adhoc

completed
2026-09-22T18:23:51.686255+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
253.3 s
total steps
265
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree bowls are separated across the table. I will approach the turquoise bowl with the left gripper and aim to pinch its rim before stacking it onto the middle bowl.
move_to
left_x0.3600left_y-0.1300left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.02, 0.7944, 0.6033, -0.382, -0.0223, -0.0326, 0.9996, -0.0216, 0.7921, 0.6003, -0.3817, -0.0166, -0.0338, 0.997] state[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.294 right_y=0.0002 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997 state[joint_eff]: [-0.5538, -1.5932, 10.0991, 1.8095, -0.0269, 0.1832, -0.0611, -0.5128, -1.4154, 10.3453, 1.9267, -0.0952, 0.1636, -0.3199] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.36,"left_y":-0.13,"left_z":0.15,"left_gripper":1},"note":"Three bowls are separated across the table. I will approach the turquoise bowl with the left gripper and aim to pinch its rim before stacking it onto the middle bowl."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe turquoise bowl is clearly visible in the wrist view, with its left rim offset from the jaw center. I will lower toward rim height and shift left so one finger can enter the bowl while the other stays outside.
move_to
left_x0.3800left_y-0.0950left_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5571, 1.301, 0.7185, -0.1383, -0.4408, -0.3386, 0.9996, -0.0216, 0.7975, 0.5983, -0.3927, -0.0162, -0.0345, 0.9969] state[eef_state]: left_x=0.3473 left_y=-0.1233 left_z=0.1302 left_yaw=-0.0238 left_pitch=-0.0671 left_roll=0.0303 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1738 right_yaw=0.0001 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9969 state[joint_eff]: [-0.3487, -5.0667, 9.2923, 1.7021, -0.2906, 0.0513, -0.0611, 0.0068, -1.6342, 7.2137, 1.8535, -0.0562, -0.0659, -0.0269] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.095,"left_z":0.07},"note":"The turquoise bowl is clearly visible in the wrist view, with its left rim offset from the jaw center. I will lower toward rim height and shift left so one finger can enter the bowl while the other stays outside."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe bowl is too wide to grasp across its diameter. I will orient the jaws front-to-back and straddle the near rim for a rim pinch.
move_to
left_y-0.1300left_z0.0450left_yaw1.5700left_gripper0.7000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4065, 1.5009, 0.6075, 0.1101, -0.3584, -0.2695, 0.9995, -0.0216, 0.7986, 0.598, -0.3931, -0.0158, -0.0345, 0.9969] state[eef_state]: left_x=0.3647 left_y=-0.0856 left_z=0.056 left_yaw=0.0268 left_pitch=-0.1508 left_roll=0.0633 left_gripper=0.9995 right_x=0.2925 right_y=0.0001 right_z=0.1732 right_yaw=-0.0002 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9969 state[joint_eff]: [0.1983, -7.159, 6.4479, 1.917, -0.0611, 0.1099, -0.0171, -0.0889, -1.1829, 7.2274, 1.7363, -0.0269, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_y":-0.13,"left_z":0.045,"left_yaw":1.57,"left_gripper":0.7},"note":"The bowl is too wide to grasp across its diameter. I will orient the jaws front-to-back and straddle the near rim for a rim pinch."})
tool
executing move_to over 10 steps (1.0s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe near rim now lies between the rotated jaws. I will close gently on that rim, then check the jaw opening and lift before transporting the bowl.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5163, 2.4378, 1.969, -1.3674, -0.7292, -1.9221, 0.7023, -0.0216, 0.8028, 0.5953, -0.4122, -0.0162, -0.0345, 0.9969] state[eef_state]: left_x=0.4197 left_y=-0.0988 left_z=0.0312 left_yaw=1.3031 left_pitch=-0.231 left_roll=0.0372 left_gripper=0.7023 right_x=0.2897 right_y=0.0002 right_z=0.167 right_yaw=0.0001 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9969 state[joint_eff]: [2.6735, -12.6564, 6.147, -0.862, -0.3834, -0.188, 0.0659, -0.253, -1.4017, 7.2274, 1.873, -0.0366, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The near rim now lies between the rotated jaws. I will close gently on that rim, then check the jaw opening and lift before transporting the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe fully closed reading indicates that the jaws missed the rim and closed inside the bowl. I will reopen and lift clear to re-align from the overhead and wrist views.
move_to
left_x0.3700left_y-0.1300left_z0.1400left_yaw0.0000left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5106, 2.4351, 1.9499, -1.3701, -0.7265, -1.9305, 0.0087, -0.0216, 0.8043, 0.5953, -0.4156, -0.0162, -0.0345, 0.9969] state[eef_state]: left_x=0.4155 left_y=-0.0941 left_z=0.0284 left_yaw=1.3187 left_pitch=-0.2285 left_roll=0.0509 left_gripper=0.0087 right_x=0.2893 right_y=0.0002 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0511 right_roll=0.0003 right_gripper=0.9969 state[joint_eff]: [-0.759, -12.4786, 6.8581, -0.1832, -0.4664, 0.022, 0.6569, -0.0479, -1.388, 7.0359, 1.7167, -0.0464, -0.0415, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.13,"left_z":0.14,"left_yaw":0,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"The fully closed reading indicates that the jaws missed the rim and closed inside the bowl. I will reopen and lift clear to re-align from the overhead and wrist views."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe bowl remains on the table and is centered in the wrist view. I will approach its left side rim with a narrower opening, keeping one jaw inside and one outside.
move_to
left_x0.4000left_y-0.0650left_z0.0550left_yaw0.0000left_pitch0.0000left_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5278, 1.5017, 1.0122, -0.4942, -0.4755, -0.564, 0.9946, -0.0216, 0.8318, 0.6212, -0.4671, -0.0162, -0.0422, 0.9969] state[eef_state]: left_x=0.364 left_y=-0.1144 left_z=0.1242 left_yaw=0.1825 left_pitch=-0.2612 left_roll=0.0378 left_gripper=0.9946 right_x=0.2867 right_y=0.0003 right_z=0.1601 right_yaw=0.0044 right_pitch=-0.1041 right_roll=-0.0046 right_gripper=0.9969 state[joint_eff]: [0.3214, -6.9128, 6.6667, 1.5849, -0.0952, 0.1783, -0.0855, -0.253, -0.8957, 10.4, 1.8144, -0.0757, 0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.065,"left_z":0.055,"left_yaw":0,"left_pitch":0,"left_gripper":0.65},"note":"The bowl remains on the table and is centered in the wrist view. I will approach its left side rim with a narrower opening, keeping one jaw inside and one outside."})
tool
executing move_to over 9 steps (0.9s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe left rim is still left of the closing centerline. I will shift the gripper outward toward that rim and slightly forward to align with the bowl’s side rather than its interior.
move_to
left_x0.4200left_y-0.0250left_z0.0450left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2974, 1.6001, 0.5648, 0.3199, -0.3073, -0.205, 0.6523, -0.0216, 0.8349, 0.6224, -0.4713, -0.0158, -0.0452, 0.9969] state[eef_state]: left_x=0.3843 left_y=-0.0581 left_z=0.0395 left_yaw=0.0558 left_pitch=-0.1038 left_roll=0.0544 left_gripper=0.6523 right_x=0.2863 right_y=0.0002 right_z=0.159 right_yaw=0.0057 right_pitch=-0.1103 right_roll=-0.007 right_gripper=0.9969 state[joint_eff]: [0.4581, -5.9692, 5.2855, 1.8926, 0.0269, 0.0415, 0.0073, -0.0068, -1.4974, 6.8855, 1.6972, -0.0171, 0.0073, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.025,"left_z":0.045,"left_gripper":0.6},"note":"The left rim is still left of the closing centerline. I will shift the gripper outward toward that rim and slightly forward to align with the bowl’s side rather than its interior."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe outer jaw is alongside the bowl wall and the inner jaw is inside the bowl. I will close on the wall and check whether the rim is retained.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1692, 1.6703, 0.6392, 0.347, -0.2317, -0.144, 0.6016, -0.0216, 0.8371, 0.6216, -0.4744, -0.0162, -0.0456, 0.9969] state[eef_state]: left_x=0.4128 left_y=-0.0257 left_z=0.0425 left_yaw=0.0875 left_pitch=-0.0906 left_roll=0.0464 left_gripper=0.6016 right_x=0.2859 right_y=0.0003 right_z=0.1574 right_yaw=0.0063 right_pitch=-0.1164 right_roll=-0.0069 right_gripper=0.9969 state[joint_eff]: [-0.5949, -6.8991, 7.1179, 1.5995, 0.1929, 0.2955, 0.0757, -0.0068, -1.5658, 6.9949, 1.6386, -0.0708, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The outer jaw is alongside the bowl wall and the inner jaw is inside the bowl. I will close on the wall and check whether the rim is retained."})
tool
executing move_to over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe second close was also empty; the bowl slid instead of being pinched. I will lift and move back to expose it fully, then use the visible bowl position for a fresh approach.
