adhoc

completed
2026-09-22T17:25:29.152732+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
247.9 s
total steps
370
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThere are three separate bowls, with the blue bowl in the middle. I’ll approach the left bowl and grasp one edge so it can be nested into the middle bowl.
move_to
left_x0.3500left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0227, -0.0406, 0.9939, -0.0181, 0.7933, 0.6033, -0.3782, -0.0143, -0.033, 0.9993] state[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9939 right_x=0.2949 right_y=0.0008 right_z=0.1802 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.5128, -1.5795, 9.8667, 1.8437, -0.0269, 0.2271, -0.4322, -0.7726, -1.4291, 10.1538, 1.9072, -0.1197, 0.1392, -0.0904] 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":0.35,"left_y":-0.14,"left_z":0.15,"left_gripper":1},"note":"There are three separate bowls, with the blue bowl in the middle. I’ll approach the left bowl and grasp one edge so it can be nested into 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 left bowl is visible just ahead of the fingertips. I’m shifting toward its right-hand rim and lowering the open jaws to straddle that edge.
move_to
left_x0.3900left_y-0.1650left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6167, 1.2945, 0.7132, -0.1478, -0.4877, -0.3836, 0.9939, -0.0196, 0.7975, 0.6056, -0.3889, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3391 left_y=-0.1345 left_z=0.1311 left_yaw=-0.0267 left_pitch=-0.063 left_roll=0.0312 left_gripper=0.9939 right_x=0.294 right_y=0.0007 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0126 right_roll=0.0005 right_gripper=0.9992 state[joint_eff]: [-0.4034, -5.135, 9.1692, 1.6777, -0.2759, 0.0317, -0.3639, 0.1162, -1.5658, 6.9812, 1.7998, -0.022, -0.0659, -0.022] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.165,"left_z":0.065},"note":"The left bowl is visible just ahead of the fingertips. I’m shifting toward its right-hand rim and lowering the open jaws to straddle that edge."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe open jaws are positioned across the near-right edge of the bowl. I’ll close on the rim before testing a small lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6067, 1.6531, 0.7227, 0.0994, -0.4801, -0.3893, 0.9936, -0.0196, 0.8024, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3682 left_y=-0.1519 left_z=0.0471 left_yaw=-0.0135 left_pitch=-0.1503 left_roll=0.0794 left_gripper=0.9936 right_x=0.2935 right_y=0.0008 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.3761, -7.5282, 8.4308, 1.8291, -0.1392, 0.1343, -0.0415, -0.0615, -1.6342, 7.3094, 1.7314, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The open jaws are positioned across the near-right edge of the bowl. I’ll close on the rim before testing a small lift."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe gripper closed almost completely, so the first attempt likely missed the rim. I’ll reopen and move two centimetres farther forward to bring the edge between the fingertips.
move_to
left_gripper1.0000left_x0.4080left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6071, 1.6714, 0.7273, 0.0952, -0.4843, -0.3897, 0.0215, -0.02, 0.8043, 0.6037, -0.3931, -0.0162, -0.0341, 0.9992] state[eef_state]: left_x=0.368 left_y=-0.1511 left_z=0.0416 left_yaw=-0.0089 left_pitch=-0.1634 left_roll=0.0919 left_gripper=0.0215 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0003 right_pitch=-0.0255 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [0.0068, -8.5128, 5.5316, 1.453, -0.2564, -0.0269, 0.9206, -0.0479, -1.2786, 7.0496, 1.7363, -0.0366, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.408,"left_z":0.065},"note":"The gripper closed almost completely, so the first attempt likely missed the rim. I’ll reopen and move two centimetres farther forward to bring the edge between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteThe bowl’s right rim now lies between the open jaws. I’m lowering slightly so the fingertips grip below the lip rather than above it.
move_to
left_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5404, 1.7149, 0.8677, 0.0036, -0.4427, -0.3534, 0.9932, -0.02, 0.8043, 0.6037, -0.3927, -0.0162, -0.0341, 0.9992] state[eef_state]: left_x=0.3991 left_y=-0.147 left_z=0.0579 left_yaw=0.0057 left_pitch=-0.1777 left_roll=0.0896 left_gripper=0.9932 right_x=0.2937 right_y=0.0006 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9992 state[joint_eff]: [0.4308, -6.735, 8.6222, 1.4628, -0.1294, 0.1294, -0.4908, -0.0068, -1.0872, 7.0222, 1.707, -0.0073, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.035},"note":"The bowl’s right rim now lies between the open jaws. I’m lowering slightly so the fingertips grip below the lip rather than above it."})
tool
executing move_to over 2 steps (0.2s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe fingertips are at rim height, with one inside the bowl and one outside. I’ll close for the second grasp attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5396, 1.7435, 0.8516, 0.0582, -0.4435, -0.3565, 0.9935, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.4014 left_y=-0.1479 left_z=0.0492 left_yaw=0.0078 left_pitch=-0.1688 left_roll=0.0826 left_gripper=0.9935 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.3761, -6.3795, 4.8068, 1.3455, -0.1929, -0.0269, 0.0171, -0.0889, -1.306, 7.1179, 1.7118, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are at rim height, with one inside the bowl and one outside. I’ll close for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe jaws appear to have pinched the thin rim, though the opening is small. I’ll make a short vertical lift and check whether the bowl follows.
move_to
left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5404, 1.7519, 0.8349, 0.0624, -0.4664, -0.3565, 0.0391, -0.02, 0.8043, 0.6037, -0.3935, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3976 left_y=-0.1417 left_z=0.0419 left_yaw=0.0267 left_pitch=-0.1776 left_roll=0.1086 left_gripper=0.0391 right_x=0.2936 right_y=0.0006 right_z=0.1742 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [0.0342, -7.9795, 7.0359, 1.2967, -0.0708, 0.0562, 0.9451, -0.212, -1.2923, 7.0085, 1.6777, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.115},"note":"The jaws appear to have pinched the thin rim, though the opening is small. I’ll make a short vertical lift and check whether the bowl follows."})
tool
executing move_to over 5 steps (0.5s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe left bowl rose with the gripper, confirming a rim grasp. I’ll lift it clear of the other bowls before moving sideways.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5385, 1.6386, 0.9581, -0.1959, -0.466, -0.3641, 0.0392, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3962 left_y=-0.14 left_z=0.0929 left_yaw=0.0347 left_pitch=-0.1955 left_roll=0.1146 left_gripper=0.0392 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.253, -9.4564, 8.4718, 1.4432, -0.2808, 0.0269, 1.0281, -0.0752, -1.1692, 7.0222, 1.7118, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.20},"note":"The left bowl rose with the gripper, confirming a rim grasp. I’ll lift it clear of the other bowls before moving sideways."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe lifted bowl is clear of the table. I’ll carry it over the blue bowl, keeping the rim grasp offset from the bowls’ centers.
move_to
left_x0.3900left_y-0.3400left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5404, 1.5742, 1.2541, -0.5724, -0.4656, -0.3679, 0.0405, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3988 left_y=-0.1426 left_z=0.1785 left_yaw=0.0363 left_pitch=-0.2089 left_roll=0.1204 left_gripper=0.0405 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.0479, -9.4564, 9.1556, 1.3553, -0.2125, 0.022, 1.0281, -0.1299, -1.2923, 7.4051, 1.6972, -0.0464, -0.0659, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.34,"left_z":0.2},"note":"The lifted bowl is clear of the table. I’ll carry it over the blue bowl, keeping the rim grasp offset from the bowls’ centers."})
tool
executing move_to over 18 steps (1.8s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe carried bowl is above the blue bowl but slightly to its left. I’ll correct that small offset while lowering toward the nesting position.
move_to
left_x0.3900left_y-0.3550left_z0.1000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9318, 2.1452, 2.0823, -1.0496, -0.6537, -0.7635, 0.0443, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3901 left_y=-0.3389 left_z=0.1896 left_yaw=0.0243 left_pitch=-0.2306 left_roll=0.1077 left_gripper=0.0443 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992 state[joint_eff]: [-0.4855, -12.0274, 8.4991, 0.7399, -0.6716, 0.0757, 0.6667, -0.0752, -1.2786, 7.0632, 1.7265, -0.0611, -0.0806, -0.0122] camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.39,"left_y":-0.355,"left_z":0.1},"note":"The carried bowl is above the blue bowl but slightly to its left. I’ll correct that small offset while lowering toward the nesting position."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe bowl is centered over the receiving bowl and close to its rim. I’ll lower gently until the bowls meet.
move_to
left_z0.0550
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9466, 2.1864, 1.8313, -0.8059, -0.6514, -0.7761, 0.0443, -0.02, 0.8097, 0.601, -0.411, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.386 left_y=-0.3466 left_z=0.1056 left_yaw=0.025 left_pitch=-0.2591 left_roll=0.1386 left_gripper=0.0443 right_x=0.2911 right_y=0.0007 right_z=0.168 right_yaw=0.0007 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.9992 state[joint_eff]: [-0.6085, -11.1932, 6.2427, 0.9499, -0.4811, -0.1636, 0.823, -0.1983, -1.7299, 7.241, 1.8926, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.055},"note":"The bowl is centered over the receiving bowl and close to its rim. I’ll lower gently until the bowls meet."})
tool
executing move_to over 4 steps (0.4s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe carried bowl is seated against the blue bowl. I’ll release the rim so it can settle into the stack.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9493, 2.2181, 1.7042, -0.6754, -0.6441, -0.783, 0.0475, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3807 left_y=-0.3432 left_z=0.0584 left_yaw=0.0288 left_pitch=-0.2799 left_roll=0.1541 left_gripper=0.0475 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992 state[joint_eff]: [0.0068, -11.6444, 6.735, 1.0672, -0.4029, 0.0464, 0.6081, -0.1026, -1.1692, 7.1726, 1.7021, -0.0757, -0.0464, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The carried bowl is seated against the blue bowl. I’ll release the rim so it can settle into the stack."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe first bowl has been released into the blue bowl. I’ll raise the empty gripper before moving it away from the stack.
move_to
left_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9485, 2.2219, 1.6958, -0.6384, -0.6479, -0.7826, 0.9933, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3841 left_y=-0.3464 left_z=0.0572 left_yaw=0.0256 left_pitch=-0.2631 left_roll=0.1351 left_gripper=0.9933 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992 state[joint_eff]: [-0.0479, -11.7949, 6.5573, 1.0476, -0.3736, 0.0024, -0.5104, -0.0479, -1.3197, 7.0085, 1.707, -0.0562, -0.0757, -0.0122] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.19},"note":"The first bowl has been released into the blue bowl. I’ll raise the empty gripper before moving it away from the stack."})
tool
executing move_to over 9 steps (0.9s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe empty left gripper is clear of the stack. I’ll park that arm to uncover the bowls and leave room for the right arm.
move_to
left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.9485, 2.207, 2.1437, -1.0893, -0.6415, -0.7937, 0.9928, -0.02, 0.8116, 0.5983, -0.4156, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.3867 left_y=-0.3516 left_z=0.1755 left_yaw=0.0256 left_pitch=-0.2606 left_roll=0.1138 left_gripper=0.9928 right_x=0.2901 right_y=0.0007 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0606 right_roll=0.0015 right_gripper=0.9992 state[joint_eff]: [-0.0752, -12.041, 8.7043, 0.8376, -0.4664, 0.0562, -0.0562, -0.2256, -1.4427, 7.2274, 1.6972, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The empty left gripper is clear of the stack. I’ll park that arm to uncover the bowls and leave room for the right arm."})
tool
executing move_to over 32 steps (3.2s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteTwo bowls are now nested in the middle, and the pink bowl remains on the right. I’ll approach the pink bowl with the right gripper.
move_to
right_x0.3500right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0367, 0.9596, -0.7757, -0.202, -0.0944, 0.9927, -0.02, 0.812, 0.5953, -0.4221, -0.0166, -0.0341, 0.9992] state[eef_state]: left_x=0.2971 left_y=0.0002 left_z=0.1972 left_yaw=0.0758 left_pitch=-0.2684 left_roll=0.108 left_gripper=0.9927 right_x=0.2888 right_y=0.0007 right_z=0.1626 right_yaw=0.0007 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9992 state[joint_eff]: [0.3214, -3.6171, 6.2974, 1.5409, -0.022, 0.1099, -0.0171, -0.3897, -1.3197, 7.2547, 1.7314, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.15,"right_z":0.15,"right_gripper":1},"note":"Two bowls are now nested in the middle, and the pink bowl remains on the right. I’ll approach the pink bowl with the right gripper."})
tool
executing move_to over 13 steps (1.3s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe pink bowl is centered ahead of the fingertips. I’ll move to its left rim and lower the jaws to straddle the edge.
move_to
right_x0.3800right_y0.1900right_z0.0600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0405, 0.9569, -0.7807, -0.1921, -0.0944, 0.9927, 0.5995, 1.335, 0.7948, -0.2573, 0.4339, 0.3317, 0.9993] state[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.194 left_yaw=0.0679 left_pitch=-0.2811 left_roll=0.1028 left_gripper=0.9927 right_x=0.3373 right_y=0.1449 right_z=0.1295 right_yaw=0.0427 right_pitch=-0.1391 right_roll=-0.0391 right_gripper=0.9993 state[joint_eff]: [-0.0615, -2.9197, 7.0632, 1.4579, -0.2222, -0.0317, -0.0073, 0.1846, -5.559, 9.347, 1.5214, 0.359, 0.1148, -0.0904] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.19,"right_z":0.06},"note":"The pink bowl is centered ahead of the fingertips. I’ll move to its left rim and lower the jaws to straddle the edge."})
tool
executing move_to over 5 steps (0.5s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteThe left edge of the pink bowl lies between the jaws at rim height. I’ll close on that thin edge.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0428, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6373, 1.692, 0.8101, -0.0319, 0.4488, 0.3485, 0.9992] state[eef_state]: left_x=0.2962 left_y=-0.0015 left_z=0.1933 left_yaw=0.0674 left_pitch=-0.2838 left_roll=0.1027 left_gripper=0.9927 right_x=0.3601 right_y=0.1757 right_z=0.0417 right_yaw=0.048 right_pitch=-0.2301 right_roll=-0.1004 right_gripper=0.9992 state[joint_eff]: [-0.1436, -2.8513, 6.694, 1.3944, -0.1294, -0.0464, -0.0122, 0.2667, -8.4444, 8.7043, 1.6142, 0.3199, 0.1392, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The left edge of the pink bowl lies between the jaws at rim height. I’ll close on that thin edge."})
tool
executing move_to over 10 steps (1.0s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteThe first close was empty, and the bowl shifted slightly to the right. I’ll reopen, advance two centimetres, and adjust toward the shifted rim.
move_to
right_gripper1.0000right_x0.4000right_y0.1750right_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6403, 1.7241, 0.8165, 0.0345, 0.4511, 0.3485, 0.0114] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3692 right_y=0.1835 right_z=0.0414 right_yaw=0.0541 right_pitch=-0.1952 right_roll=-0.0788 right_gripper=0.0114 state[joint_eff]: [-0.1709, -2.6598, 6.694, 1.3944, -0.105, -0.0317, -0.0073, -0.212, -8.841, 8.3897, 1.5653, 0.315, 0.2759, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.4,"right_y":0.175,"right_z":0.065},"note":"The first close was empty, and the bowl shifted slightly to the right. I’ll reopen, advance two centimetres, and adjust toward the shifted rim."})
tool
executing move_to over 10 steps (1.0s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe adjusted approach puts the left rim between the fingertips. I’ll lower just below its lip before closing again.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.569, 1.7302, 0.9012, -0.0551, 0.4023, 0.281, 0.9946] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3885 right_y=0.1706 right_z=0.0528 right_yaw=0.0566 right_pitch=-0.2276 right_roll=-0.101 right_gripper=0.9946 state[joint_eff]: [-0.1709, -2.5778, 6.653, 1.4335, -0.1148, -0.0513, -0.0073, -0.5538, -7.2, 8.9094, 1.4237, 0.105, 0.1832, 0.0562] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The adjusted approach puts the left rim between the fingertips. I’ll lower just below its lip before closing again."})
tool
executing move_to over 2 steps (0.2s)
step 181
top_cam
camera top_cam step 181
left_cam
camera left_cam step 181
right_cam
camera right_cam step 181
assistant
agent noteThe fingertips are now down beside the rim. I’ll close for the second grasp attempt.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5678, 1.7458, 0.889, -0.017, 0.403, 0.2764, 0.9955] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3903 right_y=0.1711 right_z=0.0479 right_yaw=0.0585 right_pitch=-0.2186 right_roll=-0.0997 right_gripper=0.9955 state[joint_eff]: [-0.2393, -2.7282, 6.8581, 1.3895, -0.1245, -0.0562, -0.0122, 0.0889, -6.4752, 4.9709, 1.619, 0.149, 0.0024, 0.0757] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now down beside the rim. I’ll close for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe jaws are nearly closed, but they appear aligned with the thin pink rim. I’ll use a short lift to determine whether the bowl is actually held before transporting it.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5671, 1.7706, 0.8665, -0.0246, 0.4068, 0.2657, 0.0229] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3816 right_y=0.1644 right_z=0.0294 right_yaw=0.054 right_pitch=-0.2657 right_roll=-0.1377 right_gripper=0.0229 state[joint_eff]: [-0.0068, -2.7282, 7.0085, 1.4481, -0.1392, -0.0415, -0.0073, -0.3214, -9.9624, 7.4325, 1.4481, 0.1587, 0.0904, 0.9988] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.11},"note":"The jaws are nearly closed, but they appear aligned with the thin pink rim. I’ll use a short lift to determine whether the bowl is actually held before transporting it."})
tool
executing move_to over 6 steps (0.6s)
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 moved upward with the gripper, confirming the thin-rim grasp. I’ll raise it to a safe carrying height.
move_to
right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.5678, 1.6474, 1.0088, -0.3199, 0.4026, 0.2604, 0.0282] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3779 right_y=0.1632 right_z=0.0872 right_yaw=0.0568 right_pitch=-0.2937 right_roll=-0.1534 right_gripper=0.0282 state[joint_eff]: [-0.0889, -2.4274, 6.6667, 1.4188, -0.1099, -0.0415, -0.0122, -0.4171, -9.265, 9.0188, 1.3944, 0.188, 0.0171, 1.0232] 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_z":0.21},"note":"The pink bowl moved upward with the gripper, confirming the thin-rim grasp. I’ll raise it to a safe carrying height."})
tool
executing move_to over 8 steps (0.8s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe pink bowl is clear of the table and the existing stack. I’ll carry it leftward over the two nested bowls.
move_to
right_x0.4000right_y0.3750right_z0.2100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5674, 1.6024, 1.3777, -0.7673, 0.387, 0.2565, 0.0297] state[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3783 right_y=0.1663 right_z=0.1843 right_yaw=0.0658 right_pitch=-0.3297 right_roll=-0.1612 right_gripper=0.0297 state[joint_eff]: [-0.1299, -2.6872, 6.7214, 1.3895, -0.1343, -0.0415, -0.0122, -0.3214, -9.4427, 9.2513, 1.4188, 0.3248, 0.0122, 1.033] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.375,"right_z":0.21},"note":"The pink bowl is clear of the table and the existing stack. I’ll carry it leftward over the two nested bowls."})
tool
executing move_to over 18 steps (1.8s)
step 223
top_cam
camera top_cam step 223
left_cam
camera left_cam step 223
right_cam
camera right_cam step 223
assistant
agent noteThe pink bowl is above the stack, with its center close to the bowls below. I’ll lower it carefully while making a small forward-back alignment correction.
move_to
right_x0.3900right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9138, 2.5381, 2.8128, -1.4487, 0.5243, 0.5667, 0.0314] state[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3988 right_y=0.3782 right_z=0.1805 right_yaw=0.0954 right_pitch=-0.3705 right_roll=-0.1811 right_gripper=0.0314 state[joint_eff]: [-0.1709, -2.865, 6.653, 1.4286, -0.1636, -0.0757, -0.0122, -0.0752, -14.0103, 6.8855, 0.5397, 0.5495, 0.0806, 0.9109] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_z":0.11},"note":"The pink bowl is above the stack, with its center close to the bowls below. I’ll lower it carefully while making a small forward-back alignment correction."})
tool
executing move_to over 5 steps (0.5s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
assistant
agent noteAs the bowl descends, it appears slightly left and forward of the stack, and the arm is not fully tracking the target. I’ll shorten the reach and shift right a little to align the bowls without forcing the arm.
move_to
right_x0.3650right_y0.3550right_z0.0750
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.9287, 2.8082, 3.1165, -1.5547, 0.5159, 0.577, 0.0354] state[eef_state]: left_x=0.2964 left_y=-0.0016 left_z=0.1926 left_yaw=0.0675 left_pitch=-0.2864 left_roll=0.1033 left_gripper=0.9927 right_x=0.3999 right_y=0.3952 right_z=0.118 right_yaw=0.0871 right_pitch=-0.4241 right_roll=-0.227 right_gripper=0.0354 state[joint_eff]: [-0.2256, -2.7282, 6.7761, 1.4383, -0.105, -0.0415, -0.0122, 0.6085, -14.2838, 7.241, 1.0916, 0.3639, 0.1294, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.355,"right_z":0.075},"note":"As the bowl descends, it appears slightly left and forward of the stack, and the arm is not fully tracking the target. I’ll shorten the reach and shift right a little to align the bowls without forcing the arm."})
tool
executing move_to over 4 steps (0.4s)
step 232
assistant
agent noteThe arm has reached an awkward joint configuration and is stopping short of the requested position. I’ll adjust the wrist tilt and raise slightly to recover a controllable placement pose.
