHZzDo9dZoSG9a2VbrjSupmI7sZQ9_QBwiSNwJhgpMvgoK-CHrxWx7uwCoJns8gqQQDZ_hVALt3-5DhJ44bIi_kOZ3h9YIkP4zwPty-CkqUgyNNmlYO6cRDHEHRV9gUKObMWueEuW0_hAIrkm1LOydzJG5x6_eAS0kL2VsmtlQSA5NwyYAqHn5um9NjjmRxs8_oHuDDxS1py1OHxDcdvfSKLqyQdLHnEfdVOU-AGYjPwQCCWMgpJJTex-O8Z3suVEYhzc7i-8xOZDpePikFJmJtVaC2BEAVJOKvV9_LOUdn3rsXaddESmRCbeYAvELJ1rwsWm-RzmAAzYMGmu6YNbYw1jhuG-4sMywT__YXK1HuhkDCTY1DzRu7zfiYCgr7cjRZ7n0BFWhGpk0qizU4yQ119OVj-YFw66RqO5g8fapkAL2w5qvXrcRYHnSLIgR6MdkVy0GjjM66inh7IYtqVTpy0rKr8S03ujvI__vSdZSP9y_PbRyS1DlTxrJu6j5Mt-vO9l-R9IH9mxVrQ5Cx7YlTaasan06j5_JqfAbEiNDoxOWEYbCl2Qa8Q_vJbqfqD5bN2Vr-i8QSknUPnYXNSBNML0qJCxnEY1fYmZ9YhYZqSu7m2vsYUjeENWN6t39hGaT7x9GnP2PRY6rWKYkPZcEKOKg9C-PYXUfD42ZGxSBw6mC_kkydwvh9Opi-XsjDm38iwvsTqWdGc9i3sSQtRijb1UP37MCxY5SjM9y1bEdh4hqDQ2n0mlqcQNB9M8z5_y0QP4CFzH058TiepJKBO2ur6jm0_EKVOTWGKt3UlJ2MxFId3KWIbTev6M5haK2nL92hpXoh7hwIfdFr4PhRgQrnNsN5WiSbyfh6s=",
  "id": "rs_029389094824538a016ab2bdde636487d08a9f7a3d31a56551",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The left wall of the pink bowl is between the fingers at table level. I’ll close on it and test the hold with a short lift.\"}",
  "call_id": "call_i2kK310w854ym8gyyHev2gUu",
  "id": "fc_029389094824538a016ab2bde2847c87d0b138bbc4f7e9a568",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_i2kK310w854ym8gyyHev2gUu",
  "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]: [-0.2935, 0.7162, 0.4065, -0.0681, -0.495, -0.0338, 0.9962, 0.5915, 1.8568, 0.5571, 0.7387, 0.5407, 0.1551, 0.0404]\nstate[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1848 left_yaw=0.1309 left_pitch=0.2289 left_roll=0.1678 left_gripper=0.9962 right_x=0.3854 right_y=0.1537 right_z=0.0276 right_yaw=0.0495 right_pitch=0.0911 right_roll=-0.1206 right_gripper=0.0404\nstate[joint_eff]: [-0.0615, -0.8, 7.2684, 1.8779, -0.149, -0.0562, -0.0073, -0.0889, -6.5573, 4.588, 1.1844, -0.2906, 0.2808, 1.5751]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d28c316941da2032a546b88dc2b5ea82f39a8e876a82ea54fe82337000d2b03",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb49eba4b5c1b728bc60bf5f87a155f37adf2d2e3e6f405a1d52d49193e5ec1f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31a829b775fbc7f3c40584f35e905fa17308a15f8a8f69cdcfb226841ae5ff6c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.236 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7162, 0.4065, -0.0639, -0.4953, -0.0341, 0.9962, 0.5926, 1.8694, 0.5606, 0.6945, 0.5087, 0.1833, 0.9968]\nstate[eef_state]: left_x=0.2959 left_y=0.0019 left_z=0.1857 left_yaw=0.1315 left_pitch=0.2328 left_roll=0.1658 left_gripper=0.9962 right_x=0.3799 right_y=0.1564 right_z=0.014 right_yaw=0.0629 right_pitch=0.0378 right_roll=-0.1079 right_gripper=0.9968\nstate[joint_eff]: [-0.2393, -1.2239, 7.4598, 1.9512, -0.2418, -0.1099, 0.0415, -0.8, -7.788, 4.4239, 1.9365, 0.1343, -0.0122, -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": "gAAAAABqsr3qO3sbMHrrKMLuRacDkfUynrwe2m7niwP28vnKz8RFY_8CLdkhW_y_ShPYM3B-wL9K5mVMIvrCphhSatBZWPYDD5udhiCHyKZYUru4CmsEkLdh4PnWz-JClP4uvxqeoAQcj6Wuzy4t_G8rwdHZwTDtB6e6kCteo2E0tCj-RGSUFtOCNpNOgG7o_RjzEoZIVmuFeZ_RywR4IQlNVlSeOC3qVfQo4G5YeTLSCVEb_CVp7uJRmpVeoScOSJCS_CObwc37bZwvFSPUh2ABfWgkd0vR8mDHiSnphJLbZzPIdE6Bz01wA3N24Y81c_p77RcaD_z0o9RGN67hGmFVkz6opt-xq1_wM9srGh9NX7yyj-0OF3Sd1zBaJDa1rr7ShbdUS_pLhgLEhrKaOpMTU8Q7eF2lIns4LgQX7w-G-gtOgucg9ixs3pInAomDSby_qB7eb63nfebHrclk5vG5KK-hDJh9EUMheqR9qbT-SsYktifA_5Fg-lS7gQTr7O2Fa0H53-NkXZ3Eqx4qjD6Q3GfC2vCrVJR9hHwEgWPyq_jcAKS0hJmFo_L3gYTVj1UmM13UF_gAUa4f-nYWOyuushb-z4hPNKvGwTUj4Mk8a0oTV5-41NpKvuH1aJh_S88FvOOGzAYCV-A6hGB4kmDKsPDlKW9xCfiHEmcdBQh6idS8zGecbEgjrNeSAyLXjIkHgnsKuIaxm-ykMUTFszfPH6LVBRCE-ZPkKY-WTkaZ31YrKTIcnQ4knM8WESG7e4GC2_jNcwSEBefEzCrZAfyui5r0IQgVrEqOecW1c6vCsp2LCRYKNr4oZmra5WnmBKd2564Tx-tINeyoe6L5-13BTvf9XvtXvWwC-8zYNx8SE0aR2uD18jYfnuexpX3Y9_CWMXqJhLcFOEiU41kg1YtZ5Aj7uT0nDOufazJfOYPNRlhp5lWgNp_x4wNrc-OjklEhrciz7ALIQjJ0voupvXGMZA-pv_BgP2FTGrzBsupd2e2gk2Qzl0dRmFxUQrpsrs8keiDOgwXu8P2sqwNSZ1xFTOj8GF7yTT6L6Q2JFKQ4gKnA8uczh3206KguzZkjMShd8ChS_9IApqWZ_s4hkYpvf0E1zqC8L7luMhnr00uHT1BhjRan_yTRT86Zn2JWur1M6ls9ji_xAVqc4K6irrZ0bSKrwNAQRaFmMsSiXTiY5pl8yaiY83FtQBdjRK7TZzajF_7HolPwE19EsANu2gFmz9pNypz18bKdfVxKIZCOSGCaDj8FwpWbr5kwdij39-WsjS3Go-i4CpJU24rHJCD0lC6H--C1Bha7i7DhTkRZgix0NIsWtCA=",
  "id": "rs_029389094824538a016ab2bde7331c87d09dcb0d17da25b692",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":0.115,\"right_z\":0.09,\"right_gripper\":1},\"note\":\"The bowl shifted right and the gripper nearly closed empty. I’ll reopen, move toward its new center, and reach a little farther forward.\"}",
  "call_id": "call_m3Xr8nRg1UZ7WYSRTroWw7XK",
  "id": "fc_029389094824538a016ab2bde8280087d088488f27b455a8d1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_m3Xr8nRg1UZ7WYSRTroWw7XK",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7166, 0.4065, -0.0746, -0.495, -0.0334, 0.9962, 0.4232, 1.6825, 0.6369, 0.4854, 0.3988, 0.0551, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.1833 left_yaw=0.1297 left_pitch=0.2226 left_roll=0.1711 left_gripper=0.9962 right_x=0.4111 right_y=0.1139 right_z=0.0689 right_yaw=0.0502 right_pitch=0.0512 right_roll=-0.1405 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -0.7863, 7.1726, 1.8828, -0.1734, -0.0171, -0.0073, -0.5538, -9.3197, 8.0752, 1.8046, 0.0904, 0.1343, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:edc651cc3a854b666c8021cc64703f02e20f3516683e86211e22006a237d0e10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b3d0bc13a5d867c864fea36d762a1c3d7dbaec530c94734cab4f826a670c3bc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d46b62f7811b46cad33fdfe1ae2b34ea86e685dc5056e827a1451c522dfea3c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.612 