move_to
left_x0.2800left_y0.0150left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1486, 1.6794, 0.6567, 0.3019, -0.2024, -0.1177, 0.0084, -0.0216, 0.8371, 0.6216, -0.4747, -0.0162, -0.046, 0.9969] state[eef_state]: left_x=0.4115 left_y=-0.0221 left_z=0.0363 left_yaw=0.0703 left_pitch=-0.1316 left_roll=0.0571 left_gripper=0.0084 right_x=0.2858 right_y=0.0003 right_z=0.1574 right_yaw=0.0065 right_pitch=-0.1167 right_roll=-0.0072 right_gripper=0.9969 state[joint_eff]: [-0.0752, -6.7487, 7.1179, 1.6825, 0.0366, 0.0952, 0.6422, -0.1436, -1.2786, 6.9949, 1.6044, -0.0464, -0.0269, -0.0171] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.28,"left_y":0.015,"left_z":0.2,"left_gripper":1},"note":"The second close was also empty; the bowl slid instead of being pinched. I will lift and move back to expose it fully, then use the visible bowl position for a fresh approach."})
tool
executing move_to over 11 steps (1.1s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe turquoise bowl has shifted left, while the purple and pink bowls remain separate. I will approach its now-visible left rim from above, avoiding another sideways push at rim height.
move_to
left_x0.4300left_y0.0450left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.5500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0395, 0.8799, 0.7506, -0.5606, -0.1307, -0.0666, 0.995, -0.0216, 0.8425, 0.6205, -0.4755, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.2925 left_y=0.0151 left_z=0.1874 left_yaw=0.0907 left_pitch=-0.1109 left_roll=0.0451 left_gripper=0.995 right_x=0.2857 right_y=0.0003 right_z=0.1553 right_yaw=0.0082 right_pitch=-0.124 right_roll=-0.0093 right_gripper=0.9969 state[joint_eff]: [0.3761, -2.6462, 10.2222, 1.8535, -0.0611, 0.2808, 0.0171, -0.0068, -1.4017, 7.3094, 1.6288, -0.0513, -0.022, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.045,"left_z":0.12,"left_yaw":0,"left_pitch":0,"left_roll":0,"left_gripper":0.55},"note":"The turquoise bowl has shifted left, while the purple and pink bowls remain separate. I will approach its now-visible left rim from above, avoiding another sideways push at rim height."})
tool
executing move_to over 11 steps (1.1s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe left rim now runs through the jaw centerline, with one finger outside and one inside. I will descend vertically to pinch the wall just below the lip.
move_to
left_x0.4300left_y0.0450left_z0.0400
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1371, 1.5013, 0.728, 0.0673, 0.0822, 0.0303, 0.5527, -0.0216, 0.8436, 0.6201, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.404 left_y=0.0447 left_z=0.0877 left_yaw=0.0344 left_pitch=-0.13 left_roll=-0.0173 left_gripper=0.5527 right_x=0.2858 right_y=0.0003 right_z=0.1549 right_yaw=0.0082 right_pitch=-0.1252 right_roll=-0.0093 right_gripper=0.9969 state[joint_eff]: [0.253, -7.0769, 9.4564, 1.9756, 0.2173, 0.2515, 0.1197, -0.0615, -1.5658, 6.9949, 1.6093, -0.0659, -0.0366, -0.0171] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":0.045,"left_z":0.04},"note":"The left rim now runs through the jaw centerline, with one finger outside and one inside. I will descend vertically to pinch the wall just below the lip."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe rim remains between the fingers after the descent. I will close to secure it without moving the bowl sideways.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.1307, 1.7149, 0.7307, 0.2237, 0.078, 0.0261, 0.5521, -0.0216, 0.8452, 0.6201, -0.4751, -0.0158, -0.049, 0.9969] state[eef_state]: left_x=0.4197 left_y=0.0449 left_z=0.0329 left_yaw=0.0329 left_pitch=-0.1846 left_roll=-0.0231 left_gripper=0.5521 right_x=0.2859 right_y=0.0002 right_z=0.1545 right_yaw=0.0079 right_pitch=-0.1267 right_roll=-0.0095 right_gripper=0.9969 state[joint_eff]: [-0.7043, -8.2803, 5.6821, 1.8974, -0.0415, -0.0806, -0.0708, -0.1436, -1.5658, 6.9812, 1.6044, -0.0659, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The rim remains between the fingers after the descent. I will close to secure it without moving the bowl sideways."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe jaw opening stopped at about four millimeters, consistent with a thin bowl wall. I will lift five centimeters to confirm the turquoise bowl follows the gripper.
move_to
left_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.131, 1.7222, 0.7307, 0.2348, 0.0895, 0.0071, 0.0408, -0.0216, 0.8486, 0.6189, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.4211 left_y=0.0432 left_z=0.0321 left_yaw=0.0341 left_pitch=-0.1803 left_roll=-0.0448 left_gripper=0.0408 right_x=0.2858 right_y=0.0003 right_z=0.1531 right_yaw=0.0082 right_pitch=-0.1313 right_roll=-0.0091 right_gripper=0.9969 state[joint_eff]: [-0.212, -7.665, 5.4632, 1.4335, -0.0855, 0.1343, 1.0427, -0.0752, -1.6068, 7.0222, 1.6288, -0.0659, -0.0611, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.11},"note":"The jaw opening stopped at about four millimeters, consistent with a thin bowl wall. I will lift five centimeters to confirm the turquoise bowl follows the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe turquoise bowl rose with the gripper, confirming the rim grasp. I will carry it above the purple bowl with enough clearance for nesting.
move_to
left_x0.3800left_y-0.2000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [0.131, 1.5726, 0.8585, -0.0742, 0.0811, 0.0017, 0.0429, -0.0216, 0.8494, 0.6186, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.4164 left_y=0.0441 left_z=0.0865 left_yaw=0.0436 left_pitch=-0.2125 left_roll=-0.0458 left_gripper=0.0429 right_x=0.2858 right_y=0.0003 right_z=0.1527 right_yaw=0.0082 right_pitch=-0.1324 right_roll=-0.0091 right_gripper=0.9969 state[joint_eff]: [-0.3624, -8.9915, 9.0325, 1.6777, 0.0757, -0.0171, 1.0232, -0.0752, -1.5248, 7.1179, 1.5995, -0.0659, -0.0708, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.2,"left_z":0.2},"note":"The turquoise bowl rose with the gripper, confirming the rim grasp. I will carry it above the purple bowl with enough clearance for nesting."})
tool
executing move_to over 22 steps (2.2s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe carried bowl is slightly left of the purple bowl in the overhead view. I will correct that offset and lower it slowly toward the purple bowl’s opening.
move_to
left_x0.3800left_y-0.2400left_z0.0850
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.667, 1.6009, 1.3376, -0.6716, -0.4351, -0.5896, 0.0457, -0.0216, 0.8509, 0.6132, -0.4751, -0.0158, -0.049, 0.9969] state[eef_state]: left_x=0.3758 left_y=-0.1966 left_z=0.185 left_yaw=0.0196 left_pitch=-0.2449 left_roll=-0.0387 left_gripper=0.0457 right_x=0.285 right_y=0.0002 right_z=0.1499 right_yaw=0.0079 right_pitch=-0.1393 right_roll=-0.0091 right_gripper=0.9969 state[joint_eff]: [-0.3624, -7.3915, 9.5521, 1.2918, -0.3443, 0.0855, 1.0281, -0.0342, -1.6479, 7.4188, 1.6239, -0.0269, -0.0464, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.24,"left_z":0.085},"note":"The carried bowl is slightly left of the purple bowl in the overhead view. I will correct that offset and lower it slowly toward the purple bowl’s opening."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe purple rim is visible just beyond and to the right of the turquoise bowl. I will make a small forward-right correction and lower the turquoise bowl into it.
move_to
left_x0.4000left_y-0.2600left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7498, 1.787, 1.1748, -0.4019, -0.4667, -0.6556, 0.0494, -0.0216, 0.8509, 0.6113, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.3728 left_y=-0.2336 left_z=0.0848 left_yaw=0.0115 left_pitch=-0.2875 left_roll=-0.0096 left_gripper=0.0494 right_x=0.2847 right_y=0.0003 right_z=0.1491 right_yaw=0.0083 right_pitch=-0.1412 right_roll=-0.0088 right_gripper=0.9969 state[joint_eff]: [-0.5538, -8.5128, 6.065, 1.2332, -0.442, -0.0611, 0.7302, -0.0752, -1.5248, 7.1316, 1.5751, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.26,"left_z":0.065},"note":"The purple rim is visible just beyond and to the right of the turquoise bowl. I will make a small forward-right correction and lower the turquoise bowl into it."})
tool
executing move_to over 3 steps (0.3s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe turquoise bowl is seated inside the purple rim. I will release it while holding the arm still so the two bowls can settle together.