move_to
right_x0.3650right_y0.3550right_z0.1100right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9371, 2.8384, 3.1172, -1.557, 0.5125, 0.5858, 0.0376] state[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3958 right_y=0.3985 right_z=0.1016 right_yaw=0.0815 right_pitch=-0.4464 right_roll=-0.2455 right_gripper=0.0376 state[joint_eff]: [-0.2256, -2.2496, 6.694, 1.3846, -0.149, -0.0415, -0.0073, 0.8, -13.3128, 7.3094, 0.7985, 0.3053, 0.1636, 0.5201] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.365,"right_y":0.355,"right_z":0.11,"right_pitch":0.2,"right_roll":0},"note":"The arm has reached an awkward joint configuration and is stopping short of the requested position. I’ll adjust the wrist tilt and raise slightly to recover a controllable placement pose."})
tool
executing move_to over 22 steps (2.2s)
step 254
assistant
agent noteThe wrist adjustment displaced the held bowl away from the stack rather than improving alignment. I’ll retreat upward and inward to get the elbow away from its limit before another placement approach.
move_to
right_x0.2800right_y0.2500right_z0.2700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0473, 0.9497, -0.8284, -0.2489, -0.1188, 0.9927, 1.0386, 2.9036, 3.1214, -0.9836, 0.8646, 0.5457, 0.0375] state[eef_state]: left_x=0.2863 left_y=0.0141 left_z=0.1838 left_yaw=0.1504 left_pitch=-0.3292 left_roll=0.1465 left_gripper=0.9927 right_x=0.4355 right_y=0.4817 right_z=0.1579 right_yaw=0.0537 right_pitch=0.1006 right_roll=-0.0558 right_gripper=0.0375 state[joint_eff]: [-1.5658, -2.8513, 7.1863, 1.917, 0.4567, 0.3248, -0.0122, 2.5094, -13.135, 7.9111, 1.6777, 0.7009, -0.0904, 0.4127] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.28,"right_y":0.25,"right_z":0.27},"note":"The wrist adjustment displaced the held bowl away from the stack rather than improving alignment. I’ll retreat upward and inward to get the elbow away from its limit before another placement approach."})
tool
executing move_to over 20 steps (2.0s)
step 274
assistant
agent noteThe bowl is secure and the elbow has moved away from its stop, although the arm rose higher than requested. I’ll approach the stack again from this shorter-reach position.
move_to
right_x0.3400right_y0.3500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0527, 0.9485, -0.8322, -0.255, -0.128, 0.9927, 1.0851, 2.1761, 2.7796, -1.3746, 0.8894, 0.617, 0.0405] state[eef_state]: left_x=0.2857 left_y=0.0152 left_z=0.1816 left_yaw=0.1618 left_pitch=-0.337 left_roll=0.1483 left_gripper=0.9927 right_x=0.3366 right_y=0.3515 right_z=0.3913 right_yaw=0.0453 right_pitch=0.1136 right_roll=-0.0053 right_gripper=0.0405 state[joint_eff]: [-0.3214, -3.1658, 6.6803, 1.4237, -0.0757, 0.022, -0.0073, 0.9094, -16.6085, 8.0615, 2.381, 0.4908, 0.0806, 0.5641] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.35,"right_z":0.2},"note":"The bowl is secure and the elbow has moved away from its stop, although the arm rose higher than requested. I’ll approach the stack again from this shorter-reach position."})
tool
executing move_to over 13 steps (1.3s)
step 287
assistant
agent noteThe right arm is moving upward instead of following the descent, so I won’t continue lowering over the stack. I’ll return toward its normal working area while keeping the bowl grasped.
move_to
right_x0.2950right_y0.0000right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0531, 0.9485, -0.833, -0.2554, -0.128, 0.9927, 1.079, 1.8534, 2.4042, -0.989, 0.8757, 0.6064, 0.0402] state[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.1814 left_yaw=0.1622 left_pitch=-0.3381 left_roll=0.149 left_gripper=0.9927 right_x=0.3228 right_y=0.3229 right_z=0.4673 right_yaw=-0.0014 right_pitch=0.2716 right_roll=0.2842 right_gripper=0.0402 state[joint_eff]: [-0.0068, -2.7419, 6.7761, 1.3651, -0.1538, -0.0269, -0.0122, -0.1846, -6.8308, 5.641, 2.3761, 0.1832, -0.0317, 0.3346] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.295,"right_y":0,"right_z":0.2,"right_pitch":0,"right_roll":0,"right_yaw":0},"note":"The right arm is moving upward instead of following the descent, so I won’t continue lowering over the stack. I’ll return toward its normal working area while keeping the bowl grasped."})
tool
executing move_to over 27 steps (2.7s)
step 314
assistant
agent noteReturning home restored normal tracking, and the pink bowl is still held. I’ll make one shorter-reach approach above the stack with the wrist returned to its starting orientation.
move_to
right_x0.3500right_y0.3500right_z0.1600right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0565, 0.9478, -0.833, -0.2554, -0.128, 0.9927, 0.0032, 0.8131, 0.691, -0.4957, 0.0494, 0.0216, 0.0396] state[eef_state]: left_x=0.2857 left_y=0.0153 left_z=0.1802 left_yaw=0.1627 left_pitch=-0.3421 left_roll=0.1502 left_gripper=0.9927 right_x=0.2901 right_y=-0.0042 right_z=0.1909 right_yaw=-0.0618 right_pitch=-0.0488 right_roll=0.0085 right_gripper=0.0396 state[joint_eff]: [-0.0615, -3.0427, 6.653, 1.3504, -0.1148, -0.0513, -0.0122, -0.1299, -2.0171, 7.7607, 2.0391, -0.1099, -0.1343, 0.7057] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.35,"right_z":0.16,"right_pitch":0,"right_roll":0},"note":"Returning home restored normal tracking, and the pink bowl is still held. I’ll make one shorter-reach approach above the stack with the wrist returned to its starting orientation."})
tool
executing move_to over 30 steps (3.0s)
step 344
assistant
agent noteThe arm is tracking normally again. The pink bowl is slightly right and short of the stack, so I’ll correct that alignment as I lower it into the top bowl.
move_to
right_x0.3950right_y0.3650right_z0.0650right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 1.0473, 1.9602, 1.5139, -0.5499, 0.8162, 0.7784, 0.0416] state[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.18 left_yaw=0.163 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3438 right_y=0.3454 right_z=0.1443 right_yaw=-0.0273 right_pitch=-0.0449 right_roll=-0.0343 right_gripper=0.0416 state[joint_eff]: [-0.0068, -2.7282, 6.5983, 1.3065, -0.1441, -0.0366, -0.0073, 0.294, -10.9197, 8.7179, 1.0867, 0.7204, 0.0904, 0.6325] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.395,"right_y":0.365,"right_z":0.065,"right_pitch":0,"right_roll":0},"note":"The arm is tracking normally again. The pink bowl is slightly right and short of the stack, so I’ll correct that alignment as I lower it into the top bowl."})
tool
executing move_to over 6 steps (0.6s)
step 350
assistant
agent noteThe pink bowl is seated on the stack and aligned with the rims below. I’ll release it gently.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 0.9825, 2.1704, 1.4769, -0.2527, 0.7853, 0.6842, 0.0424] state[eef_state]: left_x=0.2856 left_y=0.0152 left_z=0.18 left_yaw=0.1626 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3838 right_y=0.3568 right_z=0.0614 right_yaw=-0.0215 right_pitch=-0.0439 right_roll=-0.0554 right_gripper=0.0424 state[joint_eff]: [-0.1299, -2.7556, 6.5846, 1.3162, -0.1587, -0.0464, -0.0122, -0.841, -11.3026, 6.8581, 1.4676, 0.315, 0.1978, 0.7302] camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pink bowl is seated on the stack and aligned with the rims below. I’ll release it gently."})
tool
executing move_to over 10 steps (1.0s)
step 360
assistant
agent noteThe pink bowl has been released. I’ll lift the empty jaws away to verify that all three bowls remain nested.
move_to
right_z0.1900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1158, 1.0569, 0.9478, -0.8337, -0.2554, -0.128, 0.9927, 0.9813, 2.1788, 1.4769, -0.2577, 0.7765, 0.6769, 0.9954] state[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.18 left_yaw=0.1628 left_pitch=-0.3432 left_roll=0.1505 left_gripper=0.9927 right_x=0.383 right_y=0.3564 right_z=0.0559 right_yaw=-0.014 right_pitch=-0.0574 right_roll=-0.0687 right_gripper=0.9954 state[joint_eff]: [-0.0889, -2.5778, 6.9812, 1.3211, -0.149, -0.0073, -0.0122, -0.2803, -12.6701, 6.065, 1.2283, 0.3785, -0.0024, -0.188] camera 'top_cam' (step 360): [image omitted: streamed camera frame] camera 'left_cam' (step 360): [image omitted: streamed camera frame] camera 'right_cam' (step 360): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.19},"note":"The pink bowl has been released. I’ll lift the empty jaws away to verify that all three bowls remain nested."})
tool
executing move_to over 9 steps (0.9s)
step 369
assistant
agent noteStacked the three bowls together, with the pink bowl on top, and lifted the gripper clear.
done
hindsightThin bowl-rim grasps can read only 0.02–0.04 yet still hold; confirm by a short lift and object motion. Explicitly resetting pitch and roll to zero restored normal tracking after accumulated wrist tilt and an elbow-limit configuration caused large Cartesian errors. For this stack, the successful right-arm placement was near x=0.395, y=0.365, z=0.065 with pitch and roll zero.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1162, 1.0569, 0.9478, -0.8337, -0.2554, -0.128, 0.9927, 0.9813, 2.1017, 1.792, -0.6903, 0.7685, 0.6758, 0.9964] state[eef_state]: left_x=0.2856 left_y=0.0152 left_z=0.18 left_yaw=0.1624 left_pitch=-0.3432 left_roll=0.1505 left_gripper=0.9927 right_x=0.3836 right_y=0.3592 right_z=0.1564 right_yaw=-0.0111 right_pitch=-0.0851 right_roll=-0.1 right_gripper=0.9964 state[joint_eff]: [-0.3487, -2.7282, 6.6393, 1.3114, -0.1148, -0.0366, -0.0122, -0.3761, -14.8034, 8.8, 1.1551, 0.4371, -0.0171, 0.0952] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked the three bowls together, with the pink bowl on top, and lifted the gripper clear.","hindsight":"Thin bowl-rim grasps can read only 0.02–0.04 yet still hold; confirm by a short lift and object motion. Explicitly resetting pitch and roll to zero restored normal tracking after accumulated wrist tilt and an elbow-limit configuration caused large Cartesian errors. For this stack, the successful right-arm placement was near x=0.395, y=0.365, z=0.065 with pitch and roll zero."})
tool
done: Stacked the three bowls together, with the pink bowl on top, and lifted the gripper clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 7.336 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0227, -0.0406, 0.9939, -0.0181, 0.7933, 0.6033, -0.3782, -0.0143, -0.033, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9939 right_x=0.2949 right_y=0.0008 right_z=0.1802 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5795, 9.8667, 1.8437, -0.0269, 0.2271, -0.4322, -0.7726, -1.4291, 10.1538, 1.9072, -0.1197, 0.1392, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d15b968a1b48059ffcd4b46a008cb34c5959c9f2e566edf5ff386da3d46d8733",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a7b2bb60ea6a5163e73bf435ff340c2dbf50a184b69b29061a037269ceb7f17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46159cede7f54c84b7fec03f14028a1e0becbfcf965f665cd89b9abccbd9f59a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 7.15 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsrodeeHODplPJVNuP4YHPCpHL2Y-pUIiiE0mgDFR7SeyGtY2yJlc-DQS22seVaSQIKBDOw5-Uzdf89kr2wkLeWLQhvqyVdB7uy8JCvsf7o22jajUSQxUpv0PcIPDxhnfKlcVMaKC8gNl_kbVJR5-iywya5nZhn4CwHxQ44PEwwVz4gL7xYkInqrb5qAoVKhAEPZbwfZmnMuU6Bqq6_TfrkUL3rqPf2pBF7L8BkAZ8ITp-wRhRJs39w4jwUZrBMRuGXCoWmb58KgJMnkR5jdpsBvnvcwFd7m7d0xdM01CWhElRd5Bx1ChzjMMKbeBh3z1eR6rkC-obmXsda_XcxSmGPABivwkibQUn1uJSoNgjH-cZE4onqMPGjSGMRqRwt_7Bo-oVMeeOwTLXp8E83TgBY91E3RsXU8mgTrZUDiCiU3FKUTPqS9UaoTaZVDHXrSJfvp9F6X1Tv6MAWwkPT93cINip8GvJImlKt14cAXBxqPvdsBS8f0wrUWPqrXruokI1wYrEapQ_gBraFyUvz2BxE0tvd-qrEvb9pqSgLVokznB9ZwqhotTkN9Ul_lzGb1v1OakQ2-UadTO0biJrtHIiR_dz8qCDi9RcVomAd7OPUHE--_4ISkwwBEK5XFbdNVab6wSmBt8hWOI9wploydCPaRS2Y1b087EeDdKGIpk0H0F3oxS4MyfmSm-0pze6RLmnPD124LDPwgBB5bKfkF6zhNTttCorKw9h-NKrJxzf3e2nysorVKh1zED9ow0whbQdlAfGU31pmTQh0-VVTH_Nf-vYcauE1m3mCBfPck7WKcWML_dgvl82Ysl3Kr6SrVomu5U61QrDt1qdwUPnSxCTYMl17XUqFnzisnDL4RCpwd4ys5jCUJXltdcEOddpPA3z4NzmcqkYBG_UoSPyV4ZkCHiUR0d_T6OOg2XtXg_XHU1VsDbVHS8C7EpW8r-1dsr62QTHe38qK-gLAXjkHPJGevZdO5JiqUnwei1J3iQp5IyiyturhafLesse9e0es8Xlgu-CinaJgDO1iPAUxOaItQEAwSZZxjbVWTVSziOqvnRmnMlpnO6M0HAuEkdXmnjZNthdE_p4zeFGhfE9CEH8KC07szM1YsNcaAJm3b5CwcMndnTtxBt5ApEBr7k5d9u22P2WeXBPNaxFxugL-boIA-q_z6Q0JjJGM-4n715T9um794mqKl-igV_tTKicXUuJHRKPrDPrGsbbusHcc-fy6IKcARSdAvgwrXF-xW3XN7YbVkPn0ZeaU1lhxt9rr6kZt-j3xMNLRuZZIFklAuwXSRhQ1sy0TKuzNVT-g7Azmh9tl1KkLtcnNRfJud9HIndRerWOh4OJQ5iPzKbIi550SPH3-n-3HRZVr2OMNreLIpf7HKaROf5BdWhbg5MUYudeLh3FFsTI9z_fUfebYmcqAfKLqxmV6AhMw-KcrtVU0OXTJzNn6NHzIOM1LE3ECL8oxzzJxtLRAQnAZ5qXX8iL6MZ4-ognDSOlLgfy-6Hjf1BdsOzCtjRnkqUIHXLMt5kHDiOveB8TLfwn5zswp85AMz2iht3ah6X1ho_GDzx8REbTRWJ8eYwMN_tFGLfJIC7vVvwTGJ-5eMSJkUSfBgo0Uuz4D2xJqVJ8E7-SwQIBl-vxmA=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba17b3f887d096bc45e6cd943de6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.35,\"left_y\":-0.14,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"There are three separate bowls, with the blue bowl in the middle. I’ll approach the left bowl and grasp one edge so it can be nested into the middle bowl.\"}",
  "call_id": "call_gVpGXd65VX9E48Rd47lEgF2v",
  "id": "fc_0dfee8aa06ae39d7016ab2ba1b860887d08a9a81bf029ad773",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gVpGXd65VX9E48Rd47lEgF2v",
  "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]: [-0.6167, 1.2945, 0.7132, -0.1478, -0.4877, -0.3836, 0.9939, -0.0196, 0.7975, 0.6056, -0.3889, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.1345 left_z=0.1311 left_yaw=-0.0267 left_pitch=-0.063 left_roll=0.0312 left_gripper=0.9939 right_x=0.294 right_y=0.0007 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0126 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.135, 9.1692, 1.6777, -0.2759, 0.0317, -0.3639, 0.1162, -1.5658, 6.9812, 1.7998, -0.022, -0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d3dd2ad3de235bbe6f2ebe1d7d3d26fcc8affd887237ebb76e495b0daf48e7c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bd7bda2cef10d1aa7e13311495be603916b04e8e7229abacc89d58bda77bb61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b3b487bb7309738db5d33f9db672a09bcbec34e52d8ba220b93957e57c28f6a6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.371 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7948, 0.6056, -0.3779, -0.0227, -0.0406, 0.9939, -0.0181, 0.7933, 0.6033, -0.3782, -0.0143, -0.033, 0.9993]\nstate[eef_state]: left_x=0.2953 left_y=0.0018 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9939 right_x=0.2949 right_y=0.0008 right_z=0.1802 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -1.5795, 9.8667, 1.8437, -0.0269, 0.2271, -0.4322, -0.7726, -1.4291, 10.1538, 1.9072, -0.1197, 0.1392, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrolGM_6FNHkrgLgbI1baZQjadcz5irwYLCajDTKg_ItaFCYBTpw32UZgyg7wA1X_Zb-mXKornh9QsoaMd00UgTbvcYoOi6sTSQDoSSlMeongZLB0FsDhyLyatjJ7_KdNC82ZRWDTe--_FxS1hMbKzj6K9EksmnRpJBpgS1icNNCyTH7LQaXBO_hlYCgBwPdpmaWVFU5EvZlRI7peDBcTiaEIaTPTON7ioGygz4QlTYWA4mNu8tj9dFDH9lTnTQSdszF-hemnInvIatCiJu1AB1zqw3K2umtw7FPsK51N3PIIfKhBZArsl7abQK9pxSGI47nXMAevj1gIm2nFgbRDcGCItZwd9M7O6wA8TeFvwOyniWzQeE-Fsrbu2T1lktM29FlExMryVG2S0DGyyLL6e0bV8yOduNa35zdExBcAMtZG79W_C7LUSXIEdGYxt3uOfl8aorRcndzPe9oOLRkRGWvnum4d360YXz1lzQ8WBRLFIZbREkWwvVzwtTgfxqhRx0kmkh060_vYH3lOT8x73LjBeR13zB29GEMNPmtwYk6e9s4qAEtPYUdBa0Y7nBiMlONpMmVhdaX301rYrAjMa1NpOOacBzoxN3xqxycZr66bIUgIpfIP-nVOjB6vK6mm2YjRqsm6icofb0wYDZMbD_-3B8utQ3Mav0_t_kXN3oiAzHRpfTfz_XtM_Z5PF9DKs1OLYOhcNWmaSICEYvyOmyh80heEwFZb78veWm5iuOtVu2Nd2-YGCPpcruohkRfLRT1IlRk-P_9sRZHJXXOln8hlP_HcpJPMAwExxAraUtM2Fcpya9jVW_3K1APlk-JKo2ZduD9eQ9q7N5EYl5qLWdVrDk7Ly2lHe8UWyjO_3IjiOvdves9XeXBYFAXvNnqVDbYmIIlp00wMGMIEde1MkCOsbHzMwsPXU9dMumlHzeKjYUFh0NeaZboJZDflFwzuseqSXf-7LJ2gOjg-J_KvQ5mjexFk1OC7FpL5a_7tF0G1qEbkrnboGB0VCCW17pd1QwNh4yZ5M0QvqYck_HEdgCPJijAu4RgjFulEI_JrC5mF5sABIckWw07V5S1XnrF2Fg9lh1GO03kOu7jygRlzPeOww1ytPNC5JfWGA0w7lpz7v0VFCFCctA672Pej9BDQodA4BN2wfKiJ5kAtHKzAnlgt1b1mJMAbBM0K7OLrOxE9Yc20zayNeAiu_HwJcnEv0J7ffy5tb1StqsZ3ZJJpIg2w0tRC83e1pWxp2rHpSLXfM7_bQ1R2rsgl5JrB_NYfOm4eVlSJCPVvjp8rzJ-eu-fApADJtWXLQP_7hBRk7e1pJYO39hwAhtnzs5ORqKuAZcfwkvgUfpsperkEZZyECF1xlPRQRK6LnR2A8_u4nMP7iXhvn-PvSIx0pA-xfWrBc9C9aypLPGvRAqnnoG3eOITnPnzJsI-H7iv6GKphtACClI4xBRGholf5LJF0UIOBB3uzvluoA0N1JnO4nJILgJf8c-xQqzYErPULCekkrqnsV_02_G2o0Rka-EZkmflcYQs1gAumlsWUQN99YjqbwH1Fz2-KbZj_6Pe0YQq3gpSEHkZNNffpvCi_mFAzeylIfcmozw2hP1aDmINf9DgSG09FVQxMeTXCaNG96SkNeJS7GF4Zj1_GrrHh-TpYaJbhVjhtqbJGmbrOIrSDle3GUxma9umn0dEwYZGcS_EOR9i-JqbdPg2wEupoq8x7LcVEKhNpmHFXctTeuyL4-KzcJ7H1A==",