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7162, 0.4065, -0.0681, -0.495, -0.0338, 0.9962, 0.5915, 1.8568, 0.5571, 0.7387, 0.5407, 0.1551, 0.0404]\nstate[eef_state]: left_x=0.2956 left_y=0.0021 left_z=0.1848 left_yaw=0.1309 left_pitch=0.2289 left_roll=0.1678 left_gripper=0.9962 right_x=0.3854 right_y=0.1537 right_z=0.0276 right_yaw=0.0495 right_pitch=0.0911 right_roll=-0.1206 right_gripper=0.0404\nstate[joint_eff]: [-0.0615, -0.8, 7.2684, 1.8779, -0.149, -0.0562, -0.0073, -0.0889, -6.5573, 4.588, 1.1844, -0.2906, 0.2808, 1.5751]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr3x53nXbvLe2MNFA8tDVE89hBl1vk3eYGqPzDnvBDKLYMx1ARUaV8G7x2OKl93wv9Bv3vtflQLoCa_rFvXVGt1idKkwQW_ijXR7f2cpPe0UvOc0cmBP260ZaToQdCLiXAw--iL5lTKlV9wg5clZd7EhYJYnBrmhxt487fGmlaOMJlXeo9mpvAAxvy1FtZv7wa_KrJCr_OZpQSX_rNOfOSrEPuYHYZNArqtW78ZRXU5fPHpvORXaosF4uTEZdhAVhQyCHEPNvb0fIdx5ePqbM1Fip7nQZozDfmBQ1XwabFn3nLqdZ67SoBBYaKPQvw3LDZwPj1BxFllRaba_h0diJv0Un1Nhu_lzkrxYk3JeE6bgOqTNp9mdFcn8R2aK1es5o6l5aN4USQ-GrDdQdQVUw4YjdzZMX-yy2AFE-xlTo7aTDHizLRaLVK0eQh_aCX7jWTfxGD2SMFZALazDY5htog5m8EEIITEbJdPjp9T24VS0aUfZ6Hd4HW72RWlN0Tq70-mt5i5TzWP3n77OhhQbU81tDQ6u6TrA8LQ3L6aisZhGc2DiGjrhvsjUwUM20eGkWMHVfNrthkEyPP-Mdixo1Wzvotieo8h63dZvvZ3L_kpdfveGO9kj3SeQ94IcnQLgJ53RBMIViHZK-gPzHKCfEGed2PPZ_DkLnoRClFw_5fLuLNdN1Yqt2bXwYOAj38jQe24idDi7975yhBs3_fNucmG3HjRHMeOUqeC-_uka6F-hNpPLI_85qsjA6KummMlej5RGOJILFs5nrUCIyjmGYdSelgUq2fj0ExPQ3Cot1ApqfrTZJbXcrJlTiY6SV1OzmV1EKKA4OOn5ZNbbslLgtJru6NYEBnbGePd60aFf26H3tPvVZBvmtGHR-UpJoOTZKBBurRnURDU1rOnr1GJhK9WZtH-l0wNaErR2-YoUxM3D_u32i5J3l0AM-_JdjrBKcZEybCGMeTt901g2F_TAl_4g32dyVRqJE35gtWHhzgnB-oPpjX0NDLZvS1dtR4wF0H2n5KLMMrZJx4_as_gzNueab44ux-2qEVft29vJH4H3pOqgxU31u9iW2hJwLgX1h-ul2H6kPvC14iSkp3zoQhFuF_NuOwtBD3pU72903Cl6_O9D02f2P3E1Y3W05AqKhUSqeUFTJdnDh_aNZBtQei7jxd9UtKBQ-x1FpNedUFWxsjbaFmR_3b7XwJQgHfE2m5oBD3pTLQwmC92L4QO_nQ-FsrxE_f8K21BUdGDjtMTBsaleXAeeIh1XqqEnXoOTDL9KfNVTda_850jZKLmPusZ_YbxtaOZv4wZ9kBUkfZjf4krMU7Y4a-77rFcYtGkMzz8ZjdXm1XzSNxlHx7DesT36sHxFHVT6_JMQf1cYhiNdeIX2jaELHKN0dc3xgwrk3JUHt-EULF_r_b9IQkV8fD4XnU4eTSP3ZlmP7LnipbKVVQZR4cvZAbv70uU4DZseR6TI",
  "id": "rs_029389094824538a016ab2bdedbf2887d0b65e5dd7fbdb873c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.105,\"right_z\":0.03},\"note\":\"The pink bowl is now close to centered under the gripper. I’ll advance slightly and lower around the narrower part of its body.\"}",
  "call_id": "call_WeIeorHSucUOpJYF4LXpBI5t",
  "id": "fc_029389094824538a016ab2bdf01c6487d088fa3a7b6cfddf1c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WeIeorHSucUOpJYF4LXpBI5t",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7208, 0.4065, -0.0772, -0.495, -0.0338, 0.9962, 0.3695, 1.8793, 0.6662, 0.5911, 0.3553, 0.0277, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1817 left_yaw=0.1297 left_pitch=0.2164 left_roll=0.1736 left_gripper=0.9962 right_x=0.4255 right_y=0.1027 right_z=0.0179 right_yaw=0.0472 right_pitch=-0.0174 right_roll=-0.1621 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -0.6222, 7.0906, 1.8535, -0.0952, -0.0122, -0.0073, -0.253, -10.0444, 6.735, 2.2344, 0.0317, -0.0952, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cee2bd69218063cdd72c99e2365a164f6a655aa17892c7dea5821708bdc9507",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3a037fda4b61bfebc0c95f3fa66cfa867c0885a47da4d8d5f88ea57717ac10ba",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a2599ca0a2039a86d3149e6edf324c640fdda701fce616f1dbb7b6591edba85",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.697 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7166, 0.4065, -0.0746, -0.495, -0.0334, 0.9962, 0.4232, 1.6825, 0.6369, 0.4854, 0.3988, 0.0551, 0.9952]\nstate[eef_state]: left_x=0.2951 left_y=0.0021 left_z=0.1833 left_yaw=0.1297 left_pitch=0.2226 left_roll=0.1711 left_gripper=0.9962 right_x=0.4111 right_y=0.1139 right_z=0.0689 right_yaw=0.0502 right_pitch=0.0512 right_roll=-0.1405 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -0.7863, 7.1726, 1.8828, -0.1734, -0.0171, -0.0073, -0.5538, -9.3197, 8.0752, 1.8046, 0.0904, 0.1343, 0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingers are down on either side of the pink bowl. I’ll close to try for a body grasp.\"}",
  "call_id": "call_Ch97wXCErKot2ed63RPaJ3VI",
  "id": "fc_029389094824538a016ab2bdf6716487d0be5a18682f5cea17",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ch97wXCErKot2ed63RPaJ3VI",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7212, 0.4065, -0.0864, -0.495, -0.0338, 0.9962, 0.3588, 1.9038, 0.6727, 0.6788, 0.3389, -0.0013, 0.5091]\nstate[eef_state]: left_x=0.2944 left_y=0.0023 left_z=0.1797 left_yaw=0.1284 left_pitch=0.2077 left_roll=0.1776 left_gripper=0.9962 right_x=0.4371 right_y=0.105 right_z=0.0265 right_yaw=0.0652 right_pitch=0.0438 right_roll=-0.1569 right_gripper=0.5091\nstate[joint_eff]: [-0.1983, -0.6906, 7.2137, 1.8242, -0.1538, -0.0757, -0.0122, -0.0752, -8.5265, 5.5453, 1.6093, 0.105, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0487c3edb290eafa9b194538ac54e88e9dcb97dae02d14cccfffb783ff8e9dbb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c5a06fb47f8cdb32d012995f0b93f901b768b1b8eec5290f850864389d16625e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22490a2a26ed64d72aa2fa833f58219eee06dab57e4b17045e94487447deb8c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 10.75 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 83 changed as sent