move_to
left_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7528, 1.9251, 1.2644, -0.3775, -0.4675, -0.6777, 0.0504, -0.0216, 0.8532, 0.6086, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.3907 left_y=-0.2521 left_z=0.0605 left_yaw=0.0266 left_pitch=-0.3043 left_roll=-0.0066 left_gripper=0.0504 right_x=0.2843 right_y=0.0003 right_z=0.1473 right_yaw=0.0083 right_pitch=-0.1461 right_roll=-0.0087 right_gripper=0.9969 state[joint_eff]: [-0.1299, -10.4684, 8.2256, 1.2723, -0.2515, 0.1685, 0.4957, -0.1846, -1.6752, 7.1726, 1.6142, -0.0659, -0.0464, -0.0171] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.6},"note":"The turquoise bowl is seated inside the purple rim. I will release it while holding the arm still so the two bowls can settle together."})
tool
executing move_to over 6 steps (0.6s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe released turquoise bowl remains nested in the purple bowl. I will lift the left gripper clear before approaching the remaining pink bowl with the right arm.
move_to
left_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7528, 1.9545, 1.2846, -0.3801, -0.4664, -0.6708, 0.5948, -0.0216, 0.8539, 0.6075, -0.4751, -0.0162, -0.049, 0.9969] state[eef_state]: left_x=0.3935 left_y=-0.255 left_z=0.0542 left_yaw=0.0245 left_pitch=-0.3135 left_roll=0.006 left_gripper=0.5948 right_x=0.2842 right_y=0.0003 right_z=0.1466 right_yaw=0.0083 right_pitch=-0.148 right_roll=-0.0086 right_gripper=0.9969 state[joint_eff]: [-0.2803, -10.6462, 7.8017, 1.2283, -0.315, 0.1099, -0.1001, -0.0889, -1.2923, 7.0906, 1.6093, -0.0757, -0.0806, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18},"note":"The released turquoise bowl remains nested in the purple bowl. I will lift the left gripper clear before approaching the remaining pink bowl with the right arm."})
tool
executing move_to over 9 steps (0.9s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteTwo bowls are now nested at the center, with the pink bowl still separate on the right. I will park the left arm and bring the right gripper above the pink bowl’s right-hand rim.
move_to
left_x0.2900left_y0.0000left_z0.2000right_x0.3800right_y0.0950right_z0.1300right_gripper0.6000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.7528, 1.8679, 1.6451, -0.7624, -0.4664, -0.6796, 0.596, -0.0216, 0.8551, 0.6075, -0.4751, -0.0158, -0.049, 0.9969] state[eef_state]: left_x=0.4037 left_y=-0.2645 left_z=0.1791 left_yaw=0.016 left_pitch=-0.2671 left_roll=-0.0472 left_gripper=0.596 right_x=0.2842 right_y=0.0003 right_z=0.1463 right_yaw=0.008 right_pitch=-0.1492 right_roll=-0.0088 right_gripper=0.9969 state[joint_eff]: [-0.2393, -10.359, 7.3368, 1.033, -0.2759, 0.0611, 0.1099, -0.2256, -1.6205, 6.9402, 1.5702, -0.0513, -0.0757, -0.0122] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.29,"left_y":0,"left_z":0.2,"right_x":0.38,"right_y":0.095,"right_z":0.13,"right_gripper":0.6},"note":"Two bowls are now nested at the center, with the pink bowl still separate on the right. I will park the left arm and bring the right gripper above the pink bowl’s right-hand rim."})
tool
executing move_to over 24 steps (2.4s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe pink bowl’s right rim is just beyond the jaw center. I will move slightly forward and outward while staying above the lip to line up a side-wall pinch.
move_to
right_x0.4100right_y0.0650right_z0.1000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0341, 1.0199, 0.9607, -0.7841, -0.0452, -0.1444, 0.5962, 0.3515, 1.3869, 0.8013, -0.2489, 0.2321, 0.1757, 0.6013] state[eef_state]: left_x=0.2942 left_y=0.0015 left_z=0.1984 left_yaw=0.0694 left_pitch=-0.2698 left_roll=-0.0539 left_gripper=0.5962 right_x=0.3617 right_y=0.0932 right_z=0.107 right_yaw=0.0427 right_pitch=-0.2324 right_roll=-0.0351 right_gripper=0.6013 state[joint_eff]: [0.3077, -3.1932, 6.653, 1.5458, 0.0317, 0.1343, 0.0024, 0.0068, -5.0803, 10.0308, 1.9267, 0.4176, 0.1832, 0.0317] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.065,"right_z":0.1,"right_pitch":0,"right_roll":0},"note":"The pink bowl’s right rim is just beyond the jaw center. I will move slightly forward and outward while staying above the lip to line up a side-wall pinch."})
tool
executing move_to over 8 steps (0.8s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe right-hand rim now crosses the gripper centerline. I will descend straight down so the fingertips sit on opposite sides of the bowl wall.
move_to
right_z0.0350
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0245, 0.9607, -0.8001, -0.0387, -0.1463, 0.5962, 0.218, 1.4891, 0.6662, 0.1375, 0.1505, 0.0727, 0.6013] state[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1945 left_yaw=0.0658 left_pitch=-0.2909 left_roll=-0.0581 left_gripper=0.5962 right_x=0.3942 right_y=0.0639 right_z=0.0816 right_yaw=0.0407 right_pitch=-0.1028 right_roll=-0.0204 right_gripper=0.6013 state[joint_eff]: [-0.0205, -2.906, 6.7077, 1.5995, -0.1197, -0.022, -0.0122, -0.4171, -5.9282, 6.0239, 2.0733, 0.0317, 0.0024, -0.0171] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035},"note":"The right-hand rim now crosses the gripper centerline. I will descend straight down so the fingertips sit on opposite sides of the bowl wall."})
tool
executing move_to over 4 steps (0.4s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe pink bowl wall is between the fingertips. I will close the jaws to secure the rim.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0248, 0.9607, -0.8051, -0.0414, -0.1463, 0.5962, 0.215, 1.6272, 0.5789, 0.3027, 0.1413, 0.0605, 0.6013] state[eef_state]: left_x=0.2907 left_y=0.0011 left_z=0.1936 left_yaw=0.0683 left_pitch=-0.296 left_roll=-0.0554 left_gripper=0.5962 right_x=0.3848 right_y=0.0622 right_z=0.0272 right_yaw=0.0507 right_pitch=-0.1635 right_roll=-0.0341 right_gripper=0.6013 state[joint_eff]: [-0.2393, -2.5915, 6.6393, 1.4921, -0.0171, -0.0611, -0.0073, 0.1026, -6.9265, 5.6821, 1.9121, 0.0904, 0.1343, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pink bowl wall is between the fingertips. I will close the jaws to secure the rim."})
tool
executing move_to over 7 steps (0.7s)
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 gripper stopped at the thickness of a thin bowl wall. I will lift a few centimeters and confirm that the pink bowl moves with the jaws.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0248, 0.9607, -0.8074, -0.0418, -0.1463, 0.5962, 0.2157, 1.6394, 0.5686, 0.3939, 0.1284, 0.0772, 0.0411] state[eef_state]: left_x=0.2902 left_y=0.0012 left_z=0.1932 left_yaw=0.0687 left_pitch=-0.2982 left_roll=-0.0549 left_gripper=0.5962 right_x=0.3943 right_y=0.0669 right_z=0.0356 right_yaw=0.0546 right_pitch=-0.0969 right_roll=-0.0016 right_gripper=0.0411 state[joint_eff]: [-0.0615, -2.5504, 6.6393, 1.4579, -0.0708, -0.0757, -0.0073, -0.0205, -6.3111, 6.188, 1.2381, 0.3443, -0.1929, 0.9646] approver: 1 step(s) modified (delta_clamped). 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 gripper stopped at the thickness of a thin bowl wall. I will lift a few centimeters and confirm that the pink bowl moves with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteThe rim remains held, but the arm rose less than requested. I will move slightly inward and higher to clear the table before carrying the bowl toward the stack.
move_to
right_x0.3800right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0271, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2157, 1.5581, 0.627, 0.2523, 0.1177, 0.0742, 0.0424] state[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1925 left_yaw=0.0688 left_pitch=-0.3012 left_roll=-0.0546 left_gripper=0.5962 right_x=0.3966 right_y=0.0693 right_z=0.0612 right_yaw=0.0652 right_pitch=-0.0998 right_roll=0.0024 right_gripper=0.0424 state[joint_eff]: [-0.0615, -2.4274, 6.8308, 1.4188, -0.0855, -0.0122, -0.0122, -0.0889, -10.4137, 11.4393, 2.6642, 0.1832, 0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_z":0.18},"note":"The rim remains held, but the arm rose less than requested. I will move slightly inward and higher to clear the table before carrying the bowl toward the stack."})
tool
executing move_to over 8 steps (0.8s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
assistant
agent noteThe pink bowl is now clearly lifted off the table. I will carry it leftward above the two nested bowls, keeping the rim grasp steady.