  "id": "rs_0dfee8aa06ae39d7016ab2ba2038c887d0b66a9fc7ed2195de",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.165,\"left_z\":0.065},\"note\":\"The left bowl is visible just ahead of the fingertips. I’m shifting toward its right-hand rim and lowering the open jaws to straddle that edge.\"}",
  "call_id": "call_rndUnhYL4SgTXCouxHKJnfDy",
  "id": "fc_0dfee8aa06ae39d7016ab2ba243d4887d0a027b2c9a77bebc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rndUnhYL4SgTXCouxHKJnfDy",
  "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]: [-0.6067, 1.6531, 0.7227, 0.0994, -0.4801, -0.3893, 0.9936, -0.0196, 0.8024, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3682 left_y=-0.1519 left_z=0.0471 left_yaw=-0.0135 left_pitch=-0.1503 left_roll=0.0794 left_gripper=0.9936 right_x=0.2935 right_y=0.0008 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -7.5282, 8.4308, 1.8291, -0.1392, 0.1343, -0.0415, -0.0615, -1.6342, 7.3094, 1.7314, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ff1e6cbfffbb637a40d430b7848f3747fef4ef9ffa2ba3bf958c0044e7071e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:03c7c795a2ab3daf95b1b7243ff96ef8c054477c916efa73654ab1f830d7c028",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca1741f9572d21c51ef116526a36eb415c79a330a16943924ce736a3491b79dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 7.45 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]: [-0.6167, 1.2945, 0.7132, -0.1478, -0.4877, -0.3836, 0.9939, -0.0196, 0.7975, 0.6056, -0.3889, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3391 left_y=-0.1345 left_z=0.1311 left_yaw=-0.0267 left_pitch=-0.063 left_roll=0.0312 left_gripper=0.9939 right_x=0.294 right_y=0.0007 right_z=0.1779 right_yaw=0.001 right_pitch=-0.0126 right_roll=0.0005 right_gripper=0.9992\nstate[joint_eff]: [-0.4034, -5.135, 9.1692, 1.6777, -0.2759, 0.0317, -0.3639, 0.1162, -1.5658, 6.9812, 1.7998, -0.022, -0.0659, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrorIASRjazXzRjOl70ITnFNbe2HTR_JIeek8oiWv71Xq99UhROZy-cC-70lwoN-WKw7tQ4uQBKNZtSvge5FL7O313w_Zq5VT5GUklyPJ8bbpjg-uRWH2gzyGK2T7w-rFjTWAS6MAdCL1fkm47Zj7iNG3V467Y2ukaFAWXctN_19i_rb5PLu1bcYABI8a63jJ3KyFlROIjyECQSqN42yW9jKUw0wQJAMMgpRbY0RA-AMgBaABYdqK_Aimj82rL0u6Nmampqthn5nK2CECYckb1LdrHcvxRO275Si_N9nG7rRDp1Jv_3hfBrhk6Z9Q_tTlVbeMs7KycJVUxqTndlKI7Lg11oNUwYj6wfMw1quyr0V-YUm3GD50jro6AgTAkmSXfygeWmsU-V9oQtkmtPLVx4LSaQUk-rbZSO-jyrwlRynyiAUuxqUDvtasUVrRE8Vtj41qhmmWW0nt9aJme5D9Mc3uc_mZyaPbzCxhdkF4Ovm3mmKNt-bvLTJvN1x-dOHcUKHvsPhnaEQg6ODiQB9ho-rYQi0EU-tI9qZ25MppBE68-MKZ3Jo5WmihVscpcZ4jLvKyghJ55BVYvVwtS_b6gvrknaH4CMOGqa0M3ZxS5VRXvkmcW4pShdvve2mJWJWXAwqh1-7hQd_xCikLkRJYcTGRWSYrCgN6G8fbgnDGogTLEKBdqL3oIgZMcOXVyrSOz7D8aROLd8vHctXQucjhxnwKpVrSTVcYwdCaxwA8MmUj59xcevUh9dora6UI0Ka7lgh3KhZU1b6HxL695c2k4yYzg3dT2jqUR5TV5n1GvMmNFOZ1ZeAiooD14ZlZ5A65OymiBBHQvLqJ3kr-M3_I4PoiWqSnul_ECj22Vxrhayi6rNsR1S9kYvrFv_GsBMVBaqzP-pKoAvYCPXRzzeiaj-thWByY16INNYHbFQ5pjm-69O9h3ZbTYivqu95sx-suPme2vZFz_jmkrQHSQjT2_DvZhhCj4tW1kFhLMqrriF-ZLJr_7-WLjCdn4q8daIBQPqm-ceycIPzj7VaZ1tsIWX3gESxiX2Act-ZM545rJ0l5Hb8q4oALdyYGDRvN0bTdK_xBTaWafCksMad2dngxFuuvzySIQpl3Q7pEKgU8XhOaFkjHl1cxS3CBgeq2j3_n80C-9t7WknLO60JfkkuHHh6nTzjrNaUi5ijmn_6phrKmnnZwRGHcwkg-5H73B2OV7yw3NbjAflmtK8lyVncH46R0yQetPrBBDg8ykSek1U60wZLXHWDCgxbnt0fmGtDJ96HnCHK9Zvji2Dyfx1Wj6uoPcGF2v9vIGe_EjQvkgJU5kwy9Rv3L7Z8yb6932N61c_JhpUjjGXnl0OCuD-Os8-Poq55Iyc2n3PetRy3uMZAnDNj1FemSaCewQNs92PibeQpcF9cMZirWcnLbuH8E7K0pg==",
  "id": "rs_0dfee8aa06ae39d7016ab2ba28576887d0abba5e7ceff1ae1f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The open jaws are positioned across the near-right edge of the bowl. I’ll close on the rim before testing a small lift.\"}",
  "call_id": "call_W9CzUbBDy2mSlY71xrFMxsmn",
  "id": "fc_0dfee8aa06ae39d7016ab2ba29dffc87d0bd06029c121a997d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_W9CzUbBDy2mSlY71xrFMxsmn",
  "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]: [-0.6071, 1.6714, 0.7273, 0.0952, -0.4843, -0.3897, 0.0215, -0.02, 0.8043, 0.6037, -0.3931, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.1511 left_z=0.0416 left_yaw=-0.0089 left_pitch=-0.1634 left_roll=0.0919 left_gripper=0.0215 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0003 right_pitch=-0.0255 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -8.5128, 5.5316, 1.453, -0.2564, -0.0269, 0.9206, -0.0479, -1.2786, 7.0496, 1.7363, -0.0366, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48324a71e9b9d7608117ffc2d4439ec6d8953bca1b6e540d3a95e1c61c633f0a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1142f1ea1b2b0bfd38785c5a0a151f9a5ea06fc4754efb97c98187acfa729c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4a98f606865ec8fc8a5c4281e763f434116626e8f99d7148151b48517e0923b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.228 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]: [-0.6067, 1.6531, 0.7227, 0.0994, -0.4801, -0.3893, 0.9936, -0.0196, 0.8024, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3682 left_y=-0.1519 left_z=0.0471 left_yaw=-0.0135 left_pitch=-0.1503 left_roll=0.0794 left_gripper=0.9936 right_x=0.2935 right_y=0.0008 right_z=0.1748 right_yaw=0.001 right_pitch=-0.0236 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.3761, -7.5282, 8.4308, 1.8291, -0.1392, 0.1343, -0.0415, -0.0615, -1.6342, 7.3094, 1.7314, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrozWjjb0tegraT0wdKYEUaHXIsa63aI_N7eWMlbPjPeqZtWHtclcHxRPGcM3PhT3tWXMoz53GZAedzOR0gp4p8MXWpemXxldg0HSzE9fvOXcfdcCTQHwnbbvKWcS-upBR3F-awR0bSOse9fFnO2Fhq5myBXtfdgzhuvPvoCLx_FP6zsN4oMAWg3ZArsBUeuv0eYmghQYenXd1t3TEgE38Hi8BTGB4M2KJiOUfbi_Hvj2GsmVEj5n8cNT_i-hmfH8X-ZH5xfh8c_wQKVT-m1l8-VdtFtg_tMWfOgP1ti-Y54jGOgJXueuVb1yXOalcn_9WRoXpvfMPWbxxG97OOxfpGpxfH-HTkp9HpXfYkXAjIWFvfnARz52iW7Saxle9OD0iu8cKHZqU6ySciUn4DS6H1wmja7zWO9RkA5QaetjKeBQN4xYMSPjRG9z2PF5QiDhMyTfDLS19W8fI4JZr3FrP77Hgvf5gvm-rsQ9q6DZsZwAR3_rtWSBpzvvQLqyYeoEeH7jTxx3syr2KzStGWJnMy91TBvnHevWpfmi1xJwGasd9zmsJDF6w4j7VwtOwYnbolbeIbK19cTnVa7rFNUfZ-EhSlJBw_l1jmvk3ujbxZmR3NYScTiUdkajLmKz6jh9YKT2EL50jOcgDR-QP2d-oqk1l4kePzSSjvRcrKjom_TN0CsrkWUUKV-Z9SfRpsAY_okO0a1ElApSGFReJK5p30Ma0-nNpPcDQw7nmG84mNLBlZOy1d5ylN5yPbqB47Bnw0uHsciasLTp3rnatmGE0pqR415LMi3b926aOYZPOkpHu7PV9xeh51x2XXzbqUTfwc3JKrSdDQlCBP7v_VFU_yfHL6eVf6yuvvwdnjxqKu_jYySbxrKNoBEqNLnpp1FaHNY9h4HRr8DJzO-mSqOvUpkcWg281BjqXeh_oU3TJMVEpVTenkXY1O9f-KAVGpYRnE7RttBzvTJCyt3Pw8H5VOoSdNGE-8PygN-jjgj7PUPA7Snqm3OmK_FwUpT7T1iRoRtR7o2fj2kXuM-VNNTUimc542BPnGVaWV-L_LHlXbP-Ugn9_H8PXS2IpQrg6FwJISkmNcpLa299XwGCFZrS-4rldj-WrzWyc7Ly2qBX1IULlNtAe7ASoCcFaqpVpB-8RRVgLYA09py0DkCkLJjIYSdYarrZLMzPMgIXLsW-sdesCC0WnviDei4w3Iq9xNlPcHNOZOyBZSZkEso8he3nTMBW3fCqv0JtRnV5YGn1fIBfbyzCFaHmqUhhpO0SilTsKfCBT6ezNbslyUP647uRtPg0J_5-RQ_0gdJ_V4nT85ckhxv_xbThe0rlmLu0mCHCUKxX9BwvsGlGRUnGx9nxd4tN10EHWE86q8ur96vcOY3-X-Sj2E6d5vYlmsbp6vEizEQ0n5wwOOkpImOJ8f5XQgI_g==",
  "id": "rs_0dfee8aa06ae39d7016ab2ba2ec29887d0bb92c5538c613751",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.408,\"left_z\":0.065},\"note\":\"The gripper closed almost completely, so the first attempt likely missed the rim. I’ll reopen and move two centimetres farther forward to bring the edge between the fingertips.\"}",
  "call_id": "call_WoRQJZGL1Z4Aa0BvZMHylJyP",
  "id": "fc_0dfee8aa06ae39d7016ab2ba30a33c87d0b4a779d02e200c6d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WoRQJZGL1Z4Aa0BvZMHylJyP",
  "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]: [-0.5404, 1.7149, 0.8677, 0.0036, -0.4427, -0.3534, 0.9932, -0.02, 0.8043, 0.6037, -0.3927, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.147 left_z=0.0579 left_yaw=0.0057 left_pitch=-0.1777 left_roll=0.0896 left_gripper=0.9932 right_x=0.2937 right_y=0.0006 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -6.735, 8.6222, 1.4628, -0.1294, 0.1294, -0.4908, -0.0068, -1.0872, 7.0222, 1.707, -0.0073, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d16109e800719cb13dd0622b08ac32d9596cbc735bf349c3d47c030f1f977440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b44d8015b7239f16b36621d98d8ebb5bece638a5aa66262b426e54e05198f07c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8b08c98458cbf0fc2392924b1b4cff594c9f8aec45321d68735a4ca8d498c88",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 3.082 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6071, 1.6714, 0.7273, 0.0952, -0.4843, -0.3897, 0.0215, -0.02, 0.8043, 0.6037, -0.3931, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.368 left_y=-0.1511 left_z=0.0416 left_yaw=-0.0089 left_pitch=-0.1634 left_roll=0.0919 left_gripper=0.0215 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0003 right_pitch=-0.0255 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -8.5128, 5.5316, 1.453, -0.2564, -0.0269, 0.9206, -0.0479, -1.2786, 7.0496, 1.7363, -0.0366, -0.0269, -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": "gAAAAABqsro4BBs8Erz2VI9iDEw9KfMR7bzF_gdQj8_cNPlJHzN9K6qXsmJhnDvEQAXvxoV3ykVTVSeUeNHcexhSu_MTQvn3bdrsWkgaPnBqeGZqcyLflZ597GxtJPCiGa-CJqQ7HqdsbV88EXpp80wFr-c2CDFM1CJiGBrPi5WZyyXI8au0bZB2w-Zu9QudgeZos-5NdOgHJJQBnKivp51qC7vaaX4zw4GwrVu2iKeko-c_uCTjihVc5KSrRTOhvtXFcJLBXLruj4gcUNoGg8KD3sGWYy_hF4YYIuKlUUBGn4CAJ67oZ4ST6SkYv2IMEJajEdTeoioSgQIBQxDhf-UGV6IRASpAAhQR7yV27egYve_IiLmq0WeZxdBj7_l7CpkzP6a5GAck6E3SVc9ib5GyNb3NI6ci3APAhjLMJ7TNb2CIFAuEADMqd5bf14QSCYik7VUOavgoXlhPEaPwawmmYjFtyH_ue8hFLCEl1OzfWj3B5sVIcjmARqJIpRA12GQpZjUfWX_AeT4kBSXzh2aAWz1azVEKHSInWFTmSzaVU5NQ8ZPXxAYUoZynLLcQHanoYer77wcPczp_sK-ZNiAMPV9aYkneUdaMXPgMbKj-ur2OM9-A2RBPdzxoGRoYKbRjR5715rkTbthrs_vQxN22wlfyqc3FUd8lN9QxmC4UScgv8Qi4CIv8RSIVSFNcUlNd7GvlVlr6i5m3-g-loBg8gyDj9icd4rKIVAU9s9WtDVdElQ2rcvsrr5FntjtUnP81UGmpRY47EpVS1rM_rEPmZztHNvcwP56PC8hwnzuddd0K0yxy9T3qyYgsfh4X3IRGBkSA4gkffGesFUi1CFYrAtJktmorF2Q0X4uoAlQzLX3jCfORexJFCVdbXXFo9QbyUDVM22HeVla1wmnry7l_LmDSdl8h4s8GX6eL7mmLe1Ag3zTlJcRfvd5zgzqR-rob7-dfVAq2C5h3khFneUa2ajdvye2LG8Kd2o94Cz0PFqtx2LouTrcO1o_XH1ENIXJP3E_whML2D3bdKJs2Kku7dznI9D8ZXNXWlEbPxr3GwJoM7iUElsbhRF0uaQHbYOoL1keBmAfvKm_Ulcan8-VZkMtcU_zv_j071Mp1uEbX5sKT6KxFI-WZS7dACbnINsVjSF_YBapE2sUF7roIEeWpm4M8Z4WV2Lr83vvQjrJqpnc9ANPL3D9RJ0tJ3zUajFYOYDecy5TtuZ7fYP9v1mqQWlp7dEpAbACwMjpNHZrQw94If0KtvuTtGbtnuwGJBysp-ukpAwfZbmWMBLMJM34WyOvztwPbxg==",
  "id": "rs_0dfee8aa06ae39d7016ab2ba36ccb487d090ed6731869ded31",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.035},\"note\":\"The bowl’s right rim now lies between the open jaws. I’m lowering slightly so the fingertips grip below the lip rather than above it.\"}",
  "call_id": "call_doe23f8pDhEMiKYGt9dp9eQK",
  "id": "fc_0dfee8aa06ae39d7016ab2ba37ae6c87d0a51d796103a7ca06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_doe23f8pDhEMiKYGt9dp9eQK",
  "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]: [-0.5396, 1.7435, 0.8516, 0.0582, -0.4435, -0.3565, 0.9935, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1479 left_z=0.0492 left_yaw=0.0078 left_pitch=-0.1688 left_roll=0.0826 left_gripper=0.9935 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.3795, 4.8068, 1.3455, -0.1929, -0.0269, 0.0171, -0.0889, -1.306, 7.1179, 1.7118, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f392abd91c0d3656e03eb56a1da8420bbe7b19ad2cc6abefdf2f40d2793c129",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2142d0c346d07a5c962aba078c927356880c1d00c6007bb58726395dcf0bc436",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a264dfe305b15b0a2a8819ac6857a55e4ce7492735d3855f5c52eda2bb21d95",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.58 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5404, 1.7149, 0.8677, 0.0036, -0.4427, -0.3534, 0.9932, -0.02, 0.8043, 0.6037, -0.3927, -0.0162, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3991 left_y=-0.147 left_z=0.0579 left_yaw=0.0057 left_pitch=-0.1777 left_roll=0.0896 left_gripper=0.9932 right_x=0.2937 right_y=0.0006 right_z=0.1744 right_yaw=0.0003 right_pitch=-0.0252 right_roll=0.0006 right_gripper=0.9992\nstate[joint_eff]: [0.4308, -6.735, 8.6222, 1.4628, -0.1294, 0.1294, -0.4908, -0.0068, -1.0872, 7.0222, 1.707, -0.0073, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are at rim height, with one inside the bowl and one outside. I’ll close for the second grasp attempt.\"}",
  "call_id": "call_HG7l1lOxXss1AEZUphqTHtC4",
  "id": "fc_0dfee8aa06ae39d7016ab2ba3af94487d0966fae983713499a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HG7l1lOxXss1AEZUphqTHtC4",
  "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]: [-0.5404, 1.7519, 0.8349, 0.0624, -0.4664, -0.3565, 0.0391, -0.02, 0.8043, 0.6037, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3976 left_y=-0.1417 left_z=0.0419 left_yaw=0.0267 left_pitch=-0.1776 left_roll=0.1086 left_gripper=0.0391 right_x=0.2936 right_y=0.0006 right_z=0.1742 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.9795, 7.0359, 1.2967, -0.0708, 0.0562, 0.9451, -0.212, -1.2923, 7.0085, 1.6777, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54067f65fdf4b63030c8ebba10b6cb73f5f964aca85b2e3794e0f396dcbcb265",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c77eea44781e5c92754dc59c7d37028fca9f4fae93c0a10b5812a84835a9e2c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8fdbdbaafd3b54894f47fbd2eded4a35c805eb1841691c96a5d5fb331a4b6a91",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 11.1 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5396, 1.7435, 0.8516, 0.0582, -0.4435, -0.3565, 0.9935, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.4014 left_y=-0.1479 left_z=0.0492 left_yaw=0.0078 left_pitch=-0.1688 left_roll=0.0826 left_gripper=0.9935 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -6.3795, 4.8068, 1.3455, -0.1929, -0.0269, 0.0171, -0.0889, -1.306, 7.1179, 1.7118, -0.0366, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The jaws appear to have pinched the thin rim, though the opening is small. I’ll make a short vertical lift and check whether the bowl follows.\"}",
  "call_id": "call_eMEFo5Z2ET8wIbu9qFSwrq4b",
  "id": "fc_0dfee8aa06ae39d7016ab2ba405cf887d0b3082a90753d9db9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_eMEFo5Z2ET8wIbu9qFSwrq4b",