message 83 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7208, 0.4065, -0.0772, -0.495, -0.0338, 0.9962, 0.3695, 1.8793, 0.6662, 0.5911, 0.3553, 0.0277, 0.9955]\nstate[eef_state]: left_x=0.2951 left_y=0.0022 left_z=0.1817 left_yaw=0.1297 left_pitch=0.2164 left_roll=0.1736 left_gripper=0.9962 right_x=0.4255 right_y=0.1027 right_z=0.0179 right_yaw=0.0472 right_pitch=-0.0174 right_roll=-0.1621 right_gripper=0.9955\nstate[joint_eff]: [-0.1573, -0.6222, 7.0906, 1.8535, -0.0952, -0.0122, -0.0073, -0.253, -10.0444, 6.735, 2.2344, 0.0317, -0.0952, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr39nRUzpFnWeOjaK_j890AWvMOa9IpSpB8o4Ara-SaObKRH3TU2P7cZg4PEMTM3dXsy3xWhSnKXewfVaDXZfDrn2FWpoR9LcrE9SU0ULfZ3DBRGpVuBjnoBoEvcIZenXZmNeCjlhZPm6269HaIaKmKLuEYw8nxBCMsBEhLZGIXCNNQzRL0y9-M1URdUuIOmwlnhLE9ZXnJCnewJUBrecxcrTTnkiEQbOm1yGeRR0Tu6y6TRt91do2tJE8jgBLnRLYU0vYRR75HgtOn9dnZK1s0wl3C8Df16k_vke3A_lVpoRSFXEYmF7DwkPTnHlJRPWZGTIuRKoyuiPZ9cBpL_raxnx8LcCQdNX7msMUQVa5iBAjUMhO_QzmbqFMhFIirk8djOAZ82N9GEYJCRXiZDQtqfTbZDWq58Y0tCj3B0LXdqY3gZUa4luLL0CXZDccxC2dvbeTcn56gPiQ_RMyxAiR7291LZuapk_JnUEZF0-ZVJKxEAYS2yyaVcQH6roppuUciGCtOr4umkanzvq6O-OcDQHf3hShMtkHaM93MuTWTEbx6JIdgXN_pCj3ZFCES6EKIONGlc74r2NPcWhc_Cp08WVUPuZNz6aparBLGJJFFA5CdN2_xhSQJOjTVyQAorjGuyKI3H85oqFLjzUeCjWkHv7pbuY1y1KlNvRYLZT5k-n8ag_GAddp-BX0yx7Ezfsv08fSqOKtU-Aa3ZsPoPEvqWaCzqRxbKnB_NotxqhbAIaXd6kBvwuNUGT42wBhhy5OeyhGNv-x0mrALVfdfa1RcuP2_OBmSIyOV6BevuKiAZwSXYhg4wGDjLL05xpqWJxXbp1k59FxWTdWB8cQn21Kef10eSLQTJUjNtyZKWOXkx5RZ4ZmBxJh3R2FoPHQevxhdf6GZgeMp8QgFuqP5Z2-Iw25qNQ1cN1RIe1d3vA2qyCqXe6MnSVqxqT-JqDrdqVeiVq3sdZhNQEayFTiCK98VGtKlvvR1a1pDHl5EwpyztIX6SjgmoVtKvbyZ8N3NNusebGZ2eInRx_2-DnZ0KqhhWHgl5SqIBFgv43WPTTVUUbAaoWBAlfnNOp2gyA-DT_6DCtYp-5W0JkYYxIvZ3iBmIVW5ZHBOUofjMJo06TvYsk65bDOLpIznaM2LT098sNa2WkIVXTbS9BhPhkxXqZZHCT4lu9Nmd7WxF_7KmSiCRsNZO43mb8UAmXOSpJhBLIBqIKEsFGKNO6EpFySP-fq_uPzUvFdVNF-EO3i4Wa-cwL1cuk39XOGivb5QBle7dTt3uM22Bl3E-sjzSbTTP2rb1pw==",
  "id": "rs_029389094824538a016ab2bdfaf05887d0bbe098d71f21296d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The gripper stopped about halfway closed. I’ll lift straight up and check that the pink bowl actually leaves the table before moving sideways.\"}",
  "call_id": "call_zG8LcJfY867PwRzk0qPLLgAU",
  "id": "fc_029389094824538a016ab2bdfbbde887d0b2ca9bfcec61c019",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zG8LcJfY867PwRzk0qPLLgAU",
  "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]: [-0.2939, 0.7258, 0.4065, -0.0933, -0.495, -0.0338, 0.9962, 0.3595, 1.5841, 0.8417, 0.1623, 0.3309, -0.0048, 0.509]\nstate[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.177 left_yaw=0.1275 left_pitch=0.1973 left_roll=0.1824 left_gripper=0.9962 right_x=0.4337 right_y=0.1055 right_z=0.1248 right_yaw=0.0746 right_pitch=0.0156 right_roll=-0.1637 right_gripper=0.509\nstate[joint_eff]: [-0.1709, -0.9231, 7.0769, 1.8437, -0.1392, -0.0806, -0.0073, -0.1846, -9.1282, 9.3744, 1.8877, 0.2027, -0.0171, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7b17ef088325ae46f214d3063e227f00ec5198dabea6ee8cc9b764e3cd681d12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b38724bb1c35e482998bc74a58c87aa7a0082d90a452b59c8eac1c44b4b54e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab0c1fa3dd4fda6ddce50ef840fdddba5d18dc99429e8cb4a7f232adc049829f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.286 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7212, 0.4065, -0.0864, -0.495, -0.0338, 0.9962, 0.3588, 1.9038, 0.6727, 0.6788, 0.3389, -0.0013, 0.5091]\nstate[eef_state]: left_x=0.2944 left_y=0.0023 left_z=0.1797 left_yaw=0.1284 left_pitch=0.2077 left_roll=0.1776 left_gripper=0.9962 right_x=0.4371 right_y=0.105 right_z=0.0265 right_yaw=0.0652 right_pitch=0.0438 right_roll=-0.1569 right_gripper=0.5091\nstate[joint_eff]: [-0.1983, -0.6906, 7.2137, 1.8242, -0.1538, -0.0757, -0.0122, -0.0752, -8.5265, 5.5453, 1.6093, 0.105, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4IEsDvPVz3ifM7bA0WawRBOa3K8qAP-FOoKJENNC89mZquamynG2n9eD_Zs9O5gHGIwnB_Tkg5Y6Ctqk7huudyGl_bIgrGrX1l5Mopi7WAeJLMU0CzrdU78ZJzs9UOKbNDc8ImMYEtOj7o3mBBZ5SLJLhC9eMklBeaUqtjFPJ13VnwrzjDV7M00fob0wHofrtlxpUBsyzBGU6vzxUlwUQsHKpUUz-Ez7CiIbf2NIzmUcJav7vwLhvFsfHwnuT028Xg8a6JniRaK0yzMbUjCAi0D59uybx_7sDmJ5t5vkKX833xH1wHrMCnv1VXwWzauVJHG_Owh_-XvHEIgr32ZQuCMiOBijPFeasLv0e6r_W0v8XKbkaOuMqLsDQjBU1vp_W-YcSmlv0vBF-488vXJIN8dEUpQSjg_USblA7oBKpbJssEPSQShfFuqNe1NPCWtlzL9_gKBMjRFsTyMFwG6-XkAiDuCrN9ZOlSwZScEsBvCgRPEZgdmFe_qmFzx_kLtN3--9vfoGHpm-aGiG6bD9Pou70jI7Q2oMmikENuFds2VNI12iL8HY5BFb4CHzGKUJENmXQJFy-ujFXaILmYxb-M8MYmlAi8Zm61uM26Lut3SjQL_auwSUZkxkrusiG9ZiOqviZcray4__7z4VF64A9pRzNKMEtfKFYV5LZsAT5wloV5F5a-LEyHkCIRGvkaQn6JL6KXcaaTTJJK4wG9uEarClepejDXTdivbs8qUSPrkPSFAwo546VvrWnMOvA2ftU_WFEEvkLn1f_cpbVvU_X8zqKQWP5_dZTHqnIHrgyJHVnwJ3T7zcIIxk0dJpLiiG7cAqoeUP0lWGHO_zA7NnTmNSZfa6x1YIqIEEhU0L2BegGJgTVqUKHvB65Mh4dc4XqZ3OGdJci70sLGFoCbBojdBw49C791yOBeyql9DplWLLgKktETbYcOn0sT03mWCFR-qphloU17xmQ9w7_4gJqe6hTMES-99t5ErWnz8DR9MlIMSfTEM3aimJA_j4_avwblvF3lXJX815XxuYfXWHMjcOSAMrIM2_uNhqpj-sdQgG4T7ghcNLLYG8afwps9sRouBLdpo7QyxyTtaKYjDhU-C8QfB7FR1cd0yTOW6nWkmwA9cJWOALeGvqYqhk9UUKpFoVPia5xsNxKb7eL4VJre_5ZvSRh9ioZmW-Xgo5IVrcgyP16v0FCaC_c8_XhTr3L8C34ubWAaDjlSQ78PrP-iatCC3GKFlSSOD_S2UQ898gZXfDdivB04lHkxNUggKwTSWvEf-V9YWour6b32Ef3-9O3q99kSY2CMII782qax-UYDg3Jf-cqFayrPER5REaoO7sf-qxhyUBj_hSBzjSBWmM5X99qEk1DEQbftFqfo1zR0M2CcXyFkQp1PvYkcRPMIDchX423CX4q3V8Y41JkbQF_OF4C_pX11g43_HrkK37kxSo9wA-VoKs5NuWe74mAVL1whXZ0o3dvk8SWmksUdTsnL_htel50jbI_fvWRA_zhsoWVLE6BitU-7s7-RmOcshOY6bIJfHprzFfKXPIGq20YSLV4S34qF9yznaGpzlLhHDku-OXMWVNprDTeRTcNxmrHfbT2migiVBxYUdwxSzSssnujj1Tbr5ySFV_Wk7sKCKALHt7A-vb8yd-21VmJ8M5XvXTODmhBdmWP_T-Vt0Szoo3-E6IhfFXVWSqftJejd2KNZkPLVDCN-UeENlrpfVmKiP3epCdPCu9DnFieQm26a_otJVO7ZPxop-2IVRC9KjH9VQycnoPwY28aU_7HZAcAuQYOfMqzLM7z3VFYk-0u489MVHeAqdH-q5wUQB-DQl3vyUhxSFtIpgQmOgX7NDkdVZsPxHpDMiAKPuzaqXT9KU1kkkKs5C1n7feXLpQ8i5ikoaXxfPWCpZEY9rG6kz3aHEDbqnAwwjD7QUJ_LLqRDnUETicfvMd5b-SP7DDx99-i4dhR_rwOz3YBLOCeVchrMzkM6T_M8XD_wOSo2acaKmrbwt9ViKi4o6cdSD9rbAt_H-sSECInlmYUiojZ6BV-8LnxEzJuZp4UubbuJx-WQYIAIBXeV7Q6azoPKDIyOxVNIX--2HRSLJJozPQrcec4vtPs91W96Pe8UEhGgZCFsDDnAALPznm_plN_rwaz_Tb4sxibueXISrOJa1f51ca52dGgdeI0l5hxKYb4YLsJPqH0Ck3unpivI3rdn35E=",