move_to
right_x0.4000right_y0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0275, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2291, 1.3075, 0.8696, -0.2676, 0.1181, 0.0704, 0.0438] state[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1924 left_yaw=0.0688 left_pitch=-0.3016 left_roll=-0.0545 left_gripper=0.5962 right_x=0.3794 right_y=0.0708 right_z=0.1583 right_yaw=0.0799 right_pitch=-0.1262 right_roll=-0.0048 right_gripper=0.0438 state[joint_eff]: [-0.0205, -2.1538, 6.7077, 1.4237, -0.0757, -0.0366, -0.0073, 0.0205, -6.5983, 9.7162, 1.707, 0.1441, 0.0708, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.25,"right_z":0.2},"note":"The pink bowl is now clearly lifted off the table. I will carry it leftward above the two nested bowls, keeping the rim grasp steady."})
tool
executing move_to over 15 steps (1.5s)
step 219
assistant
agent noteThe pink bowl is centered laterally over the stack. I will lower it with a small forward correction so its base enters the turquoise bowl.
move_to
right_x0.4150right_y0.2500right_z0.0950
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.7189, 1.7027, 1.3815, -0.5476, 0.4412, 0.3798, 0.0452] state[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.3894 right_y=0.2453 right_z=0.178 right_yaw=0.1251 right_pitch=-0.1896 right_roll=-0.0473 right_gripper=0.0452 state[joint_eff]: [-0.1026, -2.6598, 6.8171, 1.4042, -0.0562, -0.0513, -0.0073, 0.0752, -8.3897, 10.0581, 1.5507, 0.3883, 0.2711, 0.9988] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.415,"right_y":0.25,"right_z":0.095},"note":"The pink bowl is centered laterally over the stack. I will lower it with a small forward correction so its base enters the turquoise bowl."})
tool
executing move_to over 6 steps (0.6s)
step 225
assistant
agent noteThe pink bowl is aligned within the turquoise rim. I will lower the last couple of centimeters to let it settle into the stack before releasing.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, 0.6868, 1.8439, 1.2312, -0.3161, 0.4145, 0.3546, 0.0471] state[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.192 left_yaw=0.0689 left_pitch=-0.3031 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4024 right_y=0.2426 right_z=0.0889 right_yaw=0.1202 right_pitch=-0.252 right_roll=-0.0812 right_gripper=0.0471 state[joint_eff]: [-0.1026, -2.5641, 6.6803, 1.4579, -0.0952, -0.0562, -0.0073, -0.5949, -8.8684, 6.6803, 1.6142, 0.2027, -0.0611, 0.8181] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.07},"note":"The pink bowl is aligned within the turquoise rim. I will lower the last couple of centimeters to let it settle into the stack before releasing."})
tool
executing move_to over 2 steps (0.2s)
step 227
assistant
agent noteThe descent has stopped at the nested bowls, indicating the pink bowl is supported. I will open the gripper and leave the three bowls stacked together.
move_to
right_gripper0.6500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.6853, 1.861, 1.2049, -0.2535, 0.4099, 0.3416, 0.0494] state[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.4053 right_y=0.245 right_z=0.08 right_yaw=0.132 right_pitch=-0.2384 right_roll=-0.0767 right_gripper=0.0494 state[joint_eff]: [-0.1846, -2.441, 6.8171, 1.4335, -0.0659, -0.0513, -0.0122, 0.0889, -8.8, 6.065, 1.453, 0.1832, 0.1197, 0.7643] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.65},"note":"The descent has stopped at the nested bowls, indicating the pink bowl is supported. I will open the gripper and leave the three bowls stacked together."})
tool
executing move_to over 7 steps (0.7s)
step 234
assistant
agent noteThe pink bowl remains in place after release. I will lift the gripper vertically clear of the stack before withdrawing for a final overhead check.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.6853, 1.8668, 1.1889, -0.2569, 0.4068, 0.3439, 0.646] state[eef_state]: left_x=0.2904 left_y=0.0012 left_z=0.1921 left_yaw=0.0689 left_pitch=-0.3028 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4008 right_y=0.242 right_z=0.0709 right_yaw=0.1297 right_pitch=-0.261 right_roll=-0.0866 right_gripper=0.646 state[joint_eff]: [-0.1983, -2.4274, 6.6667, 1.3944, -0.0904, -0.0757, -0.0073, 0.0479, -9.1692, 6.1333, 1.4481, 0.2466, 0.0855, -0.1685] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.2},"note":"The pink bowl remains in place after release. I will lift the gripper vertically clear of the stack before withdrawing for a final overhead check."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteThe stack stays stable as the gripper lifts away. I will return the right arm to its parked position so all three nested bowls are visible.
move_to
right_x0.2900right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, 0.6868, 1.7893, 1.5471, -0.7063, 0.4026, 0.3359, 0.6465] state[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.192 left_yaw=0.0689 left_pitch=-0.3031 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4012 right_y=0.2441 right_z=0.1803 right_yaw=0.137 right_pitch=-0.2748 right_roll=-0.0967 right_gripper=0.6465 state[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.4286, -0.0317, -0.0464, -0.0073, -0.4718, -10.3043, 9.894, 1.6288, 0.2271, 0.0317, 0.0317] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0,"right_z":0.2},"note":"The stack stays stable as the gripper lifts away. I will return the right arm to its parked position so all three nested bowls are visible."})
tool
executing move_to over 21 steps (2.1s)
step 264
assistant
agent noteStacked all three bowls together at the center of the table and parked both arms clear.
done
hindsightThese bowls require a side-wall rim pinch, not a grasp across their diameter. Successful thin-wall grasps settled near 0.04–0.05 gripper opening, so confirm by lifting rather than assuming that small opening is empty. Approach the rim from above before descending; lateral adjustments with fingertips inside the bowl push it across the table. The right-rim pinch of the pink bowl succeeded near right x=0.40, y=0.065, z=0.035; final placement onto the center stack was near right x=0.415, y=0.25, z=0.07.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0338, 1.0306, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, -0.0349, 1.0256, 0.9684, -0.7929, -0.0216, -0.1974, 0.6465] state[eef_state]: left_x=0.2905 left_y=0.0012 left_z=0.1915 left_yaw=0.069 left_pitch=-0.305 left_roll=-0.0542 left_gripper=0.5962 right_x=0.294 right_y=-0.0029 right_z=0.1984 right_yaw=0.084 right_pitch=-0.2808 right_roll=-0.1022 right_gripper=0.6465 state[joint_eff]: [-0.212, -2.7145, 6.6393, 1.4188, -0.0659, -0.0513, -0.0122, -0.1436, -3.0974, 6.4342, 1.4774, -0.1978, 0.0073, -0.0073] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