  "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]: [-0.5385, 1.6386, 0.9581, -0.1959, -0.466, -0.3641, 0.0392, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.14 left_z=0.0929 left_yaw=0.0347 left_pitch=-0.1955 left_roll=0.1146 left_gripper=0.0392 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.4564, 8.4718, 1.4432, -0.2808, 0.0269, 1.0281, -0.0752, -1.1692, 7.0222, 1.7118, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5532a97f001e0593ed7131f89722382a3ded053257f94f9480912c39b8fe79b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c10a67f26f19a358ff78aefe9ef1b10a7efe8bc5111feda85d601f05ce421a61",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31e46deb22946492f79a7143fedbe833b1c60088dd28320a7b89d7f002c0b396",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 4.776 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]: [-0.5404, 1.7519, 0.8349, 0.0624, -0.4664, -0.3565, 0.0391, -0.02, 0.8043, 0.6037, -0.3935, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3976 left_y=-0.1417 left_z=0.0419 left_yaw=0.0267 left_pitch=-0.1776 left_roll=0.1086 left_gripper=0.0391 right_x=0.2936 right_y=0.0006 right_z=0.1742 right_yaw=0.0006 right_pitch=-0.0259 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [0.0342, -7.9795, 7.0359, 1.2967, -0.0708, 0.0562, 0.9451, -0.212, -1.2923, 7.0085, 1.6777, -0.0611, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpN0UBaC7sWxdUm-MuBcJu4Uw4dTWKXcGPlxkVDX19Szxj3pEY_VSvYSA_kEepTcuZnPM18BTElD8dUv7-sn-hT6giLPPLA-dL5mEaOyE_1m9DkyG8RFwp5_T2MsxkzZ9GoltvgUd7A7gJPSL89Lwks0qvKZAZGLgzIzt9OamEzGIHO08BTReyQG6e2gdVq10IjSyqDq1PcHuD3evXMvH_gm_xNd0wZP4Xlyya9vhki1aAKfDAIo8tEO1-VoiOl7G4msaAEjcBUcGB0aixYYQXczBFzKQGaArEmsb8NRnLPdVZovLqWd3mZa5-zRJKeXcEcQDiUnyor0yC_gJSqnuJDADxA8Did7ykHOvOkiSZq4c_0oYlEt5ugckT6EtQYTqHQTwyrzYhQPP5jcHpyPpNmeHCUtfnASPyKEu8L4RTnFFjgXmUEPSYVA97bCqs9pOyQMikQI_6w_EOC_aOhBlBAnEie-TzrJ8V-5jLJYz0kZUznxlXtTcB4cEWN0rhuTLjBEbvZn-4B1GrPaSuNX3SBcHsyTUSLr1hvU2hQ6kW9ANwYMiUQS1_db8yt1dyhFbudWIJaaJnhR7YqRwJmtgF105sM-n9Ylbp8nKmy6q0MYDgyjE1HcUozyK1B9jf_Sk6P0CQIrySYOzjmD5wtEl1aprcga-cvy1pqOLZbER1IF3tF_P1HsiZsBmvD5sz34dS0IGaL81vpBwlaafb043Tsv7bp6orGhtiOk1ITJaD2DNQfQxC-QNIDOqJaaw_5fanPaEA_fiJm7iyvnNprpWAB7hQeBrlLfOnFAWVQT6LJ8XFTlhXr5Ta7bwtgAmTdkvvP1KSAzxfRYHND7nb2LqeevB82cxQD9RLnp-_-uGuWHFSNz2SvWEutw9TjqaeHNSntqPbmSjNytLAgvmwOtgjX1HyZsaxdWotJ50dY9_OIcwJsc3mbLvb4ogavV5XoXJXVQALb5tQ-QpzsbdXhNglykmETAE0M3KiDqrRPGOkzBbPxP0EtRdJJjYG9V-fZHGJa6Rc7pBinb_NnIZ1cF7ScfDTgpmPdBnasN1WxYJPPS_-5zapEnu7YauY-MKTOiHy-6QifDYAVL4JLCklDJ2s_5-fO2lpN_gQEegA3KncsYw8S89DHEH6xiPFq2omWwG0q8Gv_K6Ayod76wq3Fn7he6K4uYaVlSwg81MAGJZkIoLC33thfA0LYFdjdkBC9R6AuguehCrbVmlMlUwDgFMm8Q1gN3cJOJgmjBhUazNfdwifAwDA9GRMkmkJkznmJW6zYsPdQ4xhH62Y7hSxuRK6eWkME9kGNTDWQGChcdWGT8yR0BAqN0RdS09o8fTaLowgF5ZTQf6roWqur9k0p-fbL-JRtGYnh0PDQQTSb-FhH3mNiqnsc9oeioT2ekG93YevxeKevglmwrCoz-auZ11iklMSkPF9OoqPGul1Fe4nJ9XNOSXn-fUVjFh4cLis4l2Q0DMAea5R7Ago1BeQ_gUAg-L-Hfku9dlnDzsXh8rdrqAg8u3EsftlFxBnYJP8o11cgJRX7qf8vFVzxBb9BUpOLRxA9pCd4HbYyq7YGdvOCy0h4MllcZzrXCM6jLRUSN8dpgJjrcQQuI4HVNR4F1iEu02PG9npwrB56zYL5gOWC9sJgN7T15tltQDQ_K16REQDvWjz80RMS3MBAy7NFJTESf-x2kDB1WXGT9zqt12FwpNM2W1a2eYWm2SC9i0ZAIYeQIg4FVuYOySCfvhXtDLV4nVABbLQryiitUl6ZKiBKlY2feFZgqhNc-EsKgHzCeD2GRGiytslfNi7QQgzm__C4LYqg5KtqHaC4J7ZnMQlTdqsBUvxO5qALEXO0-QD53PYbrS2NHJH0yk_Uu--YtHjnTkgEhe9P4HZvDORqafVu7Q5o6bI9I34xYes30xuuEI-c",
  "id": "rs_0dfee8aa06ae39d7016ab2ba4616ec87d09a69b4e30323cc60",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.20},\"note\":\"The left bowl rose with the gripper, confirming a rim grasp. I’ll lift it clear of the other bowls before moving sideways.\"}",
  "call_id": "call_ZCLEFjPkF2gRakQADs5mfdgS",
  "id": "fc_0dfee8aa06ae39d7016ab2ba4b985c87d0ad2994ca3772d957",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ZCLEFjPkF2gRakQADs5mfdgS",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5404, 1.5742, 1.2541, -0.5724, -0.4656, -0.3679, 0.0405, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3988 left_y=-0.1426 left_z=0.1785 left_yaw=0.0363 left_pitch=-0.2089 left_roll=0.1204 left_gripper=0.0405 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.4564, 9.1556, 1.3553, -0.2125, 0.022, 1.0281, -0.1299, -1.2923, 7.4051, 1.6972, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01cd6d7caa651c6628251a90fd9e5aae7f8d62403bc2693459f194df5efda4df",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76e8444481a51e9bb46d26b99c15f0719a6cd99a0ba386f6deed48a8d345a211",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc3341d11099c937150669e59b415e44a409ca4ad22cc7b7dc4ef3402319b4a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 6.408 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5385, 1.6386, 0.9581, -0.1959, -0.466, -0.3641, 0.0392, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3962 left_y=-0.14 left_z=0.0929 left_yaw=0.0347 left_pitch=-0.1955 left_roll=0.1146 left_gripper=0.0392 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.253, -9.4564, 8.4718, 1.4432, -0.2808, 0.0269, 1.0281, -0.0752, -1.1692, 7.0222, 1.7118, -0.0562, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.34,\"left_z\":0.2},\"note\":\"The lifted bowl is clear of the table. I’ll carry it over the blue bowl, keeping the rim grasp offset from the bowls’ centers.\"}",
  "call_id": "call_4iE8dE9QC0fjopTSzZhaXrYE",
  "id": "fc_0dfee8aa06ae39d7016ab2ba50d70487d0b0f3b15b719b6fa8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4iE8dE9QC0fjopTSzZhaXrYE",
  "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]: [-0.9318, 2.1452, 2.0823, -1.0496, -0.6537, -0.7635, 0.0443, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3901 left_y=-0.3389 left_z=0.1896 left_yaw=0.0243 left_pitch=-0.2306 left_roll=0.1077 left_gripper=0.0443 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -12.0274, 8.4991, 0.7399, -0.6716, 0.0757, 0.6667, -0.0752, -1.2786, 7.0632, 1.7265, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb1316bc469e90e2911728d3780b4f3ff05b8c833e91dd43caa4862c1cf44c3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32bce81f1017ded18dcf7d45ede677a267e2eeb193ff0971f5c77c474cce299e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58b12570c52a65e1d2618fd35fc4a3c8dd666effc0b20e55406b6550d3545472",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 3.451 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 32 changed as sent

message 32 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5404, 1.5742, 1.2541, -0.5724, -0.4656, -0.3679, 0.0405, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3988 left_y=-0.1426 left_z=0.1785 left_yaw=0.0363 left_pitch=-0.2089 left_roll=0.1204 left_gripper=0.0405 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -9.4564, 9.1556, 1.3553, -0.2125, 0.022, 1.0281, -0.1299, -1.2923, 7.4051, 1.6972, -0.0464, -0.0659, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpagBSRLspQiUsl_RxxjGUmp7hKXD-uftA39s7PYf56xknfdt80VOqa4npVDHXvZnq6477GVr0mhYe7j17-VCd2GM7ioTZOOywhU-SxaX3_HkLOdT0ktsYW_lZUUkPUQk1BjsoHjIagp6Wy5aSy2kW-cIjYr3euWnSm4WduqmSWGaek0duNatWKnjuZCbtJUp96j73vRcZ-qtUbLjT1lJhZxwXz4-bqbA9jhCl_CXZor8Qr0JWXniIyVlSOv2jhHPbVoF2dt6dpdFI2lPVDlkznACw02s97jyhnsZeaDRNTRS1MfmLtOtySNZjnOkz-19xoc4qA0BrvtaGjAdbpSvSt-aiy5Ve_eo_tfVjsKZzS2qRcKTlx5oTgRSxXaU7F7CZYF-3SmG2gedEE69vGLQTN9jf-d4zcAyiXIREz0KEYCHms658VhsZnedarf7J9WVwrjmij0M1uGI4ptH82shBgDcwR7PhP06UMSc95douLu4fDZbZY3lpW8eGpHOwksOsjP8dqIsxtaCHQqIIxCp7nAhoiRxwjPAwA9DH8RYaeTLvL-Ne5AMo7x9nMvBIYaHWZq54GCnuw4XKWhepqmwt5-NbTgEXVov86Y38KJ1b7AU2PYA_6CQp7lEXloNzfE7OarFMM_wTkwqmdrL4TOBA8K2pKNsdm7XGQAWcLRJtQbkfIe-Rd-yLzQfb5CjqOglM_IFb0XTh5dI5IUmh8gOPlCMBoiAWxryoCUdalE6hgij2CY2YC53xeikujCsbt-q07nZdns0k_PFFq2uQgLab_fZsg5aYpW-nMN82QqjfvTA2xsvvBmw15pbTCZodpBl2BdbyUQ0iyBjvGdscaBvLB0CtTuoIipwfSLZpEE5m9bzid2XzPL9N33TlKpQP40v6EQZwoyaPIwF803tdU-q2OCGBoiBnnjZS4cwG0TaR8MEldngFZlNU0WOwfegfRDU4zYYpbYSNhtugHzbjLOcr9Ovq2pkiZIftOyBCxdC5-gGzfO3PfJFhyMzuaAhFiTPyF06uz_U9_I2LMHllwMbxk-80prJS5Z5BpEzsR0U1QKI204V3a7hF2MQponxRf-q87MMQS_2Yom08dVXelmtplQRs34AV_CggKtjyG5q-V8Zf8nKesTm_CGrbOBP6-iBuUVpzIQF3oMLLCjnksMuPFZ-rcs20j3H2bHjJhHjT7KdmJIXd3yRLWF0h2VJ6SO_85yybuNH55u9VxTG_hUuX4BqhJgP-rO4GbDWKFaR1cPEMTE7z5UPIvOmZ1Xat6h7qZe_2YazwAsu2W88HhEZyvr58RujYDHUEnb4VOp1fR383SlRfHyzIWeIX4TMtIB4voOB8hP26ixa_XZW5fjCCU_BQq39jiOVGd2-LlieyTtjq0N8kYISCCrxnvYh-jq2ZGm6KF_DuejFhlUpQmYwRiJgNaJVg8vxpdiduyWqNvST4=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba56fa6487d0b2f48d6aed06e588",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.39,\"left_y\":-0.355,\"left_z\":0.1},\"note\":\"The carried bowl is above the blue bowl but slightly to its left. I’ll correct that small offset while lowering toward the nesting position.\"}",
  "call_id": "call_xxMUI8QYfbFcdfS0uYlJsrCy",
  "id": "fc_0dfee8aa06ae39d7016ab2ba58fcf887d0bc63c550fc5d298a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xxMUI8QYfbFcdfS0uYlJsrCy",
  "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]: [-0.9466, 2.1864, 1.8313, -0.8059, -0.6514, -0.7761, 0.0443, -0.02, 0.8097, 0.601, -0.411, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.386 left_y=-0.3466 left_z=0.1056 left_yaw=0.025 left_pitch=-0.2591 left_roll=0.1386 left_gripper=0.0443 right_x=0.2911 right_y=0.0007 right_z=0.168 right_yaw=0.0007 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -11.1932, 6.2427, 0.9499, -0.4811, -0.1636, 0.823, -0.1983, -1.7299, 7.241, 1.8926, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:314e9e206a266108d13e4dcf50ce28adc0ce2b8932a9f4cababfaf275d66b4b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f24d621d62ef357eaaacbd96840b11b578e578f5c343386e4bc46a1ebfbab943",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa258ad8c4b76528fd60ccc9e13c000b14daa5434a72f2476b1d30601fa778f2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 3.229 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 35 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9318, 2.1452, 2.0823, -1.0496, -0.6537, -0.7635, 0.0443, -0.02, 0.8043, 0.6037, -0.3931, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3901 left_y=-0.3389 left_z=0.1896 left_yaw=0.0243 left_pitch=-0.2306 left_roll=0.1077 left_gripper=0.0443 right_x=0.2936 right_y=0.0006 right_z=0.1743 right_yaw=0.0006 right_pitch=-0.0255 right_roll=0.0008 right_gripper=0.9992\nstate[joint_eff]: [-0.4855, -12.0274, 8.4991, 0.7399, -0.6716, 0.0757, 0.6667, -0.0752, -1.2786, 7.0632, 1.7265, -0.0611, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpejoujKbfrGs4B1TSunMMwYTesYePJgr_KAjS-ArAVf7zVIRD7AHCaC-G0odEcE7z8JyVZmeD6eIFH53GvtB3CEIJBsFHuupf_3OX3Umq-x5EWVL8HwEgb4JHuoJRKpgM3TmzR3kW3xV2K1GUtVAlrKEM8wxybV76AlUFOw81PXPJgLq_bNLapUrtcNsx8z6NjKWbhNsb3-Wz3ho3hrXgQoyf0gILlPn32s9LQDIcvMq4dUOIkme1N2JMZ7e8Q5wJnEh5m1eNKHku6jtkVIyti-fEfSKT_PibvtgBx_wlk6MkhX4yFkg2w2mH_1qrlEA2vJClNALxhCEiQnGlsFgpM6qVwFqttH1qG_RD9ogpdd3Mi1Km7bUiayKSDSdXZsW7f5v2xVIQLXw6TmBKeOYyCBfGSSLjDEiH8u2XTICTS5yabh9AxRRBejPqBnfcalwcKZNWfwhyorg3n23HtHo3zb7nPRpq8m8kvbK7OeZ3oc6LJ3oKF4ujjA2k_C05efvaumEQw54RXlkSvPs1ILRJn_CEEZJbfJO-D3XGbeBxgnIG7AEf0ZRHQnKiuJq4kDbmtQrDH8fzIneDQ4Bn5-Q9p7E7vf_oSscQJjCCcNaQo4ixVTwKeS4xRuBXdSMSB-xbjBtzOdr7qKvmxe3Kj1T662M9wXOQ6l3ViHgS3lFAk73CA9zfc5w2b6dDo8VKxOVjoyPXSB0WJcScfJ89VtwmFbcYETakrYKwq_R6YfOLCd7oEb60WgcMe7iNbj3FCqoyGtEd1EXbQ6MrVzqzqojzlRCM6aYUwf3Ww62NgsC5ncJyahTliIqc4tasb2oGfDsx8OoINItncGEx5Q4q1P0BuSEewIZwW_5eLk5Oen5lIOUvoDJpy4RaTJG0ss5LzhXNc5TmEk8QvWG7ItAFGZ4dbZ8bghLaP27EdtNQEWdzo24TgVUCV8bk8-KxChn29aJCzBin1IDw7RHGpDwF9KcOSPeUa7t4R032UWsSI_u9NAKyw51JY2jp4z3YfdY272X0K9tshAyWbG_KNWoTLi1mjAYAd5ldsF0GgNCor6PSwT0RS03GAUTtT9qTiiGVaqk1ORFnB77C92Z7xvobwUUVGIRITxDELC8VGA52OhCKLdh7ljIFa9hqr2oZmAWqLZGqTaIcO32YuseMa7CJZmdseouYTIHHvWVfsGLWiv6HDTsk=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba5d0da887d0a6911effcde5744a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.055},\"note\":\"The bowl is centered over the receiving bowl and close to its rim. I’ll lower gently until the bowls meet.\"}",
  "call_id": "call_ptnQbTS5qKZNTeFzc7CIKz7L",
  "id": "fc_0dfee8aa06ae39d7016ab2ba5dbd2087d08edcf341e61e83db",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ptnQbTS5qKZNTeFzc7CIKz7L",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9493, 2.2181, 1.7042, -0.6754, -0.6441, -0.783, 0.0475, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3807 left_y=-0.3432 left_z=0.0584 left_yaw=0.0288 left_pitch=-0.2799 left_roll=0.1541 left_gripper=0.0475 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -11.6444, 6.735, 1.0672, -0.4029, 0.0464, 0.6081, -0.1026, -1.1692, 7.1726, 1.7021, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad2c663a25e13e388aec7b753abb3cfa845149f5b108f85f0ad30854fbf7b111",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fe19e8e78d6cb3c39bfa56654c86e0f4c0289e9bb361dc559c7c1d2af0c0e20a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82e270655267c05b0f6dd2e030c8a3fa1f04c59a5895a59ec38cc1977b2ef10f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 3.141 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 39 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9466, 2.1864, 1.8313, -0.8059, -0.6514, -0.7761, 0.0443, -0.02, 0.8097, 0.601, -0.411, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.386 left_y=-0.3466 left_z=0.1056 left_yaw=0.025 left_pitch=-0.2591 left_roll=0.1386 left_gripper=0.0443 right_x=0.2911 right_y=0.0007 right_z=0.168 right_yaw=0.0007 right_pitch=-0.0515 right_roll=0.0013 right_gripper=0.9992\nstate[joint_eff]: [-0.6085, -11.1932, 6.2427, 0.9499, -0.4811, -0.1636, 0.823, -0.1983, -1.7299, 7.241, 1.8926, -0.0513, -0.0806, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The carried bowl is seated against the blue bowl. I’ll release the rim so it can settle into the stack.\"}",
  "call_id": "call_sfx9QMCnOISWja06NlSg7HGi",
  "id": "fc_0dfee8aa06ae39d7016ab2ba6134a887d0a76b2b87aa04553d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sfx9QMCnOISWja06NlSg7HGi",
  "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]: [-0.9485, 2.2219, 1.6958, -0.6384, -0.6479, -0.7826, 0.9933, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.3464 left_z=0.0572 left_yaw=0.0256 left_pitch=-0.2631 left_roll=0.1351 left_gripper=0.9933 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -11.7949, 6.5573, 1.0476, -0.3736, 0.0024, -0.5104, -0.0479, -1.3197, 7.0085, 1.707, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa8137f2bc8f25b9d3a040f5d2c85a2ce79149bc050d9bf46c2e39f52bcfd8d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28fac845d0344f306ea1332cbcc00cecc2d427515a1b62cdc2c18c6c158a2288",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3388d5a84d1cd5957fd950780affe5ae998bbd78dc0eae3edcd63157b1d4f0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /responses · status 200 · 3.184 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9493, 2.2181, 1.7042, -0.6754, -0.6441, -0.783, 0.0475, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3807 left_y=-0.3432 left_z=0.0584 left_yaw=0.0288 left_pitch=-0.2799 left_roll=0.1541 left_gripper=0.0475 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [0.0068, -11.6444, 6.735, 1.0672, -0.4029, 0.0464, 0.6081, -0.1026, -1.1692, 7.1726, 1.7021, -0.0757, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.19},\"note\":\"The first bowl has been released into the blue bowl. I’ll raise the empty gripper before moving it away from the stack.\"}",
  "call_id": "call_OBASMq66ufy2yu7S3afohOec",
  "id": "fc_0dfee8aa06ae39d7016ab2ba65266487d08db451d2fc2b406d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OBASMq66ufy2yu7S3afohOec",