  "id": "rs_029389094824538a016ab2be007f7c87d096348f91d4c702e2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.31,\"right_z\":0.2},\"note\":\"The pink bowl has risen with the gripper and remains secured. I’ll carry it over the blue bowl with enough height to clear the rim.\"}",
  "call_id": "call_yJbHbA9OXivQ0A7ziWyk52Aq",
  "id": "fc_029389094824538a016ab2be07132487d091b489f6d6e5fc9e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yJbHbA9OXivQ0A7ziWyk52Aq",
  "output": "executing move_to over 18 steps (1.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7277, 0.4065, -0.0937, -0.495, -0.0338, 0.9963, 0.8131, 1.9644, 1.6146, -0.4179, 0.6567, 0.2802, 0.5088]\nstate[eef_state]: left_x=0.2942 left_y=0.0024 left_z=0.1765 left_yaw=0.1273 left_pitch=0.1952 left_roll=0.1834 left_gripper=0.9963 right_x=0.4353 right_y=0.3084 right_z=0.1825 right_yaw=0.1182 right_pitch=-0.0253 right_roll=-0.1911 right_gripper=0.5088\nstate[joint_eff]: [-0.1436, -0.9504, 7.1863, 1.7363, -0.1392, -0.0415, -0.0073, 0.335, -10.8923, 9.4291, 1.3993, 0.525, 0.2222, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd12964ae5e55146e752ce94f6d684442e6b6dac73e0a03bdfb0d072ae0a8835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53d65d53659aa089e474e8f62ab8a2009743959a75202f0218ce07f7316e5b50",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:453d228efbe77b553eef9119746d8b1295e8604d7cc98229adbeff4b9b350b8c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /responses · status 200 · 5.725 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7258, 0.4065, -0.0933, -0.495, -0.0338, 0.9962, 0.3595, 1.5841, 0.8417, 0.1623, 0.3309, -0.0048, 0.509]\nstate[eef_state]: left_x=0.2941 left_y=0.0024 left_z=0.177 left_yaw=0.1275 left_pitch=0.1973 left_roll=0.1824 left_gripper=0.9962 right_x=0.4337 right_y=0.1055 right_z=0.1248 right_yaw=0.0746 right_pitch=0.0156 right_roll=-0.1637 right_gripper=0.509\nstate[joint_eff]: [-0.1709, -0.9231, 7.0769, 1.8437, -0.1392, -0.0806, -0.0073, -0.1846, -9.1282, 9.3744, 1.8877, 0.2027, -0.0171, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4P6HKIBNJNfFXNjGP4V3G-thom_bJCzdzVMYkU-FrsgJzxPkZBFsYwnDcmncvB-osOBOjgfl0D2pAbwKhUby8WOlF7WDyrEItatzGIWLJyOycUU8QBhoFlEFsmwS8HeVlfyScjdtDOgD31UY0rGpU-ex2zztqp5boYneGfnyPuZfDSRN6v8njCy6HHqusSZEeF3JYdUoE04m-rhFsI8_CefoiH9ilz1kszmDfn24DGD0SAFrxtwMSlBXeZz3fyZxOR_b5ofUjEhqZWyCBjKshp4Xg98OUPxUAIMQlKyqK-kK87FBDUZTEoQjCAxJAryjhYdBfrG3CuTrHnFqnjrtB2p_lhzOfpK92457yAGS-RKDZg_N2ACTAQ70rSgz4lrjUrt7mNFjtnBLHy5cfr8wenesC3PAQpLKIHo9d5Vw_z9kZNo4j735rpl-cDe7pKccYhLSux4KU43umX5XjvZiZq6ra1vYtpsEwVugsQC7ecshbV-2BfXbilCZy103SU6Q8CCw6wZ1XEQg4mtV1bsehFSHDKcTFhIQ5ij-ce4EDrPCauE92YnUbH3bJU60uOmVpgNAZKFE3GI-OPrS_ChTCaJv1Pd_CB3ip8mh1Ql-QzmGjgm6y_lf3_Try4j7z7eHn1LF143qba1_3wVhX5waC-fY11IolRho0-WsH7bs90sC7MRy_-Zv9NZU8MdPU7wC10Fxk_z03VM79bOhxuIlgACmv6BMeIUdl37D05pNMjbO_HlbBY48g2rXbGo9nENqaIR0yoki7V8gVUrO3kxImj5Nmc3qrmROo7E8T4RwL9jjDkWAX7Nr1iAWTKbr-KoCus3NPVjZ2arFQjWYJMQPwICazbjR5OlSMVHNYSj9kd8f9QbxQmtxokv8MuI5JfsqxBzs7LS1UGxLItl3M7mF5FCqdYpmRPFGeCgIDucpIHoNMoXo1ae2yrXgFF-CAxJzNqMnZek2nXrlURridAIyU4vJsjT2A2dg7c_QvjnkR1kS5Wtxjrp4hP7yxiAe56j69W9gafXLjnR1eCdDTKMmSMIgxYbYUvgAXYx_37n4SVWtzhGKYBXik2Ua3RUELO7xA_4W2zCRxVOFPi-oykR2LmoFu6ryw3jZPRUniZhdnaYU0wOqHyY4t5sqYqnYsJWn6CgRcF-TrxXi4CibK9eWnfgOJt7VL6hQV48pW9hPOTQ69KuxDOu_p9xcDe2pu-xMDDvFod-9Fb6Lj6TKgqgpk9MUICnWGN0N8nTpLFjllC6LtlfomOtzQiV00VDuH450We3kXD7hsUtPKkH8cDH3867GxOp6fEhiyhSkKcdf-a64HqFtexmqzlzqATry8Yi3Z1IbyqBv7HO24HToZUQoTsbRdHwSMI3zfOn1O9i7CmxTuZ5uoVghOrSipLxiGV6Xd6ncCpdZIWhZkyVBRJdKDYvtPHUUfxcOaOGEj9pa3cJuWeNusDPwzNShnuL1V8P2aN",
  "id": "rs_029389094824538a016ab2be0c239487d08bce9853a29c541d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_y\":0.36,\"right_z\":0.095},\"note\":\"The pink bowl is above the blue bowl but still slightly to its right. I’ll shift left and lower toward the blue bowl’s opening.\"}",
  "call_id": "call_xyFX7bAakcXCIOLF5bTxepr6",
  "id": "fc_029389094824538a016ab2be0e56f087d0984162a67ab2e47f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xyFX7bAakcXCIOLF5bTxepr6",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7311, 0.4065, -0.0937, -0.495, -0.0334, 0.9963, 0.8848, 2.191, 1.6039, -0.2905, 0.6773, 0.3264, 0.5091]\nstate[eef_state]: left_x=0.2944 left_y=0.0024 left_z=0.1756 left_yaw=0.1272 left_pitch=0.192 left_roll=0.1852 left_gripper=0.9963 right_x=0.4271 right_y=0.3527 right_z=0.0814 right_yaw=0.1465 right_pitch=-0.0929 right_roll=-0.2374 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.0051, 7.1043, 1.7705, -0.1832, -0.0122, -0.0171, 0.4034, -12.6564, 8.0752, 1.58, 0.5104, 0.1685, 0.4371]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0038417673a951caebded9f3e1500355cb832d7e70bfee863632d437e7b460b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00e12b6ad1025cc9b982dfddac1c9722b5d5799c5f9568ca69b8cb916d7b48b9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d48d74c0491bdeb0d08b91c61723ddc5fd56e42c39c4600fe7bcc36ae7c9ea06",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /responses · status 200 · 4.821 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.7277, 0.4065, -0.0937, -0.495, -0.0338, 0.9963, 0.8131, 1.9644, 1.6146, -0.4179, 0.6567, 0.2802, 0.5088]\nstate[eef_state]: left_x=0.2942 left_y=0.0024 left_z=0.1765 left_yaw=0.1273 left_pitch=0.1952 left_roll=0.1834 left_gripper=0.9963 right_x=0.4353 right_y=0.3084 right_z=0.1825 right_yaw=0.1182 right_pitch=-0.0253 right_roll=-0.1911 right_gripper=0.5088\nstate[joint_eff]: [-0.1436, -0.9504, 7.1863, 1.7363, -0.1392, -0.0415, -0.0073, 0.335, -10.8923, 9.4291, 1.3993, 0.525, 0.2222, 0.8669]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4VlhB7zxATEXIWgmGMIvuCLlrniibwn_6eSJsbs18y33Azjv7GaZSoy5BFvAAe3XQK7YfScstqdGkCs7G76uyWfwCM7p1ZdbMLTS2rwCK3t4J5VqCoD4Mq_eyJ0ZSyEDV1E2UA-AVSDKW_Om1awnisQ-jBOqRIfdFCqe4bNJ5UfWoZKK2763ep4eiatjVVaSOP6nFq1mgxkPBKXl87ej-FIRL8ZK5y9M5yRfqc3n_CkC5Z1B6fW6ZE6VPcsgl3mG4NlHZgMaodybjOWJ9mmO2yJNpFfvEfq0LjMX8gguKm88eq2Htarag30V9KDgqXoKCooUq8oljsqU5I7aFRRPDf_BTcWIN6h8evwC85V8Nm76iivBxmtywzl4c3KW68hGyVGffslSmha1HtG-1qzudfAIJnst_0uhfIdcISIEx_yrQpkqPtq4dqOWCST_W7MeGBgFpMI7m-y0aSwFHTHiEer7O2UimM030DlYP19QVfHLjU11WDgR_5AbFnaUjtNhusn1Mh2hR18XC4Co-T3JE0rumXy0wCJ3h7pEELH87SX3s4jpJzvPAX9GMhzobcHEf4L00rhPtSHfz-8AcmBl-DDjDG8thPg-0j5JHFg1_McbzG9Vq4xMCRB1EnFXDtT8kswlhcRRYcTvvLil4sxjD4fAnCbqaaJ4Z3gyjhRIbrPRGGGdl2t4jgZEQqqfYjI80oIXjJP60f8dj_x5hlL96kndqFQMORKun_WoA4ToMbw_A3dqRPFcf0mKuSPZHpVn_bSuuCjfT8rgM767a2nvEhJMsw_20XVEROBJEF-MDrRZujZlBnPlHqAkAmCKg2LtY2pE1yQww0BHmbI8x788nc9PZVwQ_kxa4VF8xU-6uwkMn5G7H-wa_afZ2eWKtlun2n3jYZZWtWvw4FglNB8JovKWGYPgI3JiBY7wUQ50QgZbDOgnEtaOKnyHCRaXYgwL8a3y6hlXahj8rs6r1weBTKB-YGecQYWFbJCZLOBi59SUZAcG23AeknRFFvrQYqNRActHFO9Qkz4XHr4VT-sdDHPLzsjm8pLcAzPdbH5CC44033WVs3Cuny1-ji8B-n4ppoGBx2m5nSUzDWYcye6Ysvm9rne5YlgEKrdSFp7KygKYqP5ni6lEwmxw4jPpOCwgdbZ1ud0q40idtE0g_KzVcsXji6Typ1fZ1dscJBTxJAcbEz7C6JiuSYb_b1e10OnyOaSdYVd3PkHVfr4dco2C8289WyPH5ky__ic9ODm44YzAw7zrNhzMehDsZymMbfJ2UnL6ZSmn-QopYh3GP70y9f_5W43m1hHernuMu_DDkYMdtcdI2iTgEErQ9HMTwhXZ8fXj5y9ip6uHyF7eMpG7L_2ZdCnSpNI7kqXookZc_Hq2bbarV0b4f1YoR3n6fvDHy8o1s9JY-mcrB_bNOadosIZnh34zgb1eWYKoiHSdOmjZzQQLA-WLC3IsmfXwLkf12Z6T6tQ0tA9s5YuVapU0taWw==",
  "id": "rs_029389094824538a016ab2be12a6b887d0ad10cf14a24d6a34",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_z\":0.045},\"note\":\"The bowls are nearly aligned, with the pink bowl slightly farther forward. I’ll bring it back a little and lower until it seats in the blue bowl.\"}",
  "call_id": "call_00CGUuJnlTLxIIGpLnG5Rkdh",
  "id": "fc_029389094824538a016ab2be1494ac87d08fc8ea8f0327b51f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_00CGUuJnlTLxIIGpLnG5Rkdh",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9039, 2.204, 1.4982, -0.2066, 0.6769, 0.3416, 0.5093]\nstate[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4112 right_y=0.3493 right_z=0.0474 right_yaw=0.1554 right_pitch=-0.1167 right_roll=-0.2488 right_gripper=0.5093\nstate[joint_eff]: [-0.2393, -0.759, 7.1043, 1.7314, -0.1587, -0.0464, -0.0122, 0.6769, -11.6991, 7.2137, 1.6337, 0.3346, 0.149, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4842be85ad0c02095116015b17e5eec3a145b63625735d313d468be3a6ff20f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70a8bf11b5599c5ed5ce4a7fb746731154c4a7265b9fca776db6095f1dda1810",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3c6db974c29fc78fec6c902a8f9ed978e8f649f2acadbdd6a9e5b3bd3bbac31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.306 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2935, 0.7311, 0.4065, -0.0937, -0.495, -0.0334, 0.9963, 0.8848, 2.191, 1.6039, -0.2905, 0.6773, 0.3264, 0.5091]\nstate[eef_state]: left_x=0.2944 left_y=0.0024 left_z=0.1756 left_yaw=0.1272 left_pitch=0.192 left_roll=0.1852 left_gripper=0.9963 right_x=0.4271 right_y=0.3527 right_z=0.0814 right_yaw=0.1465 right_pitch=-0.0929 right_roll=-0.2374 right_gripper=0.5091\nstate[joint_eff]: [-0.0752, -1.0051, 7.1043, 1.7705, -0.1832, -0.0122, -0.0171, 0.4034, -12.6564, 8.0752, 1.58, 0.5104, 0.1685, 0.4371]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr4aMDguVwISJ1o5PG0nWz0sP0gBod2OFZrw0FSqcPXQeQEZ6bFPZapunFu7BtM5jIHcrrOh_R7CO47sAQqNxTXIK00zXUOYAOLaQGGvww2lmEDhT2bia6FldG78XX0aXsGlvl7XXrX0JBr-4xGhzzIHdcfX3O4mOk26JTIiUcjR9QNKn48p-gJq-Qil-dvtQOQbjFriNof53cGLRyrn-YVcomyFumMVLRP5ejdyA4-EP6TeUtdVYAwHpFwastNd7gpWlTsKXec0qECGRwcUEccUMP4Pvl8OTSnUtn-Cr1np9nZzQcx8bYhp02B88p80RDXQHw-2kGamJE9ySvAyQH62t5ixUDGtUsxwrei5VLBH0DH_tyzFIXtqaB6d7lR5euydD8yZ1O3DEDMYaZDPS96JqBHG_8OonxHeYBt2mJM2-pnrVuk0draFMKAQYg5zEOtRzdAw18nm4tDJoacWxR7oMglxPaBt-kc1k9hbHw3cnCEHzMZUvTpUdeoN_Srn3He-YlMlRPX1nTiyV71yV--k14Giad3Zt7WCY1AdaS5GeDXpTDGxrvCf0pgs-ImXqCJxRo2qgwokulEd06Ph1_fGnHWTBi_4kgw960oc2b00JNisINEpCfTLk04OWR_tx_iprFXrzrms1SwDJJj1zebHG5J7OEyLU6wgGIJZ67v9Ua9mpXIBUaGaL_Qn8pQxzm4gLRKWJFd0iJGwMTgqEEa2_rmKQ19BYWq6DMjzNpTDFb3Txl-GmOKMpWatl7YFEYLCO7Uoihjj2w7E5BLWn21YA7528zoxi7qapsnNsk3LsRgm2_9Cg6JStMsTR5tizeWrqY4UsGJc_ZFIX7BatoVvmx0eF5JrP3FlFwFDjg03thGxHrgCrXeM-7uYmDuSyt1S_uxTYd3rzSeoaTBo6-HBFBiPqPLvUhr5W_EIfSWtVvTD-8y3pnmuYih9fsVVc0l7qQAMlAhEhp1SV3oycP-jc-VZpPNIWiZVW1XikGa49XdRBJmHD2LD_VLFVhIbmLqDt3ATc4TFW_4ZsXboZ_3_jqWAsYJAscp6GGbgYdGVK1C3H5sHOEOJdIREZp2N_fH89JUJvrgy6LZo2jDdYxL9B9ucc2UZqVaydonxYPUTnhj2lRs26QMVnWgraw95wfyi_FXaGEYpUuz_z712UsbCjizus0ZC-BohcXaadrsYKNGMyMoR9afIdEq1PCr5zouqCAQEDTfJ2PdJlMODQwgOUBiGfMBVqKyPUr0TaL94TrxjZLgum0f20HFzQT9ZraFE",
  "id": "rs_029389094824538a016ab2be18fa4c87d0b38ddc317926c8f9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl is lowered onto the blue bowl’s opening. I’ll release it so it can settle into place.\"}",
  "call_id": "call_BG1CMpVoGUnGDXlu9eATLqJx",
  "id": "fc_029389094824538a016ab2be19cdd087d0a6bd582e036f4ff2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BG1CMpVoGUnGDXlu9eATLqJx",