done({"summary":"Stacked all three bowls together at the center of the table and parked both arms clear.","hindsight":"These bowls require a side-wall rim pinch, not a grasp across their diameter. Successful thin-wall grasps settled near 0.04–0.05 gripper opening, so confirm by lifting rather than assuming that small opening is empty. Approach the rim from above before descending; lateral adjustments with fingertips inside the bowl push it across the table. The right-rim pinch of the pink bowl succeeded near right x=0.40, y=0.065, z=0.035; final placement onto the center stack was near right x=0.415, y=0.25, z=0.07."})
tool
done: Stacked all three bowls together at the center of the table and parked both arms clear.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 10.52 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6033, -0.382, -0.0223, -0.0326, 0.9996, -0.0216, 0.7921, 0.6003, -0.3817, -0.0166, -0.0338, 0.997]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.294 right_y=0.0002 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -1.5932, 10.0991, 1.8095, -0.0269, 0.1832, -0.0611, -0.5128, -1.4154, 10.3453, 1.9267, -0.0952, 0.1636, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac6af6952cfe2acc41c2d938634997ab303395b9bb8242bef7830e874e22c4db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4fc4dd095419229bb9ab93e48f162ee12726a623f4f2b9a064307173c91bf0d2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c3364c1abbd0f91a7e24fd16ba1bf0abaa99a9e3f766a5d77c918b27bab1570",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 10.48 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssfOxCZit4EFW3U9Bk_KZlzsXySnvJ2jK5CltQBZWdqosZHMTFr8KNfJk72Jd-F-kxVNMFS1ldSpr6tpxhMmU-vQ2XKBOt6CS7kNVwOEIQzyizZWfsH31xvLmQyrIcO-slYfdvYtnMZra2OsQOW6WRpAdhUyHwFsMnkjGbUJy5pBOmq7oSLPNGTEfI23h4CKxRfaDeGSQ1kAKzwNHpQ2_UB3oaVdh6uiNbdChYJww6nipHD8Ah7HyExCJsIdN88AMUm65m5tpI0MSDr6TDBhJ2w-grkIieUZYjDY9X8bgDhvKKgqfaAQXIFXGLhy5QPxDfLU7e7axZf7cynWzJpsY7tCiJOtPIOvZr9bQ1MImoLdnMlbwcpH8HoqkhX4LkZKPEJ7TZ0EBpAyZ-_k8b-ZusiB5qAxMmSTT6HJvjTNLKOW6Q4tTcVCzqonF6OcVhWv9WBwSfJgQGwbI4Ok8usr8_Bhj_ARLOEAsLcc2O2gUw3DO31JQqtF7Y71eGbHhz_xdPYoHbAf-mvNKBMM3EOhHs3aD5QcTeRZe4kh67lZI8HDQlRvfnFgn4jRjdF4dL1ncgIV-UmLeCgTTqCpUSPCCanjS1hZrtZaEhSrXJT6mbMwYCkOdcGoZuKRmCHhMZ-ku0nYIZBsME5dooxgwLDHE1yUvetpSUwNRzgtjGrALUUniWK6jn6ADQuXQkaRU_HWM9N8L1IB19ZHK_wwPhls8TZKmkTPYDNuaoBpNSirWbr1UPDKq5naZ9pMXCuiBe1EvNCrYiclPvQkyLxGr-DbzMyOXPOA3t74QAoWz2FRIy3I7d7J6khco1M3UO9F2ORA3WhDKBgD1XYXZ3JA3JDYPTQGTu6XmdBFTGqkxFmdiF_7DwwkHhnkNXq5f2F1WmYkB1D9HEBkb_Ja3tBkR_2IbnKr7BxlF5h-gB9uBHP-KtP1VUrTk5vzk5eJksZ46UKzQFpAYVtvwKsE4tAvmSLQ-K6nVkDf8ssmWTwZaplrVU5SQeh-jzJTv7pt_00EZ5fWXjJbCC3ddEXzXjCLOT77Xinn48mFKpT0di3wnrCFjf4l90IYIMw2c41fVF7cR92wVP9MfYDHCouKZ-ljmSoC9tHVenTSkQG3_PTEi9KW3m0QOTT5oadjhvMel0kSSHHffdWVtEttQuY2GWwzfec1b90wYmr_ePPDotYb2lSdeatSJkBnYQtxJ25ArRL_uIpXk8GFKUdAgQxhgMI4GN7VEOXeGEU0bGc2vlXtDY_j3OkZuWqO2_PpXfrpFfkdDxMbtxl4KNhBTSNA7e97ZRl07GO1e1Fp7r3IXsiKI62IX2DiJmnz-d2jjE5TWdPIF8v3Kn1vR5AmA_JYgfegUnUYSPyEW7nBG_7lQ9uOgDniCb3CbkT6HPUX0ykKI1XQ3MmAbo9WRpcsAVHMTQ591PssvisjboclYDzpuyRtMJnY5NYNUYE5lHOQJJuChBYiayh9rhEoCkoKrUwLIIpUpqtbjs9-iu2jxlT2_Ndh4soSGtp6mzHJEra7JKlB_hwW8177imB447zEUI-lWDxMr2IgMTo-ovlIKAVn5sR74lunhTP3NXcvF_anXqWqnVIWLQdB_Gs6JmgggeLH4hcXznxjH98L98HlwOpJpIowpyq073LRPhPZJOiZzJ7US0V-Oc5uV0B6OCx0TQU9WD9FltRbWe8j7nkfPTodz4NzpNZRuKL39r2Y5DtA552VBbU_l3i_J4Obx2tAaga6OFjaik7ZUWd3Hg==",
  "id": "rs_067a625f21c9b72c016ab2c7c85a8c87d09fa908ab6bea3910",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.36,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1},\"note\":\"Three bowls are separated across the table. I will approach the turquoise bowl with the left gripper and aim to pinch its rim before stacking it onto the middle bowl.\"}",
  "call_id": "call_wCR7JQ3OMD0woToYnASMSCrL",
  "id": "fc_067a625f21c9b72c016ab2c7ccd9b087d0aee1ed28dfc6b12c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_wCR7JQ3OMD0woToYnASMSCrL",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5571, 1.301, 0.7185, -0.1383, -0.4408, -0.3386, 0.9996, -0.0216, 0.7975, 0.5983, -0.3927, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.3473 left_y=-0.1233 left_z=0.1302 left_yaw=-0.0238 left_pitch=-0.0671 left_roll=0.0303 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1738 right_yaw=0.0001 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -5.0667, 9.2923, 1.7021, -0.2906, 0.0513, -0.0611, 0.0068, -1.6342, 7.2137, 1.8535, -0.0562, -0.0659, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e825625a3114a17916fe86fdd33884401debcb3ecf8bbe529ece8cb7931b2ad6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4f3c959066f01298498a65d3fdb5935cdc2e88dd2c575e068b49616148f735fb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c6c6f2658fe84abdc6e208cd6cda287322a11c28349430731f96cec48fe157d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 11.72 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.02, 0.7944, 0.6033, -0.382, -0.0223, -0.0326, 0.9996, -0.0216, 0.7921, 0.6003, -0.3817, -0.0166, -0.0338, 0.997]\nstate[eef_state]: left_x=0.2945 left_y=0.0016 left_z=0.1791 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.294 right_y=0.0002 right_z=0.1784 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -1.5932, 10.0991, 1.8095, -0.0269, 0.1832, -0.0611, -0.5128, -1.4154, 10.3453, 1.9267, -0.0952, 