  "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]: [-0.9485, 2.207, 2.1437, -1.0893, -0.6415, -0.7937, 0.9928, -0.02, 0.8116, 0.5983, -0.4156, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3867 left_y=-0.3516 left_z=0.1755 left_yaw=0.0256 left_pitch=-0.2606 left_roll=0.1138 left_gripper=0.9928 right_x=0.2901 right_y=0.0007 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0606 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.041, 8.7043, 0.8376, -0.4664, 0.0562, -0.0562, -0.2256, -1.4427, 7.2274, 1.6972, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23509829f9bee3c2ae05f96704081499e9c3b26be83c934ee337d9a2d97a090a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa5204d23e4fd21771ec01f3e2c000d1d31f78e677653d4907ede297188c5e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:306d708c8b24d857f0d4801510a19319872fc152108906f131a49814891f9d55",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.733 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 2.2219, 1.6958, -0.6384, -0.6479, -0.7826, 0.9933, -0.02, 0.8101, 0.6003, -0.4152, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3841 left_y=-0.3464 left_z=0.0572 left_yaw=0.0256 left_pitch=-0.2631 left_roll=0.1351 left_gripper=0.9933 right_x=0.2904 right_y=0.0007 right_z=0.1667 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0014 right_gripper=0.9992\nstate[joint_eff]: [-0.0479, -11.7949, 6.5573, 1.0476, -0.3736, 0.0024, -0.5104, -0.0479, -1.3197, 7.0085, 1.707, -0.0562, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The empty left gripper is clear of the stack. I’ll park that arm to uncover the bowls and leave room for the right arm.\"}",
  "call_id": "call_j5GAmfejFPyXmSCCmdef7fg8",
  "id": "fc_0dfee8aa06ae39d7016ab2ba69004487d0bf0d0fbc57a16235",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_j5GAmfejFPyXmSCCmdef7fg8",
  "output": "executing move_to over 32 steps (3.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0367, 0.9596, -0.7757, -0.202, -0.0944, 0.9927, -0.02, 0.812, 0.5953, -0.4221, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.2971 left_y=0.0002 left_z=0.1972 left_yaw=0.0758 left_pitch=-0.2684 left_roll=0.108 left_gripper=0.9927 right_x=0.2888 right_y=0.0007 right_z=0.1626 right_yaw=0.0007 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -3.6171, 6.2974, 1.5409, -0.022, 0.1099, -0.0171, -0.3897, -1.3197, 7.2547, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b5b611bbbc4d993eb94f27f4a25116ed1f470a279111be8c9bc1e3d3036d82e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e7b08288fe8a904e9e5a3bc5bf7f3f3b48db253f7f5c7e2c772b92c98db0d1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:097661149d67663800c270a11cebae1152e3eafe4723889103e02d03761979ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.074 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.9485, 2.207, 2.1437, -1.0893, -0.6415, -0.7937, 0.9928, -0.02, 0.8116, 0.5983, -0.4156, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.3867 left_y=-0.3516 left_z=0.1755 left_yaw=0.0256 left_pitch=-0.2606 left_roll=0.1138 left_gripper=0.9928 right_x=0.2901 right_y=0.0007 right_z=0.1653 right_yaw=0.0007 right_pitch=-0.0606 right_roll=0.0015 right_gripper=0.9992\nstate[joint_eff]: [-0.0752, -12.041, 8.7043, 0.8376, -0.4664, 0.0562, -0.0562, -0.2256, -1.4427, 7.2274, 1.6972, -0.0562, -0.0562, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrpzT-rLiiYo-BqJ1qCcd_NGUucIpse4Y804P9kuymPHUEfGFK1ZqYomzj-hzHdV9KMBlpuKvKxIJSI5BVB4NONUgtDlFclusqZ2JBCJ_iIZPYqT2-Blz2gWA36KE2LxfxU-shIcl9OznMuI4rjodHXqgWvttMSNhW2duNZog2LJuU-TJc9hR7v-HHqxLA7RZjXG8BJAt411WQI1xAbA3eoQV0qoRvvy-Ojitf8ZyhcwOSOHTuv8JF3ehW_PLCY7ydu6rU19ATQsLM0w5bhNsrtPvh-behZ399aTXYYGZFTMgmoDcaeJlNwPRlTz6uzkO3X2B9C5nTl3n4lqlBM8N7X9_w57hLaNztYXoVjgqKD16PWZdDzWfV8fGtYJwvE5ra3wnHAEYAKO1IOoM5KsQqmUc7sZS08JTQAdR6plBr969ONJPkkYbFuyH6Ocp2vqATRz8ZSCCkTjwPDBmj26r6QkbXWN7sFJlJPG26TTYEyfvd6xiDv38eEanEmeiCYmOti6_jAc9OD85oJrGyiCx6xp1y-g6Bhgf3aNc5IBKtySoBhWAtKKm_QqkEbDxgwrxoEGEH5fnT91KV_6yYsjVHjgLnotoy0w6ky_Zb2-sEL8-Vx__R88oTZtWnFR_jMD6dZcC7g-BXpoSPotUdFJntjXTiH72i1WlFmEDJL9q2mJjwAwxO8LJxrTO7cQD24OyeIaRWcnheCy7nkD7WhvvsO2ILfNro633EmX-fB-BGbIMF98pyHsVrnKuWIL6e77EZidh7CvA6Ryp1E2Lbzc5Y9l3z-xj3uCL1b5OOiwMt9cWPvC7dlWt_EuMGQih_tnP-Q2HGdjX25hjmaWrFhn_nzrP6wZK2FwH4ZsoMoOJoBZsmVzN2euZtBxj2o0qki5YcFL__nX0z85QVn9eOqBxd6dXjvNO0cQ3sNcnUbHqaDjhiwVB2ZaW0qvSgNZtgRjbnDP9aB_710NCZe0bgfG8B4ewTuYHBLFMJ7KYp8GEx6Yd_p3jEhUsMfgADeBefS79FWAlx8YO0jgA-ZYAAp_wWy6-yNtbJf3sJTWzJyOwXpSQtnwFHNUGCHXr05u6hmCGcpcT2o6TBg5gHNmIYj1LR-8uEXTYyQitoFR8qQItDFTzCQn2tf0wEOn6mq1WfCRxM5FpFRI_CYEW7Rd4vg7KkaWwL_EM8If3foQKsize1Bg1SErx7ynbm30nQxq5ANWL7wZqYOss-bc74SEA4dCzEcWHoRtENpyIemL0TDzRsmMMPfmVojMK9-TAvgsY05SGQ6VNTyqIa1gVwcxj2OdgR3xD2NwXTmeZTrZMZBzGvKfPuuw9oPiH58OtdGORjVDDzUEqv6MyiXdJFI4kngIJvPZ44aRNriUxcXdJw696BEoYuSv_lyxHnQNk0t2YF6yOsVM",
  "id": "rs_0dfee8aa06ae39d7016ab2ba6f911087d080f56f78006c41ab",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.15,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"Two bowls are now nested in the middle, and the pink bowl remains on the right. I’ll approach the pink bowl with the right gripper.\"}",
  "call_id": "call_TBQGE4IGvF5RBDlM05yJXQzz",
  "id": "fc_0dfee8aa06ae39d7016ab2ba716c5c87d0bdd25109c76991b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_TBQGE4IGvF5RBDlM05yJXQzz",
  "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]: [-0.131, 1.0405, 0.9569, -0.7807, -0.1921, -0.0944, 0.9927, 0.5995, 1.335, 0.7948, -0.2573, 0.4339, 0.3317, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.194 left_yaw=0.0679 left_pitch=-0.2811 left_roll=0.1028 left_gripper=0.9927 right_x=0.3373 right_y=0.1449 right_z=0.1295 right_yaw=0.0427 right_pitch=-0.1391 right_roll=-0.0391 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.9197, 7.0632, 1.4579, -0.2222, -0.0317, -0.0073, 0.1846, -5.559, 9.347, 1.5214, 0.359, 0.1148, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2177b2e94497c14e0b0bf2ed676fa3f8d55d2ae1562e432756717630b606321",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eacdd5ae82ec2f3437b7eec85f42e077ab1d6d0c571416c14a70f03f7380cc40",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e113b0527f147e39f2f44177a3b3a61606ab9bae95762e03afb4f425f32fe07e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 5.096 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]: [-0.131, 1.0367, 0.9596, -0.7757, -0.202, -0.0944, 0.9927, -0.02, 0.812, 0.5953, -0.4221, -0.0166, -0.0341, 0.9992]\nstate[eef_state]: left_x=0.2971 left_y=0.0002 left_z=0.1972 left_yaw=0.0758 left_pitch=-0.2684 left_roll=0.108 left_gripper=0.9927 right_x=0.2888 right_y=0.0007 right_z=0.1626 right_yaw=0.0007 right_pitch=-0.0705 right_roll=0.0017 right_gripper=0.9992\nstate[joint_eff]: [0.3214, -3.6171, 6.2974, 1.5409, -0.022, 0.1099, -0.0171, -0.3897, -1.3197, 7.2547, 1.7314, -0.0366, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrp62TIinPZsH6B7rQRrPoBhvffzLhGQgMxpXvkDtF-2jT0A-oK383cVR2Tg17fePJSzWJBfavPWBVXuRNYH-Li2GnKRmGbVP5oencJSNMHvb--Eho6kconASDaOieFnzbVE5KYQM4yLnHOmcgo5uVHTNDgnFEkDf2iaeATXdCWYsnxqQ48RKd6wN_1lSkpnxHx7hoSy4uGvVSQ4OMbbqWzIVRqi7bH4GLYQah9Kqe8elSWAIhwcvYyNccxGBzYbX_M6NaBzojtBkKaxY89ixPOVucZqzhebPh0SJzCW9Dh0WvPaa-8CyrGYsefz_8Yo0JhXr5QLXjfG9JtdthAZKXnYx3QbcxMI0SRr6gLrl-mYxB_M_R4ZqLz3hLoNj1qnU5cn4_9t5POWKfWppeyy3llzosKObrF82mgm_YcZAA27ZBiKBl9HiiwTsoGfAIowgzjAUEWZtqBjqgEsvEQ_k0oW67D8FpJOg1mdMBU4lNCwqzUe5AGf-HpqEqWwHFn3wLLoxkbTSHsgp89dPr458jPhlJVpXq0GKqw7kwIBB4jOkA4kfuCrl-4WWQNQFyZzJUlXIl5HQ8LXRrJOz4j_z02fa5Y2hsvmIvx__R0Ip8BCueg8dEUM432edyONFDWYv54w9px-wPgoq-g6Haw2IV1ereKvvoM_uCDqgpcOmwMCqTwlB3cvmcEakTvHcrOnWGeX8F76DjbCVOeLxP3F98PLLQVqMqhiiXWcqcCLcoNqUKvu4c8JYS0t45-6QqwpHzr10wiey9s60dXymsbnMmw8yyPXkFg5Xftz0BBdOMfGZ2-XQsiXE3Rz2u0ko5YqXqsHs2GF92w-EEo4VS081PfwuikWnXypS806PiqC0tSTddL7Y4S0ELBUu3gpVhJH2-P8jhK_nL8_clfkTyB1nNZQfgX9A4vMRrVYU61-qtBWflyWfK6g6Tf5YXFNhGuQX6K_5ErPLJQbP_eGDapTesnSeKwAPKmIyhvs8pKVToGcpqP2AoKpE3CBPSbN03r56AQP4t1onQSUDeQo7DF0PAKkReSNGhJswUtR55ml0B4ItruusKgNFfGCWFUwz3atTuWnZaZnGJVfPLKsaC97ezUytR7F57UxsrMPq9iWja2QaNEECWy5REURTLIlmfoYTCBipkCjHaAYf5p7VRFoBLUr4uPd-vgwLMfZt4xZWKPB5iVKpFEE0LopMYuZYxqj80rWXA7zKhd4btXvuoBkFmf9eYVlobQXHb6mAPxe0uqjlcCPe32i4amkKzE97AU3caqzydIxqTpWySJxd1Gol_CBrxrpXL5dr3wz4kT4-WR3mWCMHZXb0yJxNH70_pJTH-Qh5uYiD_I1xfbXG1n8ftr04zEYqaDnQEuENwKIqRFugs42OTfYCPXXlIFTT5j_rTZb6410POcEBxv9KGlK3KzwxogS5FmTdjilleL5B3A623azkM6KnuIKcP1nSkL-KcNC",
  "id": "rs_0dfee8aa06ae39d7016ab2ba77010c87d086a2981e0169b3e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.19,\"right_z\":0.06},\"note\":\"The pink bowl is centered ahead of the fingertips. I’ll move to its left rim and lower the jaws to straddle the edge.\"}",
  "call_id": "call_g6amSxqVSHFv33vgx2a4D9Xh",
  "id": "fc_0dfee8aa06ae39d7016ab2ba79340887d09bb73d5a93d3eb61",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g6amSxqVSHFv33vgx2a4D9Xh",
  "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]: [-0.131, 1.0428, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6373, 1.692, 0.8101, -0.0319, 0.4488, 0.3485, 0.9992]\nstate[eef_state]: left_x=0.2962 left_y=-0.0015 left_z=0.1933 left_yaw=0.0674 left_pitch=-0.2838 left_roll=0.1027 left_gripper=0.9927 right_x=0.3601 right_y=0.1757 right_z=0.0417 right_yaw=0.048 right_pitch=-0.2301 right_roll=-0.1004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -2.8513, 6.694, 1.3944, -0.1294, -0.0464, -0.0122, 0.2667, -8.4444, 8.7043, 1.6142, 0.3199, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61c5f198ed5bbc0d61eadcc505b60de421769d5cf7b744ad1bb1198772db2eb1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daa6eb1422978cfec0fa127030a2f5505dc9bf9c12686d7508577759e4d19614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8528526840326ab0d657b8554c4b90a6e8f0edc35b99b819e0379f59f2018957",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 5.379 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]: [-0.131, 1.0405, 0.9569, -0.7807, -0.1921, -0.0944, 0.9927, 0.5995, 1.335, 0.7948, -0.2573, 0.4339, 0.3317, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=-0.0014 left_z=0.194 left_yaw=0.0679 left_pitch=-0.2811 left_roll=0.1028 left_gripper=0.9927 right_x=0.3373 right_y=0.1449 right_z=0.1295 right_yaw=0.0427 right_pitch=-0.1391 right_roll=-0.0391 right_gripper=0.9993\nstate[joint_eff]: [-0.0615, -2.9197, 7.0632, 1.4579, -0.2222, -0.0317, -0.0073, 0.1846, -5.559, 9.347, 1.5214, 0.359, 0.1148, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqAo8kJiU2Dfiiw80wOdg6M6G5JoISUvrVWwHQywftvrH6L-NQHn1GzRbwNaq80b0mKx5Xczg7DNAgf-rGDlw8--2oALgEe25a2U3ReH6zNAAbaFDo7yW858wlE1Qic1NuXcmw3YYSz7rr92gP6725fRQtuyI-ledkqRd_btjC9zr-O9bNBE0yPMmaw6u6PwJpdfoVESNqEWC_WVzyX8npLXFAeKNEy4g8HaOIxN4bDQFHhjNO4b7GnUnEBQjGNqRrB3fgLsf9VtMlUeeZ9QDd4TBiHdU9q-fKe_3joDXW6HU7LgrQC5fT3sKbKvr4W184-Z_fNIaDgx3eSxo2EsVbIY14LNh7xfibROuolgo3Xs6YzHsPCAY2LhhgJPkr2TvdiqLsKJJITvsJ-md4kYT2A-Gyxw-cyYbNBEKzQoGO8MAldaP4YGIAmQJy8nJrt-BfTfTUncmFzBLNP9EDDHs2wUASRmxTZO5XPRAwhjyUqm_2x-qGHXE3tbHlAPEZ4itkmuisjAI2f162DdOpVi-KtBdxJnZjyvp5HwNPklQlif-MEgc3cUbenBSLWZTJNRw-gL-CCvFOJwSBnK5jNIBr9648iMSgtita0Jo9jHvFNPMdlJufrJJCZvCmzkvH00INn7HxtIfmou19n9XszMhp494oqTHJIux_W2jCgo8OWx64dET1daCsrfk7EWRTa37TvJJIne7SWHyBYJTOfTjWzJSBB3gdFXQ4_ru92eqpcNFPN3DjWc-7wN0KxpeNOR6ckwtWy04Rcs6f4ZIjsWCcxBJX77MQ8k-cTGvnnZG0aSWEddEQ0XaiFk1BT-kkB5QeLDtsMAZkYvMGhlvs4qOXyLfA9ZYHudz6tnBm2_PSAEcW7IJMp3nkKiQuXyqSfb_LYERXVEuN821uFLGS34AQlrxMBF3LOZbf3fz-WG8wN7fBV-IXETUKALRlo_-B874Rk0P62LqVRoKt_OLPTi7FMKbA2PE9IjzGZwBO8S02GGivh_zwODMbaXj4F9EtBme7v5wWtmvyDVNGWF-J38OQGNOoZnZMTiqpLTZsxkb_B_6IJKFzwNa7YmkEO6YyWGMEZSAZzi1DTfBFlQCkxYYmiyC9CliwefIgL_KdHTU0E5BdfrK--tkmvDK5ypJ9Z4OfXSKy0OmU8P4Ngr0OzjZ7IGRoBV19b188cF-jCYXzEtegPSKre1L15SwMZIDcCW2HizTQ15xJhhopG5cu1TF6X4hA10XmM72b2KLwiNt6RQssbuOBOeYpXwD9Barl8gYirESkVwtZTQM8igIbryL6jcugztIHoM93vyjZz_Y43nd4=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba7d6cc087d088a36386e1b1af0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The left edge of the pink bowl lies between the jaws at rim height. I’ll close on that thin edge.\"}",
  "call_id": "call_OAojkbfGbICsElb5uWYvID9G",
  "id": "fc_0dfee8aa06ae39d7016ab2ba7e779487d0a6724b791666d0fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OAojkbfGbICsElb5uWYvID9G",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6403, 1.7241, 0.8165, 0.0345, 0.4511, 0.3485, 0.0114]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3692 right_y=0.1835 right_z=0.0414 right_yaw=0.0541 right_pitch=-0.1952 right_roll=-0.0788 right_gripper=0.0114\nstate[joint_eff]: [-0.1709, -2.6598, 6.694, 1.3944, -0.105, -0.0317, -0.0073, -0.212, -8.841, 8.3897, 1.5653, 0.315, 0.2759, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f6d598d80ee8b8033f8b2ac4cf6b1fd0def539fd420e804738bd0a1fa94a4f5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:156a5133e8380e553d23a5f8d9b7bcbba2acb4fbcb6e453da5f5a76a41a76dd6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:499093015379758a9f1b60d749d7e861978ac74822709d60625de26eee42b72b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 5.971 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0428, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6373, 1.692, 0.8101, -0.0319, 0.4488, 0.3485, 0.9992]\nstate[eef_state]: left_x=0.2962 left_y=-0.0015 left_z=0.1933 left_yaw=0.0674 left_pitch=-0.2838 left_roll=0.1027 left_gripper=0.9927 right_x=0.3601 right_y=0.1757 right_z=0.0417 right_yaw=0.048 right_pitch=-0.2301 right_roll=-0.1004 right_gripper=0.9992\nstate[joint_eff]: [-0.1436, -2.8513, 6.694, 1.3944, -0.1294, -0.0464, -0.0122, 0.2667, -8.4444, 8.7043, 1.6142, 0.3199, 0.1392, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqGvwjsamrzFPvIaVNOir4G9GJOb9J0UiAFFC1PjXuwspbdTsm3Nc7Bswtllstyyar-RFXm46KGf2LgYxTuMOEG0QJUitD0T-rOw9zqZadwpiNcymnQytX-urnH0mk1yNikqMivUHZoTl_ioTW4Bd5tD98laeYDE0zecg2O7LY5xLGUyOoajH0LHO0U2XjktnAJgyoMjSRRfXxvwXkUsaG3jsX-yNb11LJF46Y9_CgkhtPort3n_A9pFSOovvvM2tm2DXkAbx9SO75PvLaEAGNesWD6-NvU5W0LkP6-tXR0v75l5R7h9d9x1iLpvZ10OXhZqChNzpYVW5t_KdBPyNZ0TT4AJDa1IAZUIigt62DFFcUsgUGymDVEHqxhU6PIz108hh_QrtLe9F6vcyCJvQiAEVmFLYY-OBNGIpjcpmk1qZnf4Ptx77PJYWxGQyWx_K8DTDbRpm9eABfDqoTunImjyl5KjXz5b2QYsMVn_uvdL3AYQE1oA_LL9c7H0ATzH6v5MIy2m9xux5dnzhOM6TMDZQau0M9Bihi_q8Huokj99t0ib0UdxbBD6hguAhoG-8xdIG-q3bqbQh-6EKYzA2otpjV4cNO9AXxoxHsejXn673cuhvzkP4QzF6hTLeA-4QGKqYYa7_Q64Q54kl5Gp3_YqP6lar0Bz_kujAT_2YnIx240gDDv5W-Y1SbHh9Oz4ViZADXRaAYex5Bdvi-Hqbx-YZve2ZsHx11yNY6l9FpF6XWzlqmmX8d7COJ9iPmRh80rmfYyR1ZwSwFWx_oY6BQNUNDQO18Phn4MmAofQy2qN86AcQnLHfL8L4Uth6KXO5QBUO818KVUvZD0GadbAbT_5QfArx41n1ILtj23jSjyrpEpfwdOovNH4Uuw3ShODjudAUohOkozU0DZMfu1LfSxEf2e5PGlgecGI-ZZknVM0Ax-oOWK81UsUnBCqh-Wr3KgMQyjyR-roIs_mVr0nAF9uGyOrZv2WQlXYYiVhtNM5iWA0e6s2Ajal1p5XEjPnq2zcurIoKzGAfh7s4c6M10IPKD8prJSp7_z-nDv_mdas-InGhbSAFGqxSLjWJz0iu8dpszNenA9-qvoVYl8I-ie-kqRCnTO1fapi5eV6lOK82zKGp4w5lYhBZU0WEx0Dwnwdjp7oGjDTGEHmlv5RfFjiguYHex95yulCqkhpazat63QAP6ICLFn33EwETZFxEeDyLCOm5Ix1gukQYUPMStK1O0JEnKQmzlCKH34-qiBQ0U3XImavLB0bOtBHO_OnTr2xesVFXhUsA22FPM4BKBP65jULu6smVO1fif8buySRX-rXhbW-gnZxjKmxmfJL61z8PoM8qeH-JMVG_WbU8mRKfkSjejqaaYXsO5EE4XE_8uJPMTEIkZrSOFAlzePS-N2a2Hr38VupLybQIfHicbVKQ==",
  "id": "rs_0dfee8aa06ae39d7016ab2ba83026487d0ba24e61efb341df4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.4,\"right_y\":0.175,\"right_z\":0.065},\"note\":\"The first close was empty, and the bowl shifted slightly to the right. I’ll reopen, advance two centimetres, and adjust toward the shifted rim.\"}",
  "call_id": "call_3vqUU56nkEHQ1xqEVIsHPCVN",