  "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]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9146, 2.2082, 1.4857, -0.1833, 0.6762, 0.3447, 0.9958]\nstate[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4074 right_y=0.3538 right_z=0.0437 right_yaw=0.1655 right_pitch=-0.1119 right_roll=-0.2415 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -0.7726, 7.1179, 1.746, -0.1587, -0.0513, -0.0171, -0.0479, -11.9316, 6.1744, 1.3993, 0.4567, 0.0366, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f88093aadea7b4a05735982a939f29e1351a23d103222a453ff29e40360e8569",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e234d7ef0f84776f13b44c74c42e82a1e3292e9de5a9966ca3a21f003bac1b1a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57802350f9db9f00a7f07669c09b6156cb669f1ce47dce4cba2e1a925e0499cd",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /responses · status 200 · 19.6 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9039, 2.204, 1.4982, -0.2066, 0.6769, 0.3416, 0.5093]\nstate[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4112 right_y=0.3493 right_z=0.0474 right_yaw=0.1554 right_pitch=-0.1167 right_roll=-0.2488 right_gripper=0.5093\nstate[joint_eff]: [-0.2393, -0.759, 7.1043, 1.7314, -0.1587, -0.0464, -0.0122, 0.6769, -11.6991, 7.2137, 1.6337, 0.3346, 0.149, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19,\"right_y\":0.1,\"right_x\":0.32,\"left_x\":0.41,\"left_y\":-0.035,\"left_z\":0.11},\"note\":\"The pink bowl has been released. I’ll clear the right arm to inspect the stack and bring the left gripper back toward the remaining teal bowl.\"}",
  "call_id": "call_M0FGPIPWQkuYw3DHi7S1lHQI",
  "id": "fc_029389094824538a016ab2be1da4d887d0b8a59ebb1c687a61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_M0FGPIPWQkuYw3DHi7S1lHQI",
  "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]: [-0.2958, 1.536, 0.5117, 0.5312, -0.4992, -0.0341, 0.9963, 0.5026, 1.1301, 0.852, -0.4427, 0.4065, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0288 left_z=0.0913 left_yaw=0.1239 left_pitch=0.1246 left_roll=0.217 left_gripper=0.9963 right_x=0.3247 right_y=0.1029 right_z=0.188 right_yaw=0.1435 right_pitch=-0.1013 right_roll=-0.236 right_gripper=0.9961\nstate[joint_eff]: [-0.8547, -5.8325, 7.8427, 2.083, -0.232, -0.1197, -0.0171, -0.1983, -3.7402, 6.8855, 1.663, 0.1197, -0.0415, 0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e00c9bff59be97ea9ce3249823f001fa0f7abc4252b78ee125256c761b86cf8c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d43de9d3da7ec8fb193e5ff7e8fb47073e810732692621bed9e0c51525d3d38e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96e9595d648a79cee6fdc52af5b3fbe47dec9e2ea18bbebfcb16789fbd4ebd11",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.63 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2939, 0.733, 0.4065, -0.094, -0.495, -0.0338, 0.9963, 0.9146, 2.2082, 1.4857, -0.1833, 0.6762, 0.3447, 0.9958]\nstate[eef_state]: left_x=0.2945 left_y=0.0023 left_z=0.175 left_yaw=0.1268 left_pitch=0.19 left_roll=0.1857 left_gripper=0.9963 right_x=0.4074 right_y=0.3538 right_z=0.0437 right_yaw=0.1655 right_pitch=-0.1119 right_roll=-0.2415 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -0.7726, 7.1179, 1.746, -0.1587, -0.0513, -0.0171, -0.0479, -11.9316, 6.1744, 1.3993, 0.4567, 0.0366, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr41lKAOBVuQPrUeTA7xZYPIJlatoZ2hX3UaQQNbxfrH-NbRNdYdDNxZsEWYzpC0hFVIfuYYGoK3uiV87AWUZRITeGrueknhWN8A9lDc-q0BWYQQsRa7cmHLlBOpNw_reOe-tfHiQBD_XQRT0cv0hCu9wyHB5jBNuOtHdJYUBTJ3qbIAGEZQgC0HCP4Tt8f1BIggMJ1ts7AmPQFhgO1PJcASD64e1GqkA5YZQVauvTH9GCeBPfPn16Mw_RlfbV7ck4YYs9oJfCca3VSYqbT6SWRVqBWwBbVSeCVtRIDWlV1l-_l5EIqLybvFRRPnQ0mV9PEEODECUcBlYniJbU7fgHOerdMfmAmwVdlZZthc2czItRvwzesSKTwdjdT6n5V0pIi8JO8iQBeKhULm14DVZ6kAPgNNpFSrMQVohP_xEw4bXOa-9eGy30lxnpgEzLq5JKOvLcFAF2XUoMVK-Nlcu3gtg7peGNSUvlleAsVSKXx-75lhP8suQ53MKAtPYnKaigiGuBWkH4kGPep2Ze6Hi6iFXVOWQPeAQUB_4Jp8S8nk7dSWPEtOiyDY2L5Y7a97DX3f5N2vb1smtvgtMff3AqkaJmmLFk8CoqAGJmDOEsacalVNM41AzNxn_NOr-FDKFh_1V3O1wtikcvAYuWPRx0yGYlf0fTBD_zdFwl0QewvwF9nSyfUw30gHqGefOOTWLzVPtJEV8-ZqyuMtuTHjPDwGA2-4nzsw6nOVRSeAoAtorjY5PCSNyFKI-F7wPTHChhYb7wQIVCRhTT1YeDkG3A4FUrypISoVksxm2Na0xu9uzgAewAY1NJ-mtoi94CimHBxpC-KogbpyZ1Z-kquMISMFe2QaNoEKxfpfjzhdglbvaE4OSi27YKWKjaCM0AX0DANSrpepT0pV-PEnblTN-_9VTuV7QnxPF0K_uOjSlR4dgxS6Tg8Zmf1yBm7CI3Bdb3GcOx1212xn4c2HaThUoGRi_KgtT1CzWWM8FAbxkCeBIE_QVkpMVzxLtQbgSwMnxg9P0ELlGq3YU52LO6uQU2Zb4wtEbNzkowHDEXSXjLEPj_nWx11t9DgaR2_rAkbtQaMVQSwpL5C3IFpBTgh7FtbOCLo9KQKSVODlFeT_nmyQEi68cOPHCoto7nwX3QU_cq52721XwGuk_ivTJ7JS0M2ZCjSA-2Y0et4lFqQX5c0FxunIPN0IJOZ8YCv0xZB4dSBwlinA7-OjKnPzs3Qu0VbR0LWiSDbd6iBAr4Vfptjf0gEf3I4HPFuuab0oJp9QQ9hk4-wJPqqRs6D6y-M4qJugDkfhyTQLSFjfgLeysK7nOn2jD99LIMEC37zch1srmhX8cs2wwadrThf20yKyFwXQtpd4RQM6vJn1_JE4fC0jKdtpPONPkd0VlvA08F0L1Ol2IFvyeYynT8HCaO2xksTx6s-geuzVXLxOQsD_-KMPK1z792U0pZKNLYrU4aQg8-q7DGTmZN5c_SlDzOY9TSC5ewPwdeLE1_gOkBCIYcJ3ERkY3qvzS2eUC4tT7rOJvQcCSmZDFGGykADAx91l8GrK5ysrNI7WHdQ3kPQJZqygkEmkEHkE-F7IlbU6SCVt-6k3kLPPtOSrEy0CoU61rLL4rYfkaVXst8ehEo2lZj5XzgAHy5oF82jy0vAhqBgHBBfTQKbv0uGaxcTzQK0QE_2D6g8TAQ6XwdXVf2XBDd22Tkmr5666Rgbs_6ptQsN0fwfAsnpWCil83rGk3Rjgngco7rhLyLAKBCZv5-7nbnpT6OM1BPB1Qeg5a8khCz75-lca6bRkEVlPDfaz_tnlvryzx3pE0CnrZrNRfHHqDDiy89Y_OWEULp7XMs5Dmcaip8WnDeuTmNMs2dAHA-9Bx_xpntyh_RrBHUgb7gHBhoGDYCv8rUkfekp3_nU227XAHtr84El4z4rjU16udw4Tl0XwqAAPTt3dp_LY6wKvTLr_dRsIVoImoFmsmTq8_xtaRKFbIrv_WPz4nntZu9sLa4oCh1qJ7wQnhBvOnstwiwa6P9M46qSjUvVUa2vAbA0iV7hmm1OGzWGvYPP6IoiECYAFLDt8LxjX7hqyoS8g_3riC2h8tZF8AjMtvpcLkVm6rchPQiB8Sssk_CCzrhOs5WZCH0b10X-EhNb1_4RFfRNAKCwy3gm_Hz4D1PUakW9wTvC6j7QXAIbrYdaB9z-yHp9Rc4NnBgj3JNzqxtr_3W9oT0sD5t10CpdyWmwWi3hD6Bi98F-Ys12vjj_LaEcDjaB6KLENCwObYtorUaSaHNo7rjjRu_oGCRQaUyBHksoDiIzWB-K35odNyfllUbAqaIU_kZ7VnaoPMsm1SnP0iKm1fuuewJy_YxCvLme25vz-JFjX8Ma2uIhyRgoBMFF4lphp0Qc0UMDMTMauekL0DxivNQ70EW5dnFs35OCapU5ZZyxx6eqMAmAb0_dJ6wvt6BJ39WJ4ZZ7ZesUap8uGfXQvm6qwUFMkkGgEQyWlb6AT53e2p67WBXKRgKEHUa9wforMNFBgmlfkS2uiDsNEq-FD-IUNpELUTVth3y0XfqXJ5kpFv46cBo5LONTKu1KJqbuoMN7s-f8RLGtTGCNqBxtbXrIhGF7-Swlhi2pze6A0cIcu1YbkMQxcDzsm9EDDjyvgRJ6uXZ_hmHJl_K0TwgK5f0Uq069oPFnY7oYOR-MatQTGx_Br3MpcZWZ9vZalqpWLnyh7izYB2hYjxrbQRQ8L8yLre-svye0ytdOhDGEzrEENf5jbO3zuhVvUfOn7I8sU-0HZnQFZOYgPYs_AABqubrDFWzwqcYz7uTMIlZ723S21haREVpIyMTuuFcwJDF1U7xtNoiFMxku4yTv3mPUbv-Sp3VZWTMFzV9iCOOLxp5JmXm4daCDM63cWaUJkqUR70XHACSlw7DaeozvnxIejtf907Fx7ZBh4bVISn6qpDMKSMINrGc7qZobAeIdgOb9SMPaIC7M6KiK7BQLkLxrPjdoktw_6kRY4hlApnQdIn7RnfBN0yLakt2QyH6DbPrnSNdJ7YjPhndwa9i_Rmt3zwQQDo7CBbAsxoj59ik4ewI22Lu_Zt0R43m2Xqd5L3635W42cP-reCOIFDIra5RrKa26KAGtVQvovxYZwSBVa6ZDd-eYScbaIjnIvyfTd5SqvjfbIaKy15Fq9QVARSFsDJPoKtw0tmBHANlCWgA_zav1J43G4u6aMaReeQeXxnBzm-cBF4jD1GULK_BRg-Rt1tMWAkZ3mxwvsE1pgAF8LV1RqUUJtPkYE_uUZiUFc_w5zE8CivAulwWMdL20UdQzwigkfYyQ-RLcn6dI2h0NE5G4payrOZDACuhOit6fyhtm7FRpr69HN0RBsf2J6RSYpSsGJbhgf8YtQr5KcaSVTSwwc9pm5yGJBh3ex86D2x0lYwZCU3EYEKzP_lhCAomoE6ykgVIjoiqYhegsCZWvGZ2exrlcpmJnfUiNYld74twMFOk0m2qGtRmIglCQvdYq2nxY=",
  "id": "rs_029389094824538a016ab2be23ea6887d0b53b4b749b1b6135",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.035,\"left_z\":0.015,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The overhead view does not confirm a stable stack, and the remaining bowl is closer to the base than my previous grasp points. I’ll correct the left approach toward the bowl’s center and keep the right arm clear.\"}",
  "call_id": "call_BqTQ7wiPEuKIHNpv9i9IMaus",
  "id": "fc_029389094824538a016ab2be33362c87d0956b81b0a6afeee4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BqTQ7wiPEuKIHNpv9i9IMaus",
  "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]: [-0.4206, 1.7309, 0.2276, 1.0931, -0.6189, -0.1024, 0.9962, 0.0185, 0.881, 0.77, -0.5495, 0.0765, -0.2676, 0.9961]\nstate[eef_state]: left_x=0.349 left_y=-0.0399 left_z=0.0471 left_yaw=0.1425 left_pitch=0.2294 left_roll=0.1602 left_gripper=0.9962 right_x=0.2968 right_y=-0.0044 right_z=0.1972 right_yaw=0.0868 right_pitch=-0.1091 right_roll=-0.2403 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -2.5094, 1.1829, 0.0122, 0.1929, -0.1148, -0.0171, -0.0889, -2.1265, 6.9402, 1.7705, -0.1001, -0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929e6e95aca8dd26d0274aa01d7827d7a3457161b6c018998572b8f70ca543fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3bc49b1155a7897d94db81c366e4e4c3a25d14d456be6ca7e52d32c6acecc93",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5c42cac86bc42113aed516f4db12452a5f0b9027665a78ff8c80187d432d1a2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 12.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2958, 1.536, 0.5117, 0.5312, -0.4992, -0.0341, 0.9963, 0.5026, 1.1301, 0.852, -0.4427, 0.4065, 0.0143, 0.9961]\nstate[eef_state]: left_x=0.3968 left_y=-0.0288 left_z=0.0913 left_yaw=0.1239 left_pitch=0.1246 left_roll=0.217 left_gripper=0.9963 right_x=0.3247 right_y=0.1029 right_z=0.188 right_yaw=0.1435 right_pitch=-0.1013 right_roll=-0.236 right_gripper=0.9961\nstate[joint_eff]: [-0.8547, -5.8325, 7.8427, 2.083, -0.232, -0.1197, -0.0171, -0.1983, -3.7402, 6.8855, 1.663, 0.1197, -0.0415, 0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr49nPwgNxALXDICIX9jIK0RXiyFciUUasOusOVi7umzbD2j8loSLYiNWV2yxA7eYIqS5DnatpjS5IMTRIfo0TzfF0Xz9g-K5hIghKqjdw25fzeAUC6fGtDZf8cou_oTrnrJ6rKkr5b-Rvq4bNfU0vUaKYETTRvI-f-ixwcECr7h7S6ZGg9Js1H3BTBY-nEnwvVGPgRKspQriqqaCqPgnxNAIig5TJX93aGx9U2uHtnxRgdgZQK-Op6CIMEASMVjIlAmoHyrgEEcEHEbJboEtnSgPU6JmuiE7DQ5YmEPD6gcPOpkrSkXf2MBVYR9emU99zYNhgO5VomZ6oI51m4xYuHOkuS1QuZCSFDixCYKieTVocCoLbNQSXIfY39sc5bg2dfjBhixxDB31fgQacjQ9Ve-4eKRfev_59WomINATM_3vXRxvYbCjaO8y91C4T66e_nfTEgIq_4UyW-UMR4bmdXJfi8r61hr3Cru5wq0A5NUov1KWBESn1gF656eB48cMEQzJXEFFGE1O6hswCE1NPLRgV0Z4Me9pBWP5wMptpsY-RSmBgOf6Ev5wQx9nsuF4rhpYWuEOYuF5MNKKw5pKj4NumfsfOzfYMaiLgz7E404RiHshYSYbMrYZzMAQpNuAxRSWDp4AXYxXoRvIJqB8db5L7e7Ei_E8mg8sHtLWptaOaPBzmUMikt5HPj_13ZYfdPqHCaLa9nB7RsDjSOOlRI5kUVXpXNsTBGK7sznU0YYaai1SfxzcUd-uPWs43DEW1RomDGnRmgdmwJ1eTsLMa6d6Wx1c2Um-CgOGvZSzSwB9zeQrkXjMBaupoqTnjBWTexwvbfG5yIQzFjJimrWrPqtRv8ZuBvJlir0eZ7_8PjGSej1t8dlH-Kehtip-zzsp3Z0x-lMGu5VpfB_1evg13s0-17BgTsMe4klMNaE02Wqn1iw-bOuk_vK6iTrXrtU77sXKgMLY5_ymhjlISptcWRvj1GJe5EJ5a9wFmBR55UWki2iCzGJGeTrP3US73Y-0bRqVoAMRDqwsLMOdrTAj1oXVIld9-VRajjexitF3SHCLxSec48csluYa2irWEnzKqFarD5miEDzUdENSIAuP1xafo3zkPOSXWoeRKZNZzisrSo_PPNSdaJvscSSn7zc6OfgxhPEwXFXzIJb3Uc0s6BztMm4VQW9KlSCWVtXFKaQFWsbBSIHgC7CLPHOBZT5RHTWgcWnsqOqEXPnsAiGFDG_ENCjNnQoBdmTVG4862a8n4p0ht8CcFG2rJ4bj0MW_GI-VpdLpH-ECLaA8eQKQdQEuJr9wIP4A80aP-A0X1l0XDfxKcaJQozJYW38wdivQM3j4meCn7KZtv02kFfdn6_iSyMGA20Vb661YxEvtEg05nTBTfFcvDAa_OqUmEiMm0b-27ZYaLuDM7dRJA0djc220ZMgRSXOtTqhWwnk7hzho8i2-HTvSOGBBrRyiFJLDl98N31o7dVycR726jsqICy07zDEXSrhE4kzwKri5MLH6Z6mE0djB0XNqma6XE1G5Iu5c2qxoQmd1ciYTiRa8XaQKrgVFM9o02Braa_vEk7-eBiCwiegjBfpyEJZ3fgwOLtye7E-XrcvOBF96uRz-BwPdCTfMkCAfRPICLdgJJLQGcLL1dlAMgUURW3zJQSu0EaTsjv-v-WCYZxfHhlcRlfRn8GIp8629IpL_rnpg7K_tKoe2RRK4HV143PCG49qcx2_O4G9K7uyjxGuTU6rMmNs2PHZx88Ca2Oj0k5j84vo_B57MwIcmZ85U0PDSS6UY63p",
  "id": "rs_029389094824538a016ab2be38455487d0a0da009a528301c6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The descent stopped at the bowl’s rim, and the opening is now clearly between the fingers. I’ll close at this corrected position.\"}",
  "call_id": "call_nWiFFTjEIHhc9KyjowyhNKal",
  "id": "fc_029389094824538a016ab2be3ca6c087d0bbe5654f19091050",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nWiFFTjEIHhc9KyjowyhNKal",