0.1636, -0.3199]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssfaTtqF6ZC-1QIFB2ed_5BgaZSiuUcV7DnbmKG38m_w61-LaIrUpimI80gkKuWHt7gkLdsl5_ByOBX9gW4Utl_DnwtjdvSBCs7C6pZWdqncqm9zjPdp-xoMVbWeOC-RWEFRhilc1bNmVfk8We31JjrWOTBvwzX9BU4-eSapTrezrvsIAiuMwg1p5FFajVIoWFS0MNCAPGD3sq-h0kog1kGEmwK8WYH1B4L_xo29XuNE-lsR0ZzfSrpAwgkcDzZNT-KEA66E-xaBuKFo2Ir-ktG7QpWa0SuZq0BF1ueSlQ2VIrrfBbxZgwfaN8t_XsXTLjCw7_9j5B_QMGu9jMvhdN7uqefumEoxwFmgODOabkdghfFTcreGhhvOI9hG_Y3i9sWj7KVsj4rNDilG8KhyWbfyNTHAaRaIwbdWEtbS1akAOYkLZCdO0m73Wkmefpk-6di7iUv7Utem9qd2ctBOsNNjbFh5oSIaajxdOGxSt_6JwCzYyFmq7IbEFZnAvXjXXW_1_8sh7FV6XIBbWoyumdhnm9h67HeM2HMhgQNPSd1pfTYBSHQ04Ch1JAERF249AwD-tfO2L6jrTdbO-QG4iLwjkkyK697L0vXoDSm2IG1K8CA6PeBeuY6TVI-cXcmD290OMAsLE1WfTp5rp-tLWBgodHRfnaL9VYroJhDIHL9_GikKYR23fYFkPoCS_Ol7jUL-xZEKyRnXgkPk2To0t7hLfPdz6cWmEH9tcNZiWZ_6Sosp3xchHtkIr0BuaLw5XMDgyomRj5JzB4MZGEZkmEN7UnbwuR8_dmwny0HN8urs4hlRdLYVcu4bcIaDzHgkNyLmBYxy8Z-OxP2-BvK2SYt_gew1sToU6Zqn8liaQfMpJ3zSXAcAwMLpkQhR9J9V4bznWKFcNb-gnyrLyRhpB81YkszsgQ1V8tmhqKukK9Vqz0lytS660ildP69_ymZDoT91806VcwHbViA5kOTAKA7mRbuug0fdkJTlto-Iu0k8Geu0J-N_DB-YPfeVwwMXHDotjfsR5SRXYQkRkOHbn5bHzNiI26EMT9kBqQcDVoSO-A3wEP7NCeAn7yMNeYD_wZJ3tanTVQGaZWBLlFFSWi7o1i9SX2wMpP_s_N0yn7B2CqNzQ-0r_HpbE5TDM8y0kfZYakFepovnyu-FHG8gZqNW1uEHVHKD-BP0rWnYh_XbrIihTYJ-g7rKI-UwxouRSyJYcnb4X0rh3Z3FOjvUBZP8orjDwHf3yxCY19CIbLVR5ZeY01U7QX1g3ORAJOOEFS6Pc-Ddq64Jn_Z8PE0oTq64bXStABGA7_AW98Q3MnxXp1UaLDg4K3M8PIfFxEWa1eWKOfmAasfUp-JW3s1Vi9vZbW1Zn3SMW7fY4_kvKyl9ZZo-fshUVFuTGCW3RyeiwoFVPF40TmcWqnnIlQgPORKSNicixSLNVfuJHqsou71j5NczpjZb86Dgx8sMyL90SYTmMaRgqqUsHwKR7dQlsG6vBYhDHH23JKBFVWhyQQkn_cZZhpbJsCTR0IbRTEwZcgNCsASnPl4aIp--50Gd9S7575nkp4ZnmQjRYQceGpuHhXAtfbIQjS_GrKMEPSRHdPnw6Lz8YXo4ESWnGJPrysYZeyWQTp4jGqVwNRJW5gL7JVmIyjmBRvvt-J7t9cEWbF7yGsJujMeC4x5uHpaiLbClPzRh0OHAJXJJQc9NneZUIpiuTXn4AaMMjd1iYWm2-H5KCKIzUu7Wahu69GDzyPCeim0M8mDmcL0UToYD0bsRq4lmvXG6OWMqc7UCVecoOfZQQFGFXVLZ47WaYNbq5rBrAcnVJzLpx8pyzLLNV1Rgj_otZiuEBX3ei50X5bqLBL6OXQxGdLiJ_vZUTdwtTGrdXKpuV9gPYdflRBMWWm-BBfJ9WO_D6PcXAZn51k8y-bpYgpUx5QyaBG9nUv7aVg7rjg==",
  "id": "rs_067a625f21c9b72c016ab2c7d2e49087d097ee8be80bead9a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.095,\"left_z\":0.07},\"note\":\"The turquoise bowl is clearly visible in the wrist view, with its left rim offset from the jaw center. I will lower toward rim height and shift left so one finger can enter the bowl while the other stays outside.\"}",
  "call_id": "call_KI8bA9GbSkOhGJE2OQYUl4DT",
  "id": "fc_067a625f21c9b72c016ab2c7d88d5087d0bf29b061e40aff5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KI8bA9GbSkOhGJE2OQYUl4DT",
  "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]: [-0.4065, 1.5009, 0.6075, 0.1101, -0.3584, -0.2695, 0.9995, -0.0216, 0.7986, 0.598, -0.3931, -0.0158, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.3647 left_y=-0.0856 left_z=0.056 left_yaw=0.0268 left_pitch=-0.1508 left_roll=0.0633 left_gripper=0.9995 right_x=0.2925 right_y=0.0001 right_z=0.1732 right_yaw=-0.0002 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -7.159, 6.4479, 1.917, -0.0611, 0.1099, -0.0171, -0.0889, -1.1829, 7.2274, 1.7363, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77dfd953f910983de042477c1a284266c1358f97bb371e4573cde32fdffbfaad",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc99fbacfec92a64a9685a98e092d595ff2b554a3e4e8056d8aa9106911716d3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9df20afeb8c1eb1e49c06d6d2c4b0fcc46e0021eb254266b4bd82fe3a664d95",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 5.689 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]: [-0.5571, 1.301, 0.7185, -0.1383, -0.4408, -0.3386, 0.9996, -0.0216, 0.7975, 0.5983, -0.3927, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.3473 left_y=-0.1233 left_z=0.1302 left_yaw=-0.0238 left_pitch=-0.0671 left_roll=0.0303 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1738 right_yaw=0.0001 right_pitch=-0.0183 right_roll=-0.0005 right_gripper=0.9969\nstate[joint_eff]: [-0.3487, -5.0667, 9.2923, 1.7021, -0.2906, 0.0513, -0.0611, 0.0068, -1.6342, 7.2137, 1.8535, -0.0562, -0.0659, -0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssfmr8rPTl8FRWiMctpiSBSo_IdX7ctqCUhX3QJLj8N7IsAZm2exLjOCT5oH3EEzBlFmsBtAyVjsaDlzz-K4mR-PnVcJ6OFN3BnEUp_Dhz6EydSNQLPv_PaptDNNq11fYJLfN78LKDzxrzSOdS5KrOHc-8dGXKqeWrVPQmli5Wb8R7MSMM5ntpPne1RbChrlU7gxwLZ374boGR7L64S1HbDT9w4HTHqEvUKdPjneFcxwUefbo8A0r2nqg-4G_9T9OrPVChk_UUdkMvWtGmEgztx_HZMYtRm7FY5Krg4-VFQ7f1_japFMyWGictXqI75MtEM5BiUP7dzjB45kuL8oXjqzFgf6vM8k_jQpqT--XbSkrn8OEegNKWbD3AwZzx9OzZCnTPsgUby8oa1S2cKRb1Ce7QgKXXE3w5KMpdyOx2BVbKxSqlghWyrfteRDXacwMl8BdjuecfoJ6KS7MWYqaCAtD9iPASVclsFjedCpdYxTmXiNDyZ1RRUTECywIZ4GuSOykAcw4JcJXzVXfyLVKS0G7yc_XZiYg6FS6NQf9kGKKgi73Svn4vf-kM7vE4lPk7iff360i1JMAPQ6uqe15K9v5Eqvn2OKn9CpSuioZCytGheJcR7zZhDYHxkikFMWyPFcDNJIRTpaQgOOoJadkZjieJDI3oc-yHUB8k9vCnH4BsNm9hnvDdtnwtmeHhz5SZIIXSS97aSHzmDiGBiUXrkfgHQp3cXyx_PE1Bl8_hNVK5WtbGU0JSdob93Na7Mg1gjCMsBpVV3KoqiQRTaL3YU8VRS0IY0HGytAQfY_FBqz-6B9MMww5rOB2C-XqIDzE_3LQkqKMUamdxaODRptfJILH1YD26Y0EhdAkiBY-CmVr2ScqoRPjm0HcOC3ZTsUd491zgU10_uSD3Q98u04GXScGWduAyNzYHV3kvi0ix7Wm6T833gPBlLFr2gGoeZok9q6P0pSh-2kLdxtjqMaVMu5ZBpPRb7dajHtGOdru2BgNN2q6RlV-yIvPAGaEWCWPVqxdzCfFOARuG2wQOyYvZhNmu7Mylnp3dga__gav0wpKE5AFWb7fpxR_pCfhNcVUty8ktq_jhjWu7eHGayAf5JmYsdl3d7gBEIAFxvkT8yrhltbmbmWAwYVxiuslSIYAtjpfRubZGPiQS5AIC0XhC4g2-UgwJiFTvf93SKXTLJyF1fuZeNnB51eEb6kTwNLNwF7_Pabp8oY4BuDnPi_PwpuNSca30CQ2CCNZVYMELyDKqN5gbuLB3oPcCIg0TwKi4B_ozosuxkBxgso6CUH5BefFk0c8hN_b1t6A1mpBtUZSROYn6CfLnEayvgIF-BAvJl08lHjfcfaBysdXFp5lt2lyRwU4UpISQpGAAKvvpi6WorrMAKnR3458j900rWfm0K4xVoLsSwNVW4GraDTw3rh1-N1zkbJB59WIQkUfk-imqp-2Nb7vBLbOeub1dBzBkoUWJFuocPG6g-Ey9F-k4qgda1O7H-1GJUh14UHVaTgR5a79p2PsLIzrbYfIiluBNpNN5gr51O4jC22bnd9LzX28DbSxBJGJUKDXmAxrV03aT5VoQu_JZRo6siVHzKfwgvw6s8QLoG14xTcJgDcs2JqglC2flDQLa_u0vqX9TCSNyj68VUlkJm88UUdq05poftqI4gxy0kvnTqm58z9NibgBVXUftZMO2S-DTI9qgujvxb3pyYaSmGxu4K9jXF6Az9ZIZg1Jc_TwKANHJL0RDmTquF-_OLrfd_z3CmC98Mn9UtM5ZP-fkb56POBm1iQZoG8UQo-LMB4PMpqd_8pK2y-J5HUWdlXuqDUAapG0_vcmtpjGcmlPzTGIea_z_OweErKUwOyh8hcpC7wUO80p0nOwHRc82Z1d_eWTDeeB1GzJWQZRtbrJR7vAgViLrMZub-6WDoNjVIBhl8r5JELfd6BfgcOmJpoOY8eWke9y2OCEvytR7Om90itti8xFjhxX8D5UWk0QC_AzvQt-gMsDelnq8NweHiIBqcUE_3MSJNSmhO81FrnkSS7UNKEjA-59EMjhrFWW-dxfW5O0z2psYP3M34GkwPwV1mBT1rj1eCCti1WzjUa0NIzb_yIGYAu0nEOKwFiQKWwZ9TTNfiIuPmtYbaNw497F32SayNgfC5AOFBcAoyPcY7OovOnBM0mjaG4QkD8hj-7HNgFIOtad05xtQ==",