  "id": "fc_0dfee8aa06ae39d7016ab2ba846ee487d08476f7c3436e2c02",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3vqUU56nkEHQ1xqEVIsHPCVN",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.569, 1.7302, 0.9012, -0.0551, 0.4023, 0.281, 0.9946]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3885 right_y=0.1706 right_z=0.0528 right_yaw=0.0566 right_pitch=-0.2276 right_roll=-0.101 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -2.5778, 6.653, 1.4335, -0.1148, -0.0513, -0.0073, -0.5538, -7.2, 8.9094, 1.4237, 0.105, 0.1832, 0.0562]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c40529afc713928187ac255eba62d245dd84f9ffb1c6d70731fde6966e037df7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:116d755ca625e05e0f9609da06bd7b65a933e765f8db64f9a1a3fd553f221cce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1056fbf0fe66e13d3f4af8a2035487f69d5e898bdcd6a04d56a1bbef126c6729",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 3.61 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.6403, 1.7241, 0.8165, 0.0345, 0.4511, 0.3485, 0.0114]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3692 right_y=0.1835 right_z=0.0414 right_yaw=0.0541 right_pitch=-0.1952 right_roll=-0.0788 right_gripper=0.0114\nstate[joint_eff]: [-0.1709, -2.6598, 6.694, 1.3944, -0.105, -0.0317, -0.0073, -0.212, -8.841, 8.3897, 1.5653, 0.315, 0.2759, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqNZTjeMgXWm-xVR3aCu-meeJjiKdrdNqyC6Z9KJCAIJWv5mPtVN4Ti56x4tDlSSLh-lDIVan2FOtHhx5Cs_sVZRcCT8Pv44uSa1EaqQ2GN3lDMAGnJtfXRxoEFp5vPwZg2ow1UIU-TJskX76d36HJ25kfzzyRfMhrrkLUscgiSuh3qHHtYP9emA5GXyo55zsXxKjHZ1ASpzYp2MVp-BFZw5QBj62ZIPZrmUxPfTItzwz8ixYK8DVHVuIHmJfjgrWcnZKiohxoM2tbULCL7rHB6Y9e0G2sa_jTA_gCGNi3-AIzdVLa5aIn015zHJD6LEEtMguAiXDo8Vj41tMildPagqTZBvQT6HjBf6adwEXX43n_ce7Gtxdq3YhfWN517F0LwC7-5FFTRLewW3LmJ_0OE-3EDfzeH2jDEECu7iSkoemY0C2fDAf6_WlKoAFoxZMCnHULDCfbVe9mgxSt-nxqigedXYajs1nv7C91s7nO9B-wlTOzV97-QlM8Wj9cTMO-5wpjppZDQGi72i-Cv48Vp23b0xaH96OddpoLNuGDRnbJ0PnCBRywc2y_x83ghh4DOk3YGxfA8jRt_nBXcjNpi1pDIvAX24ffEqszcmKNbwTwyGKIkVFRKQUeYOAB8ac4Vyib_R7bYDqn9EcOi315F5ozrINV26y3b23OyahhobMShXdOCY2I7eWajWjoc630InThwy7qe3T_u2AWO-eLdIuyLL7Qqtf2Loz9t6QRSNmFUgFdWoDcsn-DhotZ-6BWyFURL64EgCfBZDRZ9Quc25gogT0FbONFS50fPLVu0umfXj5hdiEBSCuY4QjYp7Wsmvqu49TJoKCvn54wkbFG5nEg8P7Ld0DanuWzXmulkZYiYf3WRw6b8Cru4RaA90z8D4ZuLikKNJeWLNIne8ttSpcDXvQpA4qDRch6q73v7eXps6uAtiVDZCQshusdagHxf_8yyahMVnXCUMPj9jUKfPGl3Ar75GUFiJ-F9dqG2mVgqG-2ZgufCoTHl2TgBhEefED4WrduSg_zmHE4YfvLYAD3Ryg5u-BP4CAnPi7Fks0aICEl3OyRCUmatk31Q_snG_RolZhXbz2iOGU-xeOtr2S5bHekgrc1Qyd46L1-nrARo4La2SUj_GSipzR9VbRyjCJBtHgj6_VC3RtXUF6T8czn0Y8RCrb56JPPJ7_K6akK7RGr_i44awAHryzMzmULR0e4yV-9WJNiU6Q_nFNzvVMhDham-kBaCo_7FJC-8fyR7QCmVyH0tIHas2eOSI24gZjdLXt0qQ4148A3whx3P6u-rrKEy36phS9sVeH-TnUPUk7lhviTbtzkKRMZQa4R3",
  "id": "rs_0dfee8aa06ae39d7016ab2ba8a5edc87d0823116c1a7e43df2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The adjusted approach puts the left rim between the fingertips. I’ll lower just below its lip before closing again.\"}",
  "call_id": "call_VeuWM6edtkfn7UuRahWyzt22",
  "id": "fc_0dfee8aa06ae39d7016ab2ba8bf03487d09f732de02952179f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VeuWM6edtkfn7UuRahWyzt22",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5678, 1.7458, 0.889, -0.017, 0.403, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3903 right_y=0.1711 right_z=0.0479 right_yaw=0.0585 right_pitch=-0.2186 right_roll=-0.0997 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -2.7282, 6.8581, 1.3895, -0.1245, -0.0562, -0.0122, 0.0889, -6.4752, 4.9709, 1.619, 0.149, 0.0024, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a48377c57dd9c4fddd605a6d8eaa60c1112493a6ecb81df6026119f2d11ad23b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4900dffbd75bf4c3424b553f851320d2f90818ea5175b426e3538d600c4c52cc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97725e68c070dc9f3374534395a21fc23341746d2b69356654c96fc702d05c36",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.286 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 68 changed as sent

message 68 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.569, 1.7302, 0.9012, -0.0551, 0.4023, 0.281, 0.9946]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3885 right_y=0.1706 right_z=0.0528 right_yaw=0.0566 right_pitch=-0.2276 right_roll=-0.101 right_gripper=0.9946\nstate[joint_eff]: [-0.1709, -2.5778, 6.653, 1.4335, -0.1148, -0.0513, -0.0073, -0.5538, -7.2, 8.9094, 1.4237, 0.105, 0.1832, 0.0562]\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 fingertips are now down beside the rim. I’ll close for the second grasp attempt.\"}",
  "call_id": "call_4qROc6n7a7a0eetYgRLhNpmu",
  "id": "fc_0dfee8aa06ae39d7016ab2ba90033c87d0a3a3ec2e181d2d1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4qROc6n7a7a0eetYgRLhNpmu",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5671, 1.7706, 0.8665, -0.0246, 0.4068, 0.2657, 0.0229]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3816 right_y=0.1644 right_z=0.0294 right_yaw=0.054 right_pitch=-0.2657 right_roll=-0.1377 right_gripper=0.0229\nstate[joint_eff]: [-0.0068, -2.7282, 7.0085, 1.4481, -0.1392, -0.0415, -0.0073, -0.3214, -9.9624, 7.4325, 1.4481, 0.1587, 0.0904, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf958bcadb7ae87117036f11f5bc38a21cf553d7b92134bf92385012e4f543f6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9f89619f0d76de374719c8e2ee7a60f73bfd0c6aab11b37b6d4d1595c8ac012",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e7691ef79df975bdf8f0e1ee53754cddbefcbee29d15dff172c4b6206d790ad",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 7.068 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5678, 1.7458, 0.889, -0.017, 0.403, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3903 right_y=0.1711 right_z=0.0479 right_yaw=0.0585 right_pitch=-0.2186 right_roll=-0.0997 right_gripper=0.9955\nstate[joint_eff]: [-0.2393, -2.7282, 6.8581, 1.3895, -0.1245, -0.0562, -0.0122, 0.0889, -6.4752, 4.9709, 1.619, 0.149, 0.0024, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqY9vlUY-flo7qjbkfpxOSBc6kZ1M8N-gHLxIyyhci7ert7ZjJpIb7lXPc-s2G4-ntNNSE5QM0LyTeKbu_TUu_S1Q87HzGpT1OFqb_1Ajm_agp8TJeZB60S2TrQYkmCCxYJfJSvEBhlh38KhjdovWR3xfI9EAxoHXTkqdur0yFtxNZAD-XcnGLkQAqMJGFjViyBdJZCM9xX6njrn_Ssb70eHDpLG0oaVdKwtU6eJD53k0hRe6cD5oKwwHUa170TmrIUUgtD0SalSfad-A7dCK3wKGEy5oqMyclSbi5e7n-g-qy6pZ0IXLJ1TQisps5e3xijy1Z17HsAgzkUCLz3n-CAvbh4jjwIRKn47OQJRSiygycCtr5gBR9brMCWABly9fiMSHuYH6M0Xv-bpcv2rz0xWa7Lflzsh4LHuZ0KjnUz7k-mnQCb-89NPvBhuMLBub0cnDsFHOYIrMUxUeS1_G4y2TAlPVOxxbmn2_uaD78E-zkEGf8wrtZXIFdctomSJOrIbncPMg7In0J6is_MtfPwV0gT9jBLj9hMX8S1-ubUhhFOY1U-kW5Fq857pYLgr6mIJ4B6OAr4uovxdJr8TOiuMm9NDeE6LFNdgUPiC8NIKlEzca8NGjqrGkzpE4BcJYdluOIowULHxP8SJ2Uc2LyqAUut_ax1gslGTKrpfFBMdcEyLRa_5e8npMTe6eEDF1ur-v8qwRPDMdQWbLDu2tFBEqShmOnsnOPUSFPBRzoM7hdIbQagx2rzggTHtRAwftqKD4fWPGPI_sSAQ6WAQhx2py24MkfvL1hM6OWcO1wMfmPgXD9YNK2wIzYm8EkL7bOZOunfMNnb8OMIswxxLEgu7h5ZZs03FQJbwZvkfbfP2qYRXfbgQUnqjDN08SmKSU5mPkKs1ncbxNi5QIjz69R3DUjoqF7FX74kplbk1sExCSotGGifQHs-SXFHqFssxWhPrXGa_VOTN0lK6J8bACRGUW7kYdWWwp2-P089l9YCJ9yY3PQswWrbdpqy2j6ky0n8tmxo4KSr11txXddTufSEEdlNupzSUqbIT8VPmkri_I5ZKEboKJ5gkhkcgqNnjtonmocAjh_xriwk4plvpaGgwsJkFdxWU5Zr4RxhG_JtOLlrAJa_qTG3NFP2Yew_zhZRu9G4xSu335bvnT7zkMQoXvnT1Ox3wsu54GoCo1lpK-tv3jUKcVhwv8TIs8SlzU8BOayGtxVr4zpJXCjF7BzSBVFzN5puaYVcK8e6rbJH32_Pa2v004dvk92U-rhIw1NKS0sWDZbMIpXvOUXBjkT8Joohz9ineSlKLf2GIulaumgzgn06KbGw5Dvfdvxgs1Tig9syO-WX-MMssDOfF_doFy_MztUoQv3TtXAujp0mhFzRA87IgcczHPGFwHG_OAc-DqHcREVHsDVSnfA8oPvJo3paMicj5wzxdLSTxCd8vlM=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba94462087d08eaf4b70cbe62060",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The jaws are nearly closed, but they appear aligned with the thin pink rim. I’ll use a short lift to determine whether the bowl is actually held before transporting it.\"}",
  "call_id": "call_fGiS2wDuzvhjnsZPgl0GmbWE",
  "id": "fc_0dfee8aa06ae39d7016ab2ba9626e487d0bef013c9309929e1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fGiS2wDuzvhjnsZPgl0GmbWE",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.5678, 1.6474, 1.0088, -0.3199, 0.4026, 0.2604, 0.0282]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3779 right_y=0.1632 right_z=0.0872 right_yaw=0.0568 right_pitch=-0.2937 right_roll=-0.1534 right_gripper=0.0282\nstate[joint_eff]: [-0.0889, -2.4274, 6.6667, 1.4188, -0.1099, -0.0415, -0.0122, -0.4171, -9.265, 9.0188, 1.3944, 0.188, 0.0171, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:857003b2c4acdfcc479e14ab5cca540b427f73e5520b5f33ed445d870fe88be3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c64320ebb3a44d3059f6d52b4b7feb14b318b5e28fb407c3844966102742feb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c26a37ed34b7607799b0d53d5c6cee8fae099b8b2da421b143e02a48028590a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 4.504 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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5671, 1.7706, 0.8665, -0.0246, 0.4068, 0.2657, 0.0229]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3816 right_y=0.1644 right_z=0.0294 right_yaw=0.054 right_pitch=-0.2657 right_roll=-0.1377 right_gripper=0.0229\nstate[joint_eff]: [-0.0068, -2.7282, 7.0085, 1.4481, -0.1392, -0.0415, -0.0073, -0.3214, -9.9624, 7.4325, 1.4481, 0.1587, 0.0904, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqf21FKp55bA2-syx56Tlwb6QoYlSKJU2kBN7wzxFCO8KhMTJDeNjbRXF24CZa2Q4vgbh_TBsK6GZUlRmbmjrf7sHnvxdKHIO3BbFx5e14P3XFNirbnElIsV6H4Kt87KwBYNVpmgJgp4ohvvEJ1lGa6SfrgO07nTHd3umC0pXVgaODig-jZd83jZLEZ6ngNDDQqSgRRb7d3kQQp0QrgIBd36d1AaEzC5eGgqyJrVlrB0xiwoWee-YZaV3pnkyb8EdNFnjcyzb8wxirBlHNITrkjopoDem4bhVEaYZufZMhl7PZ6k33Z_b5V1Xv3pFptSnAR34c0beLmjZnA5w1MhRbcgrKfqLoik9q3qGCK7J-RXmc_wg2uVPHHqKTRXE4KI-LwyLnPV71tzbtd1JFQ2CiZXkDpZog7wcmY3fDMMu2UpRom8CFVA86gqc40KW7hQul2YV3HYpxkhZ3f3Q44h8lZ4gI6Y24mdqbbrx2iRBhfa3w7R8QMps-d84RNb6snVHsSF2TkHzXATNBNHL2ApVGuVKF-e18gCvWBlpq8H7VL9YcRwAv1fXJvkaIHpRCLq42KXy67O7EAP5hcPCqnp76F_YJ9uF0j8uM1sThw9wPZPqvFxqsC3R9kXZYBjgxaiWDIfRFRUf6D-Id_1aqi1W3gGaD7V2G1gDX4Pa2BpJ5ndcNwPLISLqUtrY2v0J2f8phET3lESHfIuVx9a1V-eWLiV7nzdGqnfbwCOes1FIvtlRrlgFtNvZbbv6Oivb1VxjLWElLr3on07KfW9zne4DBO1DHgdlWkIaySucUsbAm6J4hukb4VifBuGXsyuAhKZ7-_AiWesD9ZY2E9F0eNTxS9EYrvvi_7p5yyEz0U2WSTU9u7jplC_A8poTa1ihdjVn_YJvHLBpwICd18MafNXrqBCj6ImtEKZtjnA5tluI7K-L6zK7IA2xJoXL9MNUURX5gebcLsyDtAbcamgSl9XR9XfbdtSg7O67YCVUR-jfgXQJ6GxtZwv7AUzcu0MmIXEIBqqyE4CIlbtVIsvCZLuvU6q9Ys1TkgNbHc-dxHQZCPyvLb7TkrjdGHs7XWSuj9sqvgI7CjQL-rzCa8HiON73JN1QwMnrIp5kNhfF4HgeJxwvjfXayhXOqCqDGxfneGbob-RFgdSRqKIWBW7-r3yRXgdEtlNsYLDcSo3TnTGyFtij2XNOxxXQsg3xj3-6nr1cpcLg1LOjWP4J6IRnQPTYNO_seNgLr7fkSFmx8bB-j47tqiroBck8StlA74k3B6bPYQjvC7D23WrsZZHjfXVHndLpAtqiZA4h6YVV2U3AjmzDpeYdAiiyB1qHNLmaHk0R1lflKObqMiOjkV8X2C38AG_o37kEjlc7zS9k74bMpECi2gopsF6NalNwgGWtZ2mKKwM95KxtJ6CYrKTsfJcBTcMSPQFdiwyGtv8EHxd7eM-t9w9M37S0MDOL-qzT7RLfSnFUCkmdIERQk7MHotD7lEPyJkfAcUF8rs84YIXc97w7U=",
  "id": "rs_0dfee8aa06ae39d7016ab2ba9c184c87d0bb32a18ac02b7be9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The pink bowl moved upward with the gripper, confirming the thin-rim grasp. I’ll raise it to a safe carrying height.\"}",
  "call_id": "call_CU8toVV44NGWBJd7RpNzC2Z1",
  "id": "fc_0dfee8aa06ae39d7016ab2ba9e940887d082296cb9dab41dcb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CU8toVV44NGWBJd7RpNzC2Z1",
  "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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5674, 1.6024, 1.3777, -0.7673, 0.387, 0.2565, 0.0297]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3783 right_y=0.1663 right_z=0.1843 right_yaw=0.0658 right_pitch=-0.3297 right_roll=-0.1612 right_gripper=0.0297\nstate[joint_eff]: [-0.1299, -2.6872, 6.7214, 1.3895, -0.1343, -0.0415, -0.0122, -0.3214, -9.4427, 9.2513, 1.4188, 0.3248, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1a0cccd04cea55a0fc8a2f79d000fee964c3bbc23a0bdf445b4312607b6885b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46d57a409972f4d8de18f4018393d66b629baa2ad1d293f217841821b5052df7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e88ecd299795ad8b95295cdc98c78c9fecfd49e37e9af96fef39ea9a5eb505c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 5.789 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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.5678, 1.6474, 1.0088, -0.3199, 0.4026, 0.2604, 0.0282]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0674 left_pitch=-0.2846 left_roll=0.1029 left_gripper=0.9927 right_x=0.3779 right_y=0.1632 right_z=0.0872 right_yaw=0.0568 right_pitch=-0.2937 right_roll=-0.1534 right_gripper=0.0282\nstate[joint_eff]: [-0.0889, -2.4274, 6.6667, 1.4188, -0.1099, -0.0415, -0.0122, -0.4171, -9.265, 9.0188, 1.3944, 0.188, 0.0171, 1.0232]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.375,\"right_z\":0.21},\"note\":\"The pink bowl is clear of the table and the existing stack. I’ll carry it leftward over the two nested bowls.\"}",
  "call_id": "call_823nzJ6Dum9hQn4jP3XsmzZc",
  "id": "fc_0dfee8aa06ae39d7016ab2baa3c95087d0bd06e89b19fec3e7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_823nzJ6Dum9hQn4jP3XsmzZc",
  "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]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9138, 2.5381, 2.8128, -1.4487, 0.5243, 0.5667, 0.0314]\nstate[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3988 right_y=0.3782 right_z=0.1805 right_yaw=0.0954 right_pitch=-0.3705 right_roll=-0.1811 right_gripper=0.0314\nstate[joint_eff]: [-0.1709, -2.865, 6.653, 1.4286, -0.1636, -0.0757, -0.0122, -0.0752, -14.0103, 6.8855, 0.5397, 0.5495, 0.0806, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b484260875f13322c400dbfc458c36bc6334ccde85c96292f62f3f76f362d86d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60f5931516c049b54f9ee8ebbf73abe3318b716ac48ab15222c5d2914ffb1ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2174c2fddce260c8bfb6cab5819e1445a391bcba26262f117002cc101f16a0f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 7.446 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]: [-0.131, 1.0435, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.5674, 1.6024, 1.3777, -0.7673, 0.387, 0.2565, 0.0297]\nstate[eef_state]: left_x=0.2963 left_y=-0.0015 left_z=0.1931 left_yaw=0.0678 left_pitch=-0.2845 left_roll=0.1032 left_gripper=0.9927 right_x=0.3783 right_y=0.1663 right_z=0.1843 right_yaw=0.0658 right_pitch=-0.3297 right_roll=-0.1612 right_gripper=0.0297\nstate[joint_eff]: [-0.1299, -2.6872, 6.7214, 1.3895, -0.1343, -0.0415, -0.0122, -0.3214, -9.4427, 9.2513, 1.4188, 0.3248, 0.0122, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrqsAP53RY0Alj9HL94yGMwb1xMTeYpz2ndgJjljHUfE9oxanSq0QK8zi0iFokoDDDaQjfVkV56CnAPgSor3Mb5lyu8wr_v6M4dMGEXbt2ON3-W1nCE6spAV6kyIzPF71occXJxi6-HtsKf7-RE8bhh4Tg6MDpPxuTgrFWKC94Q-TfuHQkRa4SCwjy27nEGDbg_DXb0Bi4ZOIoYBJAGVxHZ5vMbTP9thdX9cpDPPa5U7iRVI8Z_IhXlT5KCpwDFGT2FZbTzGOZk_ItcjurnWyEBITg7E8EMDm6gFFQ-LmO6Ddnx0m8m1ndNHBEpoNHbZffIXssc46iuq_z5TUqie24KEDjgrHvrh-JE0q7rGKYc6ENSlENQVDqAtNzIdEjiwNj0YiVhXkTjI1qIuHyiiPWHZNXmiziXGpuxot472VgZl_XIQjOx-ZiEAD3aOd8gsv6mlxG13WzhlKrUg2Bk4ISMIRD18SpATRPuvsCjk-8vqydWWZq-sIo25NW9Vs8-_yOadqRiUmdeoHdYSICMonEjRpmoS7iG1nF3osmHyuwLWqRn8brwUWN_au9zWfKuKxnSO5KuO9RGRKFR9NylV6Ct1dz_vprIRZrm3UkupdoVP9BbqCP3bWRGuWmZ2yHDUDR0Q8_NTDFshoD4z6fzsQn_2xzg4mgzamA032MnSBHmTGv2sVTiFF3Iq_IXU-sjPR_RUcFbu1lIoxbYICfpcSYeXggi0L3PSviTWbS1A3IZA-b4bvTfDQYYU27MPpSaavRVVChNFtQX7r7zmdUOVwNnkhG_RD_BTLvlQSbJWxY5Z75eUKMACyxbpVxNgJfuP4ZAnYdBRNOwPR5OfRB3f15kPjgUwGbz7kUHeZaOE5tfiyFNsy7nOGfuC_fZmezC79MD4vi6qrZVHMeZjULB83UjUo12CzxbfLyetIuYA5DIpoa503ocGOEc_zx1xAhpBrTXRrguddGdBdB7qcreoLdeVaj26eKL6W3ySsf2XGuRLENqqyA0sWUvqDX9Q3-LhnQmHJW_YNj7kMz62CH-qdJaG1lZx90Om3hQZL6QQekxX3yW2TR1U6CCw2GnAWgqpudKVioJiE01FPerlMt0LcIgsM_MU6P1-hOg3Stv8C-XOAN3z9vgIZ3pFVujH_4SY7OrRIuYwzHGBNWt0RFBPzU-2qtj9Har64JMK4XkZraAgQrs61pQ3YCqKDcbC9jr8Ga1bWkbj54SJMpWX3Qk0dG09QCDg1tWEsnzwsBWZ9qq7z-WoCjTTWgyY-XL-2cSspuLL6RLjH5of7f1ci2BAGE2tFuye8sympbiSltbS3H518Io=",