  "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]: [-0.4244, 1.7374, 0.2184, 1.103, -0.6254, -0.1089, 0.0094, 0.0177, 0.8848, 0.77, -0.5724, 0.0662, -0.2859, 0.9961]\nstate[eef_state]: left_x=0.3463 left_y=-0.0391 left_z=0.0448 left_yaw=0.1469 left_pitch=0.2266 left_roll=0.1594 left_gripper=0.0094 right_x=0.2937 right_y=-0.0029 right_z=0.1917 right_yaw=0.1047 right_pitch=-0.1376 right_roll=-0.246 right_gripper=0.9961\nstate[joint_eff]: [0.2667, -5.9282, 3.8769, 1.6972, -0.0757, 0.0317, 0.569, -0.1162, -1.9624, 6.8718, 1.8584, 0.0855, 0.1587, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6081b4a038a9c09a06c66965ebf034182b03137daf42664f302298906bf273b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c176b8964935fc9499a2fd9999e9dab6c67704f0bd32c60064b8fd7ad3d738f4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:88ca13c0833142d7acdf3ca0dcd26ae4a00022207af6f398d070b8e6c428ab88",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 6.937 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 113 changed as sent

message 113 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4206, 1.7309, 0.2276, 1.0931, -0.6189, -0.1024, 0.9962, 0.0185, 0.881, 0.77, -0.5495, 0.0765, -0.2676, 0.9961]\nstate[eef_state]: left_x=0.349 left_y=-0.0399 left_z=0.0471 left_yaw=0.1425 left_pitch=0.2294 left_roll=0.1602 left_gripper=0.9962 right_x=0.2968 right_y=-0.0044 right_z=0.1972 right_yaw=0.0868 right_pitch=-0.1091 right_roll=-0.2403 right_gripper=0.9961\nstate[joint_eff]: [-0.3624, -2.5094, 1.1829, 0.0122, 0.1929, -0.1148, -0.0171, -0.0889, -2.1265, 6.9402, 1.7705, -0.1001, -0.0366, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr5La7DmRUnpj6HCA6v_CwlvXjkWMSLDWEYZe8hYbYHWujZz670wNtQfxlUdjb3s2ejjQlZGbqKvpknyFUesmOrzvMyJ4-Mb7OMKFuYNGH_TkRMIUheCjCCTkaHSr0EOBtDNn8xV-nuNbQZ_7aDdcRqnfGLSnfOQidPyBFX3QSETP5xyDin0lBPi7BVTMlyZ1YA6mSaMN-qOLM0iY3Pg6OM4FMI9xcR4oF_dM_rOxNM3oBbSsF6JMfXBFIPUHVJnjL1xBDbtVl4Wb6G1PgVZ-8re_EPjjSekj4Xv63wGdWFsq6I3tyv_kS3PzCBvKM1M2WobWaJHGJCrn8zXu6Jly0bnMQyk2GS4_M0S_gMyijbTS-kdXO3NHOAzHh8CZTnig8GlMZXXTnY73wyCv9Pag-iDuXb5jH094vohLD5Lv6xRWqn9WgWassss9Lrxr-_kifqQAagTQBCA-YP02ZIeZH5j-bU2pQN-Q_eLB5-1tj8uB9NiIWIqQB529qyxahAcScjjE8dxRKLoZCtjlmWlDsq1G7vQFaB2h46asb700MLFvfzjcNKD3D8QzD-bp0JGlSmc4xuMax_1BdK6_zDfd7IOUJxKGVzlpHVS-AHL8uQIlhuk9cd7E7RBNsa4xPe5PrLJD59JOGz4cJ1hLEPMZOxvG8LdQ-kKpyY809M_7PqDbh5Yr7Db4nvx669RxNtxT0IMDIYSe1VBQZKX5UICIZB0qVO9hzfDHaaUWsKQUGTiQh1ZeojxYT3Hj6d5dEySgGoqfJTM_9Yo7_zwqPX2pN8F_YGwMpN8OFHoAisTH7UCY7jSvm8dGhlJsp4JDcnOwz7o8wGgQVomB89XEwhAatNlMzrPNlaFKO6abYd0K-grenjhkS_eYnI-fMscNxtAWCysBTsNe73seJWA2x5-jRWMw7X2e0TXiMtbUgjHPkIkHyS5C6RpoWfp37BhBukgDqiznFhoBZ5QNUVMVqWcWkxC8K6vApRqDRnrgtELb2gkJt194SbjjOTosiIJE5Zl-5p6fPYc6aFk-rLp66ep0LmdLEdMsFLWdOKf-jF1MOOhUiymRS_UVGvm5TWiuUh9TnmHRduRHtzPid5Bc3wcw9LvqDNPCGzrMtBMHnlX8o5z-a9KVsW-esdaahe_R41-OhZ199dm_5lP0O7DbQmg38rV7YCizBoLQsq4BrqEPhh9cOvs7b1XqGIjVHbreiY0xIxLk0c2uzMRDGooRTC1ngrS2M_rEV7hovPtnubf33y9guYpDaku_Wnw8jvDerQqJAGOUE_9DVqVxk_DM9NwM_k_JzmlpYOiNJd6jK53yK4WeDbhEnTwIOb-FHztAZT1nFsNu1UdsAYqX70Kizcn9qtCKPKhFGmWsLGX8_rMZhCU6rrWpDZHXYbeYYeg6i0m7jxva_pR158k2t81-kgYAHgo8qN6W0f6g4lZUCn7fRsvDQGwBKgxiD08GNdLv6BwSTyPB1-dVdrikSpYBXZ5yJyYfsTf6F2NqumH_PsMYGSc0paTQyDvGHEe2xC4cMwMBePO-DoCQBZx0MKcor-3PpG5HvrfxHCmGkB6Eq63YyoXYzJHBuS_yvTkJfHDTuMj3AGIuCMY9xF_PyKbUTw289rZtNleniy-zsoUH46oKFD2_PtdN4gTmhD7A8FiTwp2BwP0c23qktd9kCMLnPeTuZIP7zwfnHElWQxOLMO1YRrV6_2X2Jn8BDifvbRfGA1_COrepPPXNM-xprpGtEowkoWbyk0kV2xsbRbZqkHlB0yoOrP8oLC7MVwEJa4oYKgp1mb4R2w8e2iWlAZJk3pSa0_oEsUH9-o4K2BUcktKG5N-QEc8a0PeQCL5wRS-JRk1j8Peua72g8EyfH_6DbKbQ1dTHaNpD2buqiU1d4xsJAa7DOYG0naefXVaqPvga_6KgLM17MOZ9BBffN3XMn-XAY0zCA9t6pPaGIHmYi4hI8hsiof0z4eNwwY8gCTjhsMKjTThJfBA3Ry6_A4ocQZTntGV1hfv01RYLEK-1o0gpoqOsqdsi48k1RUT6rhmyhtcX2p1xPvy2w2QD9StYf_T3E1c_5Hrdk0JyLC5gjB6vvzfUerffGBVF5af6cBRuBTXIg0EWWkixQYGU2lvNIF5WLbVjXFGuUQe5dma6wddF4LCKg_Sm2-geE2HG1feaErqGU1ucTIhTabmRMrEyScBvRWJnsq41z0FsU7R33onr4lbBXOf0uHAZ-dgNQ4QlxyUiGFD_MjY86HgEYD3_xU-lCPLAVfjCTLUzuWwYtuqi1M4wBHsbDCxco_GiOYKFyPl0jDKUAcZJyRJJ02BRrlh5l9x-g==",
  "id": "rs_029389094824538a016ab2be422eb887d0b89c8f24c247cdd0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_z\":0.2,\"left_x\":0.295,\"left_y\":0,\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2},\"note\":\"The fingers closed inside the bowl without securing its rim. I’ll open and withdraw both arms; I cannot confirm a stack and will stop rather than keep shifting the bowls with unreliable grasps.\"}",
  "call_id": "call_PR1mrWrga2iCIRCmqLVwk10P",
  "id": "fc_029389094824538a016ab2be49358087d085f8b8beac6afd4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_PR1mrWrga2iCIRCmqLVwk10P",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3256, 0.7403, 0.4278, -0.0422, -0.5468, -0.0818, 0.9954, 0.0326, 0.897, 0.7704, -0.601, 0.0696, -0.2874, 0.9961]\nstate[eef_state]: left_x=0.2997 left_y=-0.0004 left_z=0.1953 left_yaw=0.1721 left_pitch=0.2621 left_roll=0.1274 left_gripper=0.9954 right_x=0.29 right_y=0.0008 right_z=0.1832 right_yaw=0.118 right_pitch=-0.1783 right_roll=-0.2459 right_gripper=0.9961\nstate[joint_eff]: [0.294, -0.9915, 9.5385, 1.6435, -0.0122, 0.1294, -0.0952, 0.2256, -1.2376, 10.0581, 1.619, 0.1148, 0.0952, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1bc1aad588fc64d1efb08d0dc538692fa2d603c5ae4b815cabfd268f7820fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4156b8b532ad30aa34cfe439041b2e2e616113c9c6ad3ed0006ff2b6b190c14b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a64ee9c7d63b43acb91497ec23cd7b740e884bca52bc1568425bbd5919f26565",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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