  "id": "rs_067a625f21c9b72c016ab2c7ddf93087d0ad5f335b90e130e9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_y\":-0.13,\"left_z\":0.045,\"left_yaw\":1.57,\"left_gripper\":0.7},\"note\":\"The bowl is too wide to grasp across its diameter. I will orient the jaws front-to-back and straddle the near rim for a rim pinch.\"}",
  "call_id": "call_gngWQ4V4hU1RGLfygXgd5ece",
  "id": "fc_067a625f21c9b72c016ab2c7e45ef487d0a3adaf4ef528b5e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gngWQ4V4hU1RGLfygXgd5ece",
  "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]: [-0.5163, 2.4378, 1.969, -1.3674, -0.7292, -1.9221, 0.7023, -0.0216, 0.8028, 0.5953, -0.4122, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4197 left_y=-0.0988 left_z=0.0312 left_yaw=1.3031 left_pitch=-0.231 left_roll=0.0372 left_gripper=0.7023 right_x=0.2897 right_y=0.0002 right_z=0.167 right_yaw=0.0001 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [2.6735, -12.6564, 6.147, -0.862, -0.3834, -0.188, 0.0659, -0.253, -1.4017, 7.2274, 1.873, -0.0366, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929422fdc25ea8ce5f380e2c82d381cd7992b8d99a0288d19f170eeffeb2601d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee2b083cd60c425d6c48adf97654da53e57cf39bf51b7edc59d80286f04bc0a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ddb8e7d193528312befda4466c12bd3d614e18be187f0b0c9b496fb95dfcdd93",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.058 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]: [-0.4065, 1.5009, 0.6075, 0.1101, -0.3584, -0.2695, 0.9995, -0.0216, 0.7986, 0.598, -0.3931, -0.0158, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.3647 left_y=-0.0856 left_z=0.056 left_yaw=0.0268 left_pitch=-0.1508 left_roll=0.0633 left_gripper=0.9995 right_x=0.2925 right_y=0.0001 right_z=0.1732 right_yaw=-0.0002 right_pitch=-0.0202 right_roll=-0.0006 right_gripper=0.9969\nstate[joint_eff]: [0.1983, -7.159, 6.4479, 1.917, -0.0611, 0.1099, -0.0171, -0.0889, -1.1829, 7.2274, 1.7363, -0.0269, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssfty4gAGWzZVW6LUR0TmyYpnL4462OPIh3__gS5IVZkF5FEUrtEAr3FygAvIu0KnJI3L3GAmldtrzU8RX4PB1ugXCxV1JhoUt_CCOg3IJ44D-3cZNn_fH0btw_UhhTccKawQ01-9ekEjc-GsMKx2jF4TctYyIIm1UDB1EY5_GyWYx1RZlu4xKTbA38RzTS1X5CHcSfVSztwiD6lUqTTMo6oqs8vz-ftWi3WAgjwcGaujFY0TsAOk6Voh447A4ff3kXVzJxE_XmGQ57rW2mZ0VYZxVN3jUa7vweiP-UnYXCywo3RWRMN1QQ-y0z2QGzv5PpMUK50Vu7b6F_L2mNr5bjiD8knSxhN4SVYCsFPdcAWbbuZbv1_m7CO9jMZJIBuafP6seVJpCf8h-0_xZ7EjPlMsjLh3MYO8-NhOwkFcVBlymgsBteJRlYyPcLE4fz-mELczfqPEFAInQYVUou2c-ii-hcINQxgYrCGjIlebLygytwRsw8RIaG1733ozommWkLRaFTtp7U893FFu8K-vqYU4rYEpaKkRQUYpPRYY16fTomCzuvPOt3ivGJRKzBG1hvQuhHoorfK8ehNcj83rTBINE7zaIWm_KO8fid2nCYoeSe1grJn2IouVcLH22YL4ZzXiH59pqRS7MZqjWAo1JFlRybZApLkUIQiVWDB7CiXm9BA17npibi_bUPq1BHbpmVfDBa3PU7ORsAnCwFg8_04yJu_92m3WDjAJ__R6J4kqMZeGaiPxG1exWf3sq0RbHv9TtUzf0KFAVDf8CjrYYItEV9xG-JwGN1EPEo_W10oaur6r1pWYqbjN4SIQ5XPzbqM8Hbt_hk6xXOMY-WKKljW56g9EaDsecq-gPCVQmoB_Jrl05nu_fj5a1-dXt5dKP6z1KAs5g3I1HbVHE69depthnBcFqgwm1qCz2rLopHWwx7LVtvJ7Zfi9tEorpy8PSapZNg95nMuVn--KTG4IjKexQ6mHTyc9DWidw5tQF_JvUOmBSSLpGKRhhFYuCQhm356JvqsxHQwuYSyWwPI0J4NInrgcBKnyVqMPTvlP4q7adr0h7AH_JbIrP8_LW6hpuNnNA0EI4VYC99j--o1kh3w_Tw5Fa_Iu3rx5Zty56C-SVm7J03wH1fsTUQAoMjwl13kWwF7DeuMYvk4BYDmm-snkvWNYvQQo4w6UAD-15lChK8qT4zZR6DIc63XFDXZ1ccdgeY-_pFrO7yh0DZN1ZpVD79g1QZLNEqGr2wzHWjpzAha5YgRE39kcIJdwwvu5EgjdZL-Wp4ido2FaQV4O-mbJzAapIcqgKfeJDs5R4fq0NISyVzn4akDcI072qWf6SYq",
  "id": "rs_067a625f21c9b72c016ab2c7eaa7fc87d0b612303db8e178c9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The near rim now lies between the rotated jaws. I will close gently on that rim, then check the jaw opening and lift before transporting the bowl.\"}",
  "call_id": "call_9U4PYDJEM3UC7z7CigABC6AC",
  "id": "fc_067a625f21c9b72c016ab2c7ebc75087d0beba825a1b746dc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9U4PYDJEM3UC7z7CigABC6AC",
  "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]: [-0.5106, 2.4351, 1.9499, -1.3701, -0.7265, -1.9305, 0.0087, -0.0216, 0.8043, 0.5953, -0.4156, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4155 left_y=-0.0941 left_z=0.0284 left_yaw=1.3187 left_pitch=-0.2285 left_roll=0.0509 left_gripper=0.0087 right_x=0.2893 right_y=0.0002 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0511 right_roll=0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.759, -12.4786, 6.8581, -0.1832, -0.4664, 0.022, 0.6569, -0.0479, -1.388, 7.0359, 1.7167, -0.0464, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b558678c919f4b76b505f515cc7a15b81535afe342a4b3d8da11bcf9f5eab845",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32289cd8a437c3e5c4c5bc8de40652effa5f181e60cccbccbda749dc9f9db1bd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e739acfb82a716b6dff9e58400529e30892ca0e34a696da0ce1c751ffa56b65",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 5.885 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]: [-0.5163, 2.4378, 1.969, -1.3674, -0.7292, -1.9221, 0.7023, -0.0216, 0.8028, 0.5953, -0.4122, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4197 left_y=-0.0988 left_z=0.0312 left_yaw=1.3031 left_pitch=-0.231 left_roll=0.0372 left_gripper=0.7023 right_x=0.2897 right_y=0.0002 right_z=0.167 right_yaw=0.0001 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9969\nstate[joint_eff]: [2.6735, -12.6564, 6.147, -0.862, -0.3834, -0.188, 0.0659, -0.253, -1.4017, 7.2274, 1.873, -0.0366, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssf28HBZHQlQyrWjZ5HeqZ-MB75izCCLw-KqSqtvnCrV1UauP52HF3EkjEe4XVlgRrcdH4O8H8Ak11rnWvvDRJz8wlek7PiKNU5-RVEJCdbZwWmKfBiLxgztQ5CnzPOX2Dx3JHtezCT9oDDfZtiujtBS2asongxaQ1aSXRp6DLKRPg-oFd1F_g2GEChJte16auS1LlKjMuB1UqidUHW6sjs38DhvMdhtDOlh5rplst26-SF-0PT_NB2i1cBMrps7wCtZEfHPlPT1ly6LrvdQ9LTcY8-rfJ3UZDEW_ZL0yHir3lPFC4ydb3Jw7PgmugQE8Y5WRulW3GFqB8gEfEElhrXYy8Q8inkGsgT3jljVGcrU853WEA8nv8saRtqks6AA5n835Lo5YblLHeF1acCsCcWibATpUzxUj2ovbef_yXFv8-atB0_ZcF-2iczClh7BYG948iW6RJAiwTQBLpS27ISyERupuShlnRpdXpoSjHeyp0UY5wn2_Tb7Y7ZQDjO4GlAnxgmsWMiolYwtcUNSmz8HdoS9qer7YOYkWpimJXo_cbj3xyqFt5vSNDwDXgXut4NYtEG_RPOrQKlv1SFHAL9KAxs2LBhOWAVfZzkm6TlavGv_8OGPKWMOJ60wmKHRCOCEV3yzvUWEfHL5YM7JDIBFsqmRA4vqq8sGkUmnhffXuG5AhhGC3nZ0KYFZeTP4o4HKhK86n-VFSurszxXPIqqskzQQPovOp2s4H968UtrYYLFSyKuL0tqEqK5a1gjtk9MPe8v3cYF_Z59CpJmxXHXgs-1l41-bck6oo4-Shv7TbfAaRTgRPRJExD4NZzVjfNgPIy8LN9HBBpZAs1dUMUAyocIRBhLKtaWA6h8QUfqH_EoiH-2S6ytgpJxGGD-gm7T_YBePHiR9Qmzun1PlCMWgiQCiI_VfY4WAPIuSaoAP4rpIfnRMbrU-w_Cy_CAFSc5340uyIfX_wJIKwaphvTQb3Vi_nSeOYEX8kjcxsIAHDkOrlX5KwzfTHzE9UOPvIgO6mA4v2vm4IjQRvoLHIxQgSGholcy0EpTBmIPuzDvYT7FgRIm6rr7r4hOiV-Sy9SRgSnldRJuZ-9HLyu6XfHb1bnkY9WMR_eIGvApSlsmySxNGbIaj-OZZexR2trj_yybPzP8GiLZQkk_zI1XDNEAvT0MfFWHgx1a6NgLZ8B2uDxrrWN3MNpy8Kr41Dp88ektK6A2QJM3dT9a_49rdbKSx9IfDFMRt75-pIwDdFFjM3L_JSFR-HBY6HxI5xLsBy2p8__YmImteKBn1nI99Zs4rsosYLX-YxBNUSiDAoyJQnT6-O0ky97d1dI3YGbBOCcNbAdEaHgjigrajfuTSGgEEagC2LEcx1zuhNlRrIn8MVzGLHMsCrFLeoKopIl9dAsBWeOcHv8JoXikXQ34BCI3yZ0gvfRYiEsdR1YyYvHBQo5hAUWlkD0f91qJEzFPIVIWzASh3C7ePs9dPevB0GCGz95ixY-vDCnnRVQWRAF3RDC_pwDzxilSxClDBFeiCE5UGwDdgBqmTPS-ZBlin85cW7aJuegjfSS49Qtrd6DA_yxy0qs7Qo--SlF3_TuMOnY2XpVDwNP9pbiw3om6V5NsMdaphFnUacFNI49Vm0ynzj2sQqj8HZ_VAF0tAiy-i9G_dGbTS_nVSRF12C5GfP78cEA==",
  "id": "rs_067a625f21c9b72c016ab2c7f0427487d09d40fb4fc34710ed",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.13,\"left_z\":0.14,\"left_yaw\":0,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"The fully closed reading indicates that the jaws missed the rim and closed inside the bowl. I will reopen and lift clear to re-align from the overhead and wrist views.\"}",
  "call_id": "call_QALYmjvB2DNdHNGuuKMwFybP",
  "id": "fc_067a625f21c9b72c016ab2c7f3a33087d095ca30ee8ac5d7a5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QALYmjvB2DNdHNGuuKMwFybP",
  "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]: [-0.5278, 1.5017, 1.0122, -0.4942, -0.4755, -0.564, 0.9946, -0.0216, 0.8318, 0.6212, -0.4671, -0.0162, -0.0422, 0.9969]\nstate[eef_state]: left_x=0.364 left_y=-0.1144 left_z=0.1242 left_yaw=0.1825 left_pitch=-0.2612 left_roll=0.0378 left_gripper=0.9946 right_x=0.2867 right_y=0.0003 right_z=0.1601 right_yaw=0.0044 right_pitch=-0.1041 right_roll=-0.0046 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.9128, 6.6667, 1.5849, -0.0952, 0.1783, -0.0855, -0.253, -0.8957, 10.4, 1.8144, -0.0757, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6fd3c2f3acc117e83eb9575b67856ed830bcf3b900e5f0757e37e8902bf86ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bf11b9181c6543c80ea54d4b914ba8456aae9fee2b42bdd934f0fb93d2c03fc0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b67a6a050c8fa19f65447cc8bde0a91e1892cbf15188d2e137df80ec378500a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 9.308 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]: [-0.5106, 2.4351, 1.9499, -1.3701, -0.7265, -1.9305, 0.0087, -0.0216, 0.8043, 0.5953, -0.4156, -0.0162, -0.0345, 0.9969]\nstate[eef_state]: left_x=0.4155 left_y=-0.0941 left_z=0.0284 left_yaw=1.3187 left_pitch=-0.2285 left_roll=0.0509 left_gripper=0.0087 right_x=0.2893 right_y=0.0002 right_z=0.1659 right_yaw=0.0001 right_pitch=-0.0511 right_roll=0.0003 right_gripper=0.9969\nstate[joint_eff]: [-0.759, -12.4786, 6.8581, -0.1832, -0.4664, 0.022, 0.6569, -0.0479, -1.388, 7.0359, 1.7167, -0.0464, -0.0415, -0.0171]\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": "gAAAAABqssf8sTre_an05FgMc7nKQv_BSprAGYDxZZ_Lt96pXgICuU7N8ufAVreCE1no3aaBD0C0zwiquhN_-_XJhVGWnHzFvPOnF5qZXCapjiXr4izVmVa1Oj0hVa0KfBmEwqbWUt049Ck0fSw5sOuOLbGw3B8DoaDMFBDG9AKB7skPJMmqcJet3DHlk3sQm1z96TrWE20djnhQY3Bh5LLhGJVYiChCEGZi_TvebK5DhjEcNOUaClOR5RCxohtTdW2274I0RCfuTUp0Ig1uLPXwj-xOGnCa8BGUoFKIZwT_QYH_8XITOAqVsDIgR-1J5uBeVZ4Z6wz04Ul-kSxfMu5kDZWpwvqBpWD3YxVMgO7Cs8HPnuynE1sliO7aZse0ccJOYZ4b9SEzj0Q3BhjREhmjtJvPLZtHx_mXvFM11yWO_c4yW7lqzeonP9i1Cd8zo6na2kcUH6ULWsKQmjFlflu97O3q6TDUmkMKR8TxKvbD1v3AJW-0q88kv8DkG-m4zgCGqNNelFbMWuUY-dOorNAuOD6yZmekRYaC3UgM77I2_UygE0WoxRq4Mn5gYT1be8JoHa0Q8rSj5eZir8Y-SwVjAU1A52zfVVAJq-Mm6pNN9NdH2BK03cV1azjYVuUxLPTqbqwVHEpiGWMxAjeb7oWSO5kyvBLbVot7mEiDx7fHDnhlUtxi3Mww5YgWxwipwHuGcR5xMhL17swDqmGcoaP7PUCSqdVybUYPZv2pfTA-pjZ_6r4T5BEq886CxjhEJZPqhS3Cvr30Se81iG_xDRBYvn0ZZIa9slZ6QdHT55T8UUhOpuuuVNcU6c060fzhENt-04QVxTGxhcjBB7GkSJPvU7fd2lYdOhpRqXUfASNIboYJO-yXGC0t4ud9PwdtCfjSnHm2JPOkNUlbY3eNbO-cKeLZ9PQpYo5tJojpGQ6vd9gomyZdZI-XTl15gejq3ev2-G-UkfKjLYJ0aSC3MQHtEZ7or94bM2huD1RF7Drkkw2uKwA0kR3idUAFjnObiJzGtUlrI5ou0P_4M8kVg34fKtzhmCg6fqhU5rhgP4ke1Gfms1bt9QoasQ3bO5aXog4i15tcAy9Dr_ajHxk8jdpWKZiqLGTbU-IPkJ20kl-8gBHJzPcUbOyUuk4z6NpX2dfjdQMvBbMdedrkxx69PaMlzirfLcxRmpT5yzSdIlkEYqDgWOJbLA6qjKrdgibFuuEd_CQ_ab-KAAfAdZnVVAIrOgiam18rNwK_cEvg0UuAaYFKoPrAeR3cL4r2FmYo8gUZ7_2pgalW0xexi9p5Q9Hez3n15-T2ZbZTrLNUSLIm6CeBM0x58JoHTbhlpxyarTcnQ8R-IkYr-rRt3J1dsPpHP3VN17w2f-_imOkEoPtlIakOPIkANJ_dpV5bID7ROCryDQgHXXV_X715v_8fYMiVcsncdvuBXA==",
  "id": "rs_067a625f21c9b72c016ab2c7f8d32087d08afd6d42f2717696",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.065,\"left_z\":0.055,\"left_yaw\":0,\"left_pitch\":0,\"left_gripper\":0.65},\"note\":\"The bowl remains on the table and is centered in the wrist view. I will approach its left side rim with a narrower opening, keeping one jaw inside and one outside.\"}",
  "call_id": "call_zIQwRh6ESv0dkW7opfMUwMrT",
  "id": "fc_067a625f21c9b72c016ab2c7faa2b487d09f900e661ac427a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_zIQwRh6ESv0dkW7opfMUwMrT",
  "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]: [-0.2974, 1.6001, 0.5648, 0.3199, -0.3073, -0.205, 0.6523, -0.0216, 0.8349, 0.6224, -0.4713, -0.0158, -0.0452, 0.9969]\nstate[eef_state]: left_x=0.3843 left_y=-0.0581 left_z=0.0395 left_yaw=0.0558 left_pitch=-0.1038 left_roll=0.0544 left_gripper=0.6523 right_x=0.2863 right_y=0.0002 right_z=0.159 right_yaw=0.0057 right_pitch=-0.1103 right_roll=-0.007 right_gripper=0.9969\nstate[joint_eff]: [0.4581, -5.9692, 5.2855, 1.8926, 0.0269, 0.0415, 0.0073, -0.0068, -1.4974, 6.8855, 1.6972, -0.0171, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:155e622268968e7dc9ca02268e8da10f434a7d38378f2a8e45a5ba0aeaa6d427",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:206b6990c30268a855af3c1f707517a4dfae091983966565579e8ae2d39351b2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae6d2cc3c102bcf5a0160a9e6080fc2657e0bbdf016345e766d0a34ce079cbcb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 10.73 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]: [-0.5278, 1.5017, 1.0122, -0.4942, -0.4755, -0.564, 0.9946, -0.0216, 0.8318, 0.6212, -0.4671, -0.0162, -0.0422, 0.9969]\nstate[eef_state]: left_x=0.364 left_y=-0.1144 left_z=0.1242 left_yaw=0