  "id": "rs_0dfee8aa06ae39d7016ab2baa934fc87d0bdc9055dbe8a8146",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.11},\"note\":\"The pink bowl is above the stack, with its center close to the bowls below. I’ll lower it carefully while making a small forward-back alignment correction.\"}",
  "call_id": "call_jbh9EcNwJHjpM8uAAxB6U2XM",
  "id": "fc_0dfee8aa06ae39d7016ab2baaa8f0087d0a77208217d8e0a5b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jbh9EcNwJHjpM8uAAxB6U2XM",
  "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]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.9287, 2.8082, 3.1165, -1.5547, 0.5159, 0.577, 0.0354]\nstate[eef_state]: left_x=0.2964 left_y=-0.0016 left_z=0.1926 left_yaw=0.0675 left_pitch=-0.2864 left_roll=0.1033 left_gripper=0.9927 right_x=0.3999 right_y=0.3952 right_z=0.118 right_yaw=0.0871 right_pitch=-0.4241 right_roll=-0.227 right_gripper=0.0354\nstate[joint_eff]: [-0.2256, -2.7282, 6.7761, 1.4383, -0.105, -0.0415, -0.0122, 0.6085, -14.2838, 7.241, 1.0916, 0.3639, 0.1294, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e54d1d2d20191a6c66c5b776c1bd0b7b77780522fc2edd046bbf7cb2a1d34625",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3082d06142d36ea44a24cdc6a058123423c0a60bef29380fb04d6dd354e8afa5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c78d5f234b11d95ae76b7b1a0d52d4e7e98f0b2eb7e01a5f4762fd8da65ca0ca",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 10.02 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]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9138, 2.5381, 2.8128, -1.4487, 0.5243, 0.5667, 0.0314]\nstate[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3988 right_y=0.3782 right_z=0.1805 right_yaw=0.0954 right_pitch=-0.3705 right_roll=-0.1811 right_gripper=0.0314\nstate[joint_eff]: [-0.1709, -2.865, 6.653, 1.4286, -0.1636, -0.0757, -0.0122, -0.0752, -14.0103, 6.8855, 0.5397, 0.5495, 0.0806, 0.9109]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrq0MPf0aK0ddcuNVHnGXd01GZXvuNJtYVqqAakAP-83OavluIJkSPiJ0JMasOadDT7KrVeGHngJREYgwWDfW4uSsc9wmcEoa4zBgXZWFgXEsGrp99URT1gqL-Ld--1oLzd1fLI5iZMl9P8jT9YCvyC042KCOlhRWeKkEXEOe3iIxAuOz9i7TeZkJQPTvYJFDqB930-K3Ec_UraXVWNaiET8SpBQ6TBiXfciCNXHxDy-41JqqOrBrCnArYAWqxu7nnkAZDxzHudRtjh0nLeflRiE_F4A0yg52jhmxYDs_980Gm4oC9RbatDSaj9L306t8Aq2NjubtphSYR0WBHDn0DXzkgnCV_dbxmHB_4TpVOBtg7e48BZNGnEUUFkBZuBOoIS2c4yNDnrqLynsP-to4K1LYMTWHrp90Gv9FlI_xNqh544t03Ohly9eR6S_5zAn2GhJ2MmV2S6CzL8UQBgFTOJRFQRnlKX6abcKRcG2kdpbJ2kjqX6SrwkgWV67WTwEETZ7-sRDd8x-rWtB7XZHJB-soMSujt_7zZr8UwLbcdwhXBP2kvQABvzvXoaqP7E9spIKtPaZDv6PlrE60kQ9alQoL0A-S8RLNRRB3TV7EHoGdCQdM6jAjl3qLGusFXeq_EtIhLl4fwTDl7xfDz_2-47STEYdSrPSXV7fQcufDr5kQpHmgpZBAfpdUkKY-cOycT3P2fcTwkcAfZgzKvn7tTWVtCDUywosaZb0XpreiqTpNAUzhR_KugCkfmqp4f0og8MDmbOQIRMItPs5w6kwyzx9dUWNe9ZUuZlBk64bdGH5wgWUzmPoAAQuV5wt_W32B88jaeDghhW9Afbvjbc7ly5-LTMU2ssjAnMpupHbFpEQUzuzD0_bf8snBqlKVPh00U0jk81UqdGy-QuPVSRyVy0CnX_UJns0aP-gomKv5JK7YzgVoxFxS8h7F5L7F8IpSIN2KnhRK31APEKqw1ykxSDIUewjjgPTJaTWJ-R9ohPJpk7czmdWxBK-MhtS9fcDRqFuHSgd0EAtCDplt5_bvrEmkX7lw_za0nowSL11hlarzHOE0roC7jphhWsGcBWYT_x7qe4IV6iJOA3OFbfNYYPLvkc2Yu7teaUFSgedv_myzkJ_TSG1m4SrhhmKr_FWXK96uii9yTiPL8PvQxNeFjg2W0dmNkITDfhQvaK148gnGuF9N_BgclcN5qmeEVflf3cnJ8KYfdzU2xLw9h1eZ2b3LjDctKVIrI7F-ONXfC4LHWJ-4hnDLK9RpZwmwQmFnTbnrzYuEf9ScLMn1KDrjSKsUzD0j4c7yqhLOTzKSLFwrXEPJh-u41WFo-hz7b0mB006GTO84sr7vhLvJ6aBkaoax4GOcim1qSvuxAtapTAYp6wMF9L-dD6XwniiTRxiPNir",
  "id": "rs_0dfee8aa06ae39d7016ab2baafc7b887d09853382a326b6f8b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.355,\"right_z\":0.075},\"note\":\"As the bowl descends, it appears slightly left and forward of the stack, and the arm is not fully tracking the target. I’ll shorten the reach and shift right a little to align the bowls without forcing the arm.\"}",
  "call_id": "call_lQzcbyTPSvTUSyWz1w7RIqUh",
  "id": "fc_0dfee8aa06ae39d7016ab2bab2241c87d0bc71a9daf657e418",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lQzcbyTPSvTUSyWz1w7RIqUh",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9371, 2.8384, 3.1172, -1.557, 0.5125, 0.5858, 0.0376]\nstate[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3958 right_y=0.3985 right_z=0.1016 right_yaw=0.0815 right_pitch=-0.4464 right_roll=-0.2455 right_gripper=0.0376\nstate[joint_eff]: [-0.2256, -2.2496, 6.694, 1.3846, -0.149, -0.0415, -0.0073, 0.8, -13.3128, 7.3094, 0.7985, 0.3053, 0.1636, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a23bfed99922230573eff7def28bea66797f44b899c98cf95cf30b9ea82f98c1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38dea676029c6504ea29da6ded0f9b0324c3b7f01c813a24f6f2cedb81ddc164",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2bf5e386f18fb6f968d0c1466ccff70854ee36ccb3b00d82f46925f396b125",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 6.61 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]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1913, -0.0944, 0.9927, 0.9287, 2.8082, 3.1165, -1.5547, 0.5159, 0.577, 0.0354]\nstate[eef_state]: left_x=0.2964 left_y=-0.0016 left_z=0.1926 left_yaw=0.0675 left_pitch=-0.2864 left_roll=0.1033 left_gripper=0.9927 right_x=0.3999 right_y=0.3952 right_z=0.118 right_yaw=0.0871 right_pitch=-0.4241 right_roll=-0.227 right_gripper=0.0354\nstate[joint_eff]: [-0.2256, -2.7282, 6.7761, 1.4383, -0.105, -0.0415, -0.0122, 0.6085, -14.2838, 7.241, 1.0916, 0.3639, 0.1294, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrq-noLwZNyzOkWwi9ewa3Du4b9lzQ4gmc32NBI7yt6pZtsxo-ngrH7dn-Txb1GmYLL8unaxh5P9IH-8TAo3LW5SsmI5om_U3R4J5VeyaWwZsUOX3MhaCvNIqQXracl4Jt73iCdkRmZ9BsJ3mPAReF8lz7ly3pcZLpJeT-s-0vZH-oRMpj1xJwvKAkcnPXhyHSHtMD2YG1Q5Ep8BHKGXhPqGXbctW3obsezUSc2ZIBEiDlUuullO_5VAykn1pC0aZQEqfCnIOTBh341DEOCVdfnJ2xiLz_PXPm2ODW7frnXPB2Uk8m96vn0BbTn-x5eHikjyeuApaphJzh_D73xVulF1trZC2Kqf791mGpiRfPTvHsGx2mFR9m53oXFZmSEtqP-J1y2uK-xN7m8Wq6b1_YqnB3IL72AkZkPdMHsYnn0_K4_q7ns1gPFXR_APpaGiAmuhUc1KYtZHe21YQumSQFBockmVMUC8LFmIfhz07w1Qt_Zihgcji_VMqWtcppywnX98Pj8hTk8nqsXuYXB8acZLJv5bjsx2no60ZMHXFdMoURdS_VptbJOouGrwowsYZf7Wqn7cx4wTx4arFAmVycezYu6DRmGd664VimREjVMQo15sJchse46kJQzYAgsbD_FqT9wZ__SKxsl1TO6zxLl2hic34iZL5YlDt8oIEjKKDtRoFs00QamjHtGrG3uk_ZOBf55i6VUKPHDnviCKELnzb54dK5srlt7tw7PaTTG8yko7gI0-CDR8sAr0wHmGAY1bqr5MOf4RSDV9DG5wO0F3n7q-3FmRK08gsA4zxcPAbOzKAeGNHNBG4TAbvlF40eM2-EkrlwEbJbwulTCMW8UmgvFOayZIi4f2axrxXnsvanrup_7QIjFNmyyUkKxHzrZCVsTKWq4O_GUcsqcosOJqcHswaPre-nE-PL8NULCO3PqJ7gIloQ_W8-4iD7aQHlRwtil3Nm8Ktbo5uPJ1YvKDIhqjtv_dj6wU_Bmqv2_B35jEcSZltfVLnk37CS4fVHnQh6SIZmoFjQb8z9dIpiIr9ZJ-R0h9jlDmoT5M5QXxKtXST7kDBtVxt0Livlz0k-U5kVC83YWgMPcV7dHPAR0Nte0sfk2Fw80nHZ_298L_7QZTrrWx2SlRMTsVqeR0mx1qAjKoBjU0aQiiTQ2FbpvSxC4f9-TczSjOieMoWXbAqy2OhnaihZt8DRZbv0aCgZLE15Gp_0kO-5vCfkow4PMZ49QL88q-sZB-2T4yOa0CW7WfD1nu_PqhDGYQpevnFss5is0BUULhk5cdi7D60iwcQQap_bMb3-YSEwzlqz98e1m2fwtlEPKfNe-JNMFU5tSG2auv45hdDfhITlckFUsudBUT_c0jGgkVH83m1jqaUbBeKxE1aVV2g9EqFiK50wOX0FvyxLNbCbagjMIP1gevAKlPhbrfhJRkTkfZr9T1KJ-yqm-xdyz67kiGy0En1jhx_ugCMiLP43zuZitApdqqfU8mLFctWpM52lMGjg-EF1ehSkf1_8gfesbxXA2bWaR-xOQIQ8Jm0ey4SSAsdH_pvMCrfFlArI4hE7H1o1X1-3qY-euC4xF9kU4brU_6BK4TIEKeZHxgIdGisU0lfpAuWVz87bSXArbB4nxPCxvpkSPasebzKJmDlgtTmUJIdBZaW4at5OOM_IgHhKlp1Y1UTJVWQK5roWoho8gZJC7yrLCqICnUXpFaNmsW1OF5gFfRNoCkgftzfE_R5Z9StHtro1oS_rNyc6-UcKD6IFRm7erNlFnd9OJ2uWlfO7GTOPlTARkLGxvXHvQZ-SchVM6nRsW_qDQHwBl56d5K5F2FbNyyyn1CSNNIIgOQ9PPWli5lTFR0wCEtGCSAT5siz6J2nuG4KNyFjCXXnVJdebvs6cg=",
  "id": "rs_0dfee8aa06ae39d7016ab2bab7396487d0b2bcabec63888ea7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.365,\"right_y\":0.355,\"right_z\":0.11,\"right_pitch\":0.2,\"right_roll\":0},\"note\":\"The arm has reached an awkward joint configuration and is stopping short of the requested position. I’ll adjust the wrist tilt and raise slightly to recover a controllable placement pose.\"}",
  "call_id": "call_QwGEQZceUtww8gFa1QLmi1ev",
  "id": "fc_0dfee8aa06ae39d7016ab2babc9e3c87d086fa4d655e631b50",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QwGEQZceUtww8gFa1QLmi1ev",
  "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]: [-0.1158, 1.0473, 0.9497, -0.8284, -0.2489, -0.1188, 0.9927, 1.0386, 2.9036, 3.1214, -0.9836, 0.8646, 0.5457, 0.0375]\nstate[eef_state]: left_x=0.2863 left_y=0.0141 left_z=0.1838 left_yaw=0.1504 left_pitch=-0.3292 left_roll=0.1465 left_gripper=0.9927 right_x=0.4355 right_y=0.4817 right_z=0.1579 right_yaw=0.0537 right_pitch=0.1006 right_roll=-0.0558 right_gripper=0.0375\nstate[joint_eff]: [-1.5658, -2.8513, 7.1863, 1.917, 0.4567, 0.3248, -0.0122, 2.5094, -13.135, 7.9111, 1.6777, 0.7009, -0.0904, 0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b4ea376ad3850f3dae792abcfea0dce53112a8e3b77e89e6f87c7ff3b5fd81d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1441e045ad7f1c49ec7902298cfc6db352e4a86b2d0717a0e7f6892837ebdce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:628ae98d6a366c8be02c3961150820197ddc889d9c7841170362e1e900075cea",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 7.218 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]: [-0.131, 1.0454, 0.9569, -0.7811, -0.1917, -0.0944, 0.9927, 0.9371, 2.8384, 3.1172, -1.557, 0.5125, 0.5858, 0.0376]\nstate[eef_state]: left_x=0.2964 left_y=-0.0015 left_z=0.1926 left_yaw=0.0679 left_pitch=-0.2864 left_roll=0.1036 left_gripper=0.9927 right_x=0.3958 right_y=0.3985 right_z=0.1016 right_yaw=0.0815 right_pitch=-0.4464 right_roll=-0.2455 right_gripper=0.0376\nstate[joint_eff]: [-0.2256, -2.2496, 6.694, 1.3846, -0.149, -0.0415, -0.0073, 0.8, -13.3128, 7.3094, 0.7985, 0.3053, 0.1636, 0.5201]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrrHxW1XC7CkQjjei4UHaED7mfcnP4JFGaDKDyton0Sv0afEPJ04Oc7Wo9stnzcuYwlvLrpL_L1StfvrarrdeNckWrqAGuuEgk-jj6orMHez12lyp7Wm2PeIfrCtCNVuwbzN2ildhCCy5waW6SaFSSWNDUF6lc5dgWOQI2JCmYNk63ZGTLVe6_0HunzY9fBmBEKp2GCepNuJQLkWt1HxkCpUWPRLwHUjJ4y7mH7oBVd1YcyC27deD9LyXS-WNHlEH59PdVp5q41CUEyUXaJyi9aPheYuyGyA32YHmtkv2z3xm-aJk8Rh_cI6Chwo_ynr8NvbfJcSkfGhwtyc1-p1OsNiyqpoWJO0glRLgvTDQObKm8qUkfvq09BoWJtXYevF7jZEkO6R6evozec_jDqKIgufa25QrzIpzeBIUVA8bRGpNot9GKrwG9N0itMfbl2KQLLCyMIaDffcHBqbQYIdAbdCoAprcbLR3xLibBdXZv80UtgMC5tb3jXdnxiGCudNdxNJeZyj7jXe-fwbFNtGRI9dB_UGqEwPMJDKE_HIL7GonrXjvoMEul-GBCPxt7tGQuPjVkZfxs311m6gl7NH_jJDyI7qnps1BcETIi3Tc2T8U3Ia54UFX4-wBkrYXbRcakKO7gd8766XPvufr6FzTVkhsyar2ZyfSC5huPWCMHXI4CS9CDP0vA3DVY50315MYB7By3Z1isPCdNAqh5kAzMG8SEzdTwGJcw5yikR9FRV63lxJPGTUMkKTeE0tvhZ2bIp2zh-ttY-QotB7XeRioYCZG-dnrO3FuoYwsX9hWrcqzh29pnXQACmfyzblpcy-NKxgI7gCzCvwzv9RLe-lzYdp4MmLiRhwXdSxfMsS4-YnooxL90F9yghkJ_AkdGYbYCdENPi0YOgfAtqrs2790omdB5y2bPnn_Y_wXUYN9C_1WVNFkCIdkDqMhHdDPG_XcnPnMAqBv5JnK7vzIucOJ52IdypoJudA_GqWi8cyDLix9svdpyYAM0p7qc2OvFKlSnW4pupbCj-1xH-IPpekW7QuVxGX0prZD7sSpe8bH75mkdykmFTSsZwcxY7AY-7yBVtHKHuxhMYIau4mKrqppInWLmOMhWEVMyzNt74BeLXvC6hxip9M1VLWyCvPe5whY7CVADCAqRoDWIc1tBtjh2M3SCxt87EvfGFuTEj4DqEofjIspwg1oZLcji8NQmv6S5dz3z9U8mFn0JZckD7eBHG6zRgm8z0KEvn6JoaxZ4frdBLGaFAsna_EWE8DCGlsnOrjdBSNoviEq_0Ngc4zheWSWLZhKHfUhOgJP3-uGOeppu8=",
  "id": "rs_0dfee8aa06ae39d7016ab2bac3e5a087d08966a94e424364e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.28,\"right_y\":0.25,\"right_z\":0.27},\"note\":\"The wrist adjustment displaced the held bowl away from the stack rather than improving alignment. I’ll retreat upward and inward to get the elbow away from its limit before another placement approach.\"}",
  "call_id": "call_5k7THGumafJs4EctqGSB6IfE",
  "id": "fc_0dfee8aa06ae39d7016ab2bac52a4c87d084950da4257c3ae4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5k7THGumafJs4EctqGSB6IfE",
  "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]: [-0.1158, 1.0527, 0.9485, -0.8322, -0.255, -0.128, 0.9927, 1.0851, 2.1761, 2.7796, -1.3746, 0.8894, 0.617, 0.0405]\nstate[eef_state]: left_x=0.2857 left_y=0.0152 left_z=0.1816 left_yaw=0.1618 left_pitch=-0.337 left_roll=0.1483 left_gripper=0.9927 right_x=0.3366 right_y=0.3515 right_z=0.3913 right_yaw=0.0453 right_pitch=0.1136 right_roll=-0.0053 right_gripper=0.0405\nstate[joint_eff]: [-0.3214, -3.1658, 6.6803, 1.4237, -0.0757, 0.022, -0.0073, 0.9094, -16.6085, 8.0615, 2.381, 0.4908, 0.0806, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fe7e53823598992ebea481685f3ee94d4f99162ba3f82c7a363b63a7f73fc40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d976d9436b6d2595c2fcf04331e5fe04653c2abf7103be1e20f6dc0eb5d51b18",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b361954fc7cc99ca03136ec916ef1f6ac0dfaecb8b72e9612f8a055e847ce72",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 9.985 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]: [-0.1158, 1.0473, 0.9497, -0.8284, -0.2489, -0.1188, 0.9927, 1.0386, 2.9036, 3.1214, -0.9836, 0.8646, 0.5457, 0.0375]\nstate[eef_state]: left_x=0.2863 left_y=0.0141 left_z=0.1838 left_yaw=0.1504 left_pitch=-0.3292 left_roll=0.1465 left_gripper=0.9927 right_x=0.4355 right_y=0.4817 right_z=0.1579 right_yaw=0.0537 right_pitch=0.1006 right_roll=-0.0558 right_gripper=0.0375\nstate[joint_eff]: [-1.5658, -2.8513, 7.1863, 1.917, 0.4567, 0.3248, -0.0122, 2.5094, -13.135, 7.9111, 1.6777, 0.7009, -0.0904, 0.4127]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrrQJKdtP1sQTvYetPVDhWacYV6fMQey0-wX_vtcRyM2v0cUoWA5P8ObNFxaVfn-_LKiDYLF-rvh-HqYDDnpt0uU3qrqn1WNPNKkZRQpr5Oj03L_cqz1qIshUTIoQ5bLqBBYnd2e768X2f3M3ak6BQQKjhMbs0MS2iZuQq-LZIe77VCHufIiwWbops0HWulTv7jI6uQnrgyQMij4mLD_Xm8n4lQDPL7Ob5aWEtIzFffrLpzWxESXQKWSbRBfhFKysl_-DBq6090k9DwyW9C63p8_sRrjU6rTGsJWKabb0YN9_BFb5A6ye1tyMk0O1sGBaca71r-ADGe_vLg-BDg8KUnE23Azl7AgShFF-a3mbOcnUOITdF3pwoOfoFcGZj0kS8ePwkOuQz6G-p2Js3EI_m58SujV4Rje70gTGRjr-F_9dNKKwWKEhfOmN5DeQbQ_iS3bCNlaixmcFBVXbEeU0IReMmBjeVGRY4asW5v_CNo0-mFZWS8tNpjM8PBrji2Ro3tfReeLBzAAtbYFkQDZhesMLuP-uYCm_V6lGf0Ui9Mt9Cmy5Wjz2N4-5rwn2IbMpVigcoKpVM4QUMd_QJcfMsN6iT9ypjeMWTC8J-oo1MGvhbOFTKx-bEPBjxgw6YCcqFV2gqWFPYKS-riRU6EzxFMw3oKcfi9wPgcqyf9NC5uvB7_csvAd1cw_8oJ8wZQVJaBlieM6OvYiOiTYDqawOT7bdxMQNyQc_uxbq6NyyL25U81d03w67OiyXD3GAEOQFlFZAp35MNel86sasrBZu4jVJDbMQBw-5GUZLSLB-h1IAZodNs0bUQ2rkpYpYenrqXxNztRb9ck6dZf9BELNea_dNkbvFXpsX6iG1bD7bfvco9QgtZom1G-gajX4MsvopTk3OexscG7kjDvdR8Cb3H4gzPviIflqQvdEQo8h-RmabgODbMupEhAKSMvl5ZgaIhyzq6Dv6VcbUCCamLCF_YQKnyiTmnafC9krnNjer0smwGo4ZrCyDbPcd01zhQZI0soQ0f33erRxd5nQ7BV-RA5IzR98FY-9db-4c2CslvzJjmxpakkveprI3O89TUUJIkhKOnljLufgug5bvdAmztX3gUUpZD5Pr7l4lUV0tixmzR77l1JjDczdYHEEsNAoB7O7mw0Q5KsDLJ_U1vhXckmnoDd6WBUEfR64zEJklD7PTkMfR8HUehWdZrGs57s6bhdHnBcMuwuUL8KmXDGxR2sKW2pTeiXAjBs5OzkHI-ia0VAdvYm_50oWn83j80z1fTJu1MAGwB4e7bsQHVRVLBd53g==",
  "id": "rs_0dfee8aa06ae39d7016ab2bacd8f3887d0869da7de24625107",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.35,\"right_z\":0.2},\"note\":\"The bowl is secure and the elbow has moved away from its stop, although the arm rose higher than requested. I’ll approach the stack again from this shorter-reach position.\"}",
  "call_id": "call_t7n2HwJR6IGfy5fhaOdK9qss",
  "id": "fc_0dfee8aa06ae39d7016ab2bace98e087d0a748b6e0eec39042",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_t7n2HwJR6IGfy5fhaOdK9qss",
  "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]: [-0.1158, 1.0531, 0.9485, -0.833, -0.2554, -0.128, 0.9927, 1.079, 1.8534, 2.4042, -0.989, 0.8757, 0.6064, 0.0402]\nstate[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.1814 left_yaw=0.1622 left_pitch=-0.3381 left_roll=0.149 left_gripper=0.9927 right_x=0.3228 right_y=0.3229 right_z=0.4673 right_yaw=-0.0014 right_pitch=0.2716 right_roll=0.2842 right_gripper=0.0402\nstate[joint_eff]: [-0.0068, -2.7419, 6.7761, 1.3651, -0.1538, -0.0269, -0.0122, -0.1846, -6.8308, 5.641, 2.3761, 0.1832, -0.0317, 0.3346]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a84937b0c7e9e5c393f41527d6325d9d413c9a2c25c6aec320a40b10e657213",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c227d0baf29f43fd545cb7aa1a2ed83dd35053c507a1ca082bb77f4c1347c653",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7d22fba61253d0313854ba6355f2cd50977e2cc1315682d0af95db87b79eb59",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 7.56 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]: [-0.1158, 1.0527, 0.9485, -0.8322, -0.255, -0.128, 0.9927, 1.0851, 2.1761, 2.7796, -1.3746, 0.8894, 0.617, 0.0405]\nstate[eef_state]: left_x=0.2857 left_y=0.0152 left_z=0.1816 left_yaw=0.1618 left_pitch=-0.337 left_roll=0.1483 left_gripper=0.9927 right_x=0.3366 right_y=0.3515 right_z=0.3913 right_yaw=0.0453 right_pitch=0.1136 right_roll=-0.0053 right_gripper=0.0405\nstate[joint_eff]: [-0.3214, -3.1658, 6.6803, 1.4237, -0.0757, 0.022, -0.0073, 0.9094, -16.6085, 8.0615, 2.381, 0.4908, 0.0806, 0.5641]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrrbcLM8NPGN8qkXA5D4tYhBDHCYkFYiwcNogmKG8rojvq2A5bfXUt7SzbgGlx0Cqwt4mIqNv_zPr4865qztl0xwbatNv7TdSUiZRaJTt5wW8pIBr7i0Mcfkr7ENZvbNA5SHAg8jS_7TcOG8HcljhLq_ajIvO7V7f0bBeQizlDnaoVetugrQAnhawc8rUZ92c0j7tRS9OLqHOtVwfDQKnSYworCL2X3sEFeQamUe6TTr4-tcP79qAdiufbSz4cEI-DSeFFg6-jFiogdYHWQLxUD5DDMeE7eww8quiP2Wvfl1djGPZ8baLyidPwfydLddd9iK_MJp4IoP0b3XKHvNEhj__JIM_RoexVCUStWaKrcUScTdpYOHi5fy98Yqyyy-8O87iehWPKL7Tq2HJBqBgySlGufFHkyUsYc00YRQtjApCgm8hfqIMqjfcK7XX_sCXDPOALrTutjEdvYTPPHX8AVIesvXfxM75SlKB2Zn0fbGVlike7Gt_7hkD_CgwXE32Q1rTJ5mL6xvgszXs66o3MmSbISFBkg9XYh86X1IH_q6MOUABvg9yLGAopJW53sQDCp1hKfiDaGDiyqKLhR4JMI06mOdDKaKDmeEPQ83TsQGgHueYmEjfxhIaVKihqQ29XDQ4HX2RzsZXCtmfJ8WX7d1eKgC3GEGYGQ0M9L-fBRlhuz4WuK70FEwzGWaCR50Yhb8FB-0KkhJXw_dHSNiS5ZoSR2JoQrY4Mx1FysqMEVQMN56hrXwG5mxg3ssaYYo_45EuVdVqmErK6Oc3NQiU72ZXY3SVeTR57tWIzST6M4idFdHNlPAhhJJbOvDN7U_UD5S9vRDAs4Je4of-KvhH9rfrJEh0RCMeliYMQGvnvRyrFEQpg-_cUcsokd0xzTp5ig0fWRcgmPh6FrWYzuofCo3-mfRDjMoCOWm8sfkFG8_PfLwQXsGKQS-vN6ut3SIAPFEvuxrhUWZh9P_6-xynngj6LZLyuGwNVZeMH2WHlXiqbJSA0umGC9-prosWbj8ubaJnHI5QAcbjKgB4LNgCAV-xMCpno56cny_Ct7RKGsTsO3CujzXtSz_d9MX6o63XZLgLhWn9X7MySIwgLhayNluA7e0kn_69w4T-vJmCs6SEi2MBTFBv4hcbxsH9vCwpvl5RpeIz1Lt-CyKu4jBs800LmCBGRsdGlTjyykVMTFBwT-FQ_C-hHByAzC99OJgZwvZ4PAmtF4PJAfNaMWg7Egqn4Q3Bah7Ta2Q6z7qM9DdssYmB8tz7VaZ88s-4ciI3jVjowopvKogmBefP9BXQQa8AOTaTg-bCkwYZELetZAKsHemwA1EoJWJa7uik9QjncBEUpsIZUXcFrK3bVbLtMNlef_P5P4Ouv0bXDsZ-f9gDEn5QHv9PH8CDAx4-Tdjdn02",
  "id": "rs_0dfee8aa06ae39d7016ab2bad7e21087d0ae74f74c59818160",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.2,\"right_pitch\":0,\"right_roll\":0,\"right_yaw\":0},\"note\":\"The right arm is moving upward instead of following the descent, so I won’t continue lowering over the stack. I’ll return toward its normal working area while keeping the bowl grasped.\"}",
  "call_id": "call_rFJ4uolsw9h7eJq3Dh6oGCMD",
  "id": "fc_0dfee8aa06ae39d7016ab2bad97b4c87d0b7a382990f6553a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rFJ4uolsw9h7eJq3Dh6oGCMD",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1158, 1.0565, 0.9478, -0.833, -0.2554, -0.128, 0.9927, 0.0032, 0.8131, 0.691, -0.4957, 0.0494, 0.0216, 0.0396]\nstate[eef_state]: left_x=0.2857 left_y=0.0153 left_z=0.1802 left_yaw=0.1627 left_pitch=-0.3421 left_roll=0.1502 left_gripper=0.9927 right_x=0.2901 right_y=-0.0042 right_z=0.1909 right_yaw=-0.0618 right_pitch=-0.0488 right_roll=0.0085 right_gripper=0.0396\nstate[joint_eff]: [-0.0615, -3.0427, 6.653, 1.3504, -0.1148, -0.0513, -0.0122, -0.1299, -2.0171, 7.7607, 2.0391, -0.1099, -0.1343, 0.7057]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfc2ecde10a5f1f15a1bb9468b76ab5d954a30365b3326791dc55a718b86c1ae",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9069bbc8784fc502f9bead40b50aa368d768a323398b796c879aa4e007167925",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4debe3058161d649bbd029a664dd42a353e7d4d86c8a47afa4f4dc5b03fa873a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 6.031 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]: [-0.1158, 1.0531, 0.9485, -0.833, -0.2554, -0.128, 0.9927, 1.079, 1.8534, 2.4042, -0.989, 0.8757, 0.6064, 0.0402]\nstate[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.1814 left_yaw=0.1622 left_pitch=-0.3381 left_roll=0.149 left_gripper=0.9927 right_x=0.3228 right_y=0.3229 right_z=0.4673 right_yaw=-0.0014 right_pitch=0.2716 right_roll=0.2842 right_gripper=0.0402\nstate[joint_eff]: [-0.0068, -2.7419, 6.7761, 1.3651, -0.1538, -0.0269, -0.0122, -0.1846, -6.8308, 5.641, 2.3761, 0.1832, -0.0317, 0.3346]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrrm5lA-r5BtgcT2XJ8Ky1jTw0zgtm9LDEz4MthPjwjltFerWQN0aciFNtJKeLOahb_a-xM4zQioUW1RiwIhXPCSsBRxtsJmuJwWBvjxVMN20VDJV1XFvCbGDL9sb2dT-tgKwqPIOWYzgF8VpycIv6TT3OfIyFxw7Rk9qM_Xab76KkRnr-k09F-7yK88TmxIXIFhKA9w0FSaGUAmMsfi1p4We_8ZNN5jN51t_ntNVSl2ZXPMvBhiFoo3wIiBbZF8CCFi7B6BVlpiBkHlEz5gmah3qApOe4aln9ZAnBdGGl2bwF0ebTKnB6E4BjRIc74RlZ3E6JUhYgUoaEbTCcNjM_9qEOO8BBatrX4Yln4GGe88wch-AdTreycb8AWGJu-Xjtya_G276mRqLZTKxxRFTzgZJ3mp88-GAPUV0jwGFdcFwN6rzhXO8xuGtFqMtA9V4pnSIcKV2wByb4EK9fkXmYlV9C8B7sYHgqtmsmFDxjNwDiTai9zEFzDN4fDBL5tjDcB7djEGEs3yvkYGklyERatXeOVAMDZ5q1GNOk0oh8xos_hBxthHT-zVniZ-j7mzdYQDyGcfnw2XF7dIl4RKAvvA3oZs4oU8CsQz1B4QoxnBM9VpXU0hq92sNUmlYeezcbQpTI_R2a7Os45GTLG0BV1pUILi262ideC6P6z6UysdykS5KzDw7tpUyxpDPQEGjB_3FflxwuCvC_qjl_GOudtFvucTnPoibO7p4IiXYpILoHsJyet-ZkokDKv27YVu0R6BtCCdsSI_HHJhbShMXMJavp0Mk9WnTsOdqgB1ugQGlG0Q7Lqe1Nz5qe_aie1PQVlc63keNhtYRiQDT0mFZDUP01mY7m99WkUr-9jsjjb89Dxe2TfiNQFvfagvahT6RPqsqmTEQ_oOcDDW6kPDPL5caoQFBg9Hgv8XY6Wi9-46fcFJgEDufeFboRSrGtVmk9HqDyWY1YMxW47pDp5YD3sOGxRZ5clPa81stUZ8oklE59nFh_qo2umWdbRZGrX7Z6dKlBHZTgsTgJnzdqwaJZPujpJut4AbE65bUTz2oUAVc9vuiqcwQkJp5BcHmUp4oW7PIQWbqQLL7vBW_zez5NlNBFXXwBX5YmGF-UnffhvpL4aUQRbxdtbco-lKMQCOJm8CwT2US3iLChjiC69w3iTha5vL19zryO6DAWNCEW7mShncHGAXp8SNjQyBtzsLNhC2P2uPGyMIqCBV6I0F64lPhxbTTLj4VOmjm76fG7zImEFNo5kHJhFAgrJmtipFeLijpvd4xiSB7IbARxfjUyLFEQ==",
  "id": "rs_0dfee8aa06ae39d7016ab2bae3267087d0931221699036312c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.35,\"right_z\":0.16,\"right_pitch\":0,\"right_roll\":0},\"note\":\"Returning home restored normal tracking, and the pink bowl is still held. I’ll make one shorter-reach approach above the stack with the wrist returned to its starting orientation.\"}",
  "call_id": "call_HxvG3pWWNd7xCUY6uIz8xsdm",
  "id": "fc_0dfee8aa06ae39d7016ab2bae43a6487d09c95802a2f09ad87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HxvG3pWWNd7xCUY6uIz8xsdm",
  "output": "executing move_to over 30 steps (3.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1158, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 1.0473, 1.9602, 1.5139, -0.5499, 0.8162, 0.7784, 0.0416]\nstate[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.18 left_yaw=0.163 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3438 right_y=0.3454 right_z=0.1443 right_yaw=-0.0273 right_pitch=-0.0449 right_roll=-0.0343 right_gripper=0.0416\nstate[joint_eff]: [-0.0068, -2.7282, 6.5983, 1.3065, -0.1441, -0.0366, -0.0073, 0.294, -10.9197, 8.7179, 1.0867, 0.7204, 0.0904, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df94bf60b211334f0d005b9e0b7d37e716ca071609737223a1b740d421464852",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0feb1723d4e1be087e94028cf9ca3347f6ef6720acf8f3984ea313d176d7c01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce02cd9b6f7fec332f89ab54ce7e1e7982a8fdb94aa3f2df3d9a4f45cc10edd1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /responses · status 200 · 6.97 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 110 changed as sent

message 110 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1158, 1.0565, 0.9478, -0.833, -0.2554, -0.128, 0.9927, 0.0032, 0.8131, 0.691, -0.4957, 0.0494, 0.0216, 0.0396]\nstate[eef_state]: left_x=0.2857 left_y=0.0153 left_z=0.1802 left_yaw=0.1627 left_pitch=-0.3421 left_roll=0.1502 left_gripper=0.9927 right_x=0.2901 right_y=-0.0042 right_z=0.1909 right_yaw=-0.0618 right_pitch=-0.0488 right_roll=0.0085 right_gripper=0.0396\nstate[joint_eff]: [-0.0615, -3.0427, 6.653, 1.3504, -0.1148, -0.0513, -0.0122, -0.1299, -2.0171, 7.7607, 2.0391, -0.1099, -0.1343, 0.7057]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsrrun5am6065sbfb17UnuvyZSdlT_ILiCahezvoLd390CeWrWaT6yT7SQwSk9WomcCf0-CuX4ueV_R0C7EbUL7uzI_OMli9Bfds6hn3bBvquk2BFCMkZayBuuoDmqgAgShXqu72Y75y7-dxg0oKjATS-rFO2VE8y0lcYwZQF308P6DWS-p377U4KyWDbMTSyzaOn3xQEFFq2TowUq-W6XsgxhbFx7J73TO_q4QWro0co3IKecEd1wdOc64F2qZPPvdROtHf4op5s9IIA1e9NcNBEQBUgkxam9VzAf4YWdD1Mg8XMZ4Zv7y_qDs6HnZCgRFuGxQG1Itab-waFOhP8HJGHoJIPO8ZcihKfEZ3yNUdhNBKkfPe4Wvdn4N4GkviuZ0fRL_PQ86UnDvYaOG1JZO7RhbqNHhLNamM1QKAkkCO2tlxp1WlfBV_zv6a2SMLRecwk9WG72eHPSUSDbWtGbPc53Jj1TN_4wGJjTjkquOwz40zbB_VzYgboc7wthB0jbK7bs8WmPxy636gwLNGhGAmwFiMX5t68dLOXLt2JY7nqaMheCBLWDdnwCVWx-PiVyRXQ0ETu-EO9jc2S4etCiZPxxHs_MJFa5rl_yED5lgxHmZXvADn-MnWAHR1DR0nv9VB6UV_aq3fjJTMxIGRTgkCupADnDsLxKGKL8v54wQkLqjcItowcXSWBTqZg7rOynqiYORadflqIZmCFBbFvyb6B5ClOYvjO9p17cnJut8-rUlvN_L0tIyZBA4GETVi_qoYOD3ebAS_oDPjMjuo3vLq7Towgwmx49zk5IVORMrexPOYmgW3CyMSR_4Ly5GR9RbzRmic4_psrkjpoYc5_N4UVsWoNIWIQFWDhOv52Sk1BhfN5NvguPFeYXuwdRgjX0zG3EKgz2LQqHdHaUyx4Bv7gVNNMg_BBmAk_TvPC7t6dUXXWql0TW4bbVmbg4SnSMAk3EMNt3Q4pxjCx5OAmSb3ttx7gE_bCbUJyBinFig7I38E1j6Ifdm4Gjr7nTsPvVqIIY29f90eZ5_wrokbabWEP_V_Zip-7PFTyo-jTl3PYppXJCpXkf346rez5R6ZrQQ7QkvQbZYZkanrdxMxYseSFRyUHtX2z8ApKetkBgvjap-b47aET1V8j3Nj8WQGyFXA8UxgoH7Ptb1C0gen0IJr7BBhn73GcGWV1ObDRdtqS4L2pK2BIxYLTGJprerE1CIIvU1fTuE713rV5nrrIN1bLkRBsWUzwAhdl5mrJ09t0JjXXvtDjMS2OLzYc2M3NpdTO99rzG092_DkGJzOFj68aKKPmNFQ_g6IInfaU-RMeDT6R8SEC9AfeWn2MqvrKLz7S",
  "id": "rs_0dfee8aa06ae39d7016ab2baec6bb487d0ba9242599d207a54",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.365,\"right_z\":0.065,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The arm is tracking normally again. The pink bowl is slightly right and short of the stack, so I’ll correct that alignment as I lower it into the top bowl.\"}",
  "call_id": "call_NTCGUB8nPuwGhmQ2DxmH76ZJ",
  "id": "fc_0dfee8aa06ae39d7016ab2baed443887d08645c69e857539fe",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NTCGUB8nPuwGhmQ2DxmH76ZJ",
  "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]: [-0.1162, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 0.9825, 2.1704, 1.4769, -0.2527, 0.7853, 0.6842, 0.0424]\nstate[eef_state]: left_x=0.2856 left_y=0.0152 left_z=0.18 left_yaw=0.1626 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3838 right_y=0.3568 right_z=0.0614 right_yaw=-0.0215 right_pitch=-0.0439 right_roll=-0.0554 right_gripper=0.0424\nstate[joint_eff]: [-0.1299, -2.7556, 6.5846, 1.3162, -0.1587, -0.0464, -0.0122, -0.841, -11.3026, 6.8581, 1.4676, 0.315, 0.1978, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e52fcfb5de5bb3a781f895c718c132985701195a396cac8b4bcd4f8da9f1a6bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f60a22d8bc85ca27ef27ec06e9bd5911cf0d0fe6395f21af0f9dd53986ec0e48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15416703ad52b47cbf4025c8b9ea4cd9943e2e451bc2da07083790f6a56a958",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 7.103 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1158, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 1.0473, 1.9602, 1.5139, -0.5499, 0.8162, 0.7784, 0.0416]\nstate[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.18 left_yaw=0.163 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3438 right_y=0.3454 right_z=0.1443 right_yaw=-0.0273 right_pitch=-0.0449 right_roll=-0.0343 right_gripper=0.0416\nstate[joint_eff]: [-0.0068, -2.7282, 6.5983, 1.3065, -0.1441, -0.0366, -0.0073, 0.294, -10.9197, 8.7179, 1.0867, 0.7204, 0.0904, 0.6325]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pink bowl is seated on the stack and aligned with the rims below. I’ll release it gently.\"}",
  "call_id": "call_oQldO4wj67WLkvocwIeR81Ih",
  "id": "fc_0dfee8aa06ae39d7016ab2baf5227087d098562c65fb8d1ef1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oQldO4wj67WLkvocwIeR81Ih",
  "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]: [-0.1158, 1.0569, 0.9478, -0.8337, -0.2554, -0.128, 0.9927, 0.9813, 2.1788, 1.4769, -0.2577, 0.7765, 0.6769, 0.9954]\nstate[eef_state]: left_x=0.2856 left_y=0.0153 left_z=0.18 left_yaw=0.1628 left_pitch=-0.3432 left_roll=0.1505 left_gripper=0.9927 right_x=0.383 right_y=0.3564 right_z=0.0559 right_yaw=-0.014 right_pitch=-0.0574 right_roll=-0.0687 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -2.5778, 6.9812, 1.3211, -0.149, -0.0073, -0.0122, -0.2803, -12.6701, 6.065, 1.2283, 0.3785, -0.0024, -0.188]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d494175ea4d117dd2c9acc3fa219b2893da48eb89296370b733c5772c2766ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dc73d888bda1daf6a11abbe6dfb563a60d60dff00c7fcaec0279a339616ac899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 360):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7bb25001448f8158526b57039ee6b1c57b82bb64138583bafd6e7be7a7e2b0b7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /responses · status 200 · 6.683 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0569, 0.9478, -0.8337, -0.2554, -0.1284, 0.9927, 0.9825, 2.1704, 1.4769, -0.2527, 0.7853, 0.6842, 0.0424]\nstate[eef_state]: left_x=0.2856 left_y=0.0152 left_z=0.18 left_yaw=0.1626 left_pitch=-0.3432 left_roll=0.1503 left_gripper=0.9927 right_x=0.3838 right_y=0.3568 right_z=0.0614 right_yaw=-0.0215 right_pitch=-0.0439 right_roll=-0.0554 right_gripper=0.0424\nstate[joint_eff]: [-0.1299, -2.7556, 6.5846, 1.3162, -0.1587, -0.0464, -0.0122, -0.841, -11.3026, 6.8581, 1.4676, 0.315, 0.1978, 0.7302]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.19},\"note\":\"The pink bowl has been released. I’ll lift the empty jaws away to verify that all three bowls remain nested.\"}",
  "call_id": "call_wfEpAycyiMVrZ5YggJJUoe2q",
  "id": "fc_0dfee8aa06ae39d7016ab2bafcf91887d0abac5e92d85c8cd8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wfEpAycyiMVrZ5YggJJUoe2q",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1162, 1.0569, 0.9478, -0.8337, -0.2554, -0.128, 0.9927, 0.9813, 2.1017, 1.792, -0.6903, 0.7685, 0.6758, 0.9964]\nstate[eef_state]: left_x=0.2856 left_y=0.0152 left_z=0.18 left_yaw=0.1624 left_pitch=-0.3432 left_roll=0.1505 left_gripper=0.9927 right_x=0.3836 right_y=0.3592 right_z=0.1564 right_yaw=-0.0111 right_pitch=-0.0851 right_roll=-0.1 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -2.7282, 6.6393, 1.3114, -0.1148, -0.0366, -0.0122, -0.3761, -14.8034, 8.8, 1.1551, 0.4371, -0.0171, 0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8177e6a50fe4018288dc092ca57b8fe2a4c181204d48b08726637a759bd4352d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742982a8c57ce796ddd087506af15de01b139d831f7027bb22d335e52352e135",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed5b5802b351912924dbefa7096ff4001f7a7df585353bf6c545c40a5b3c4f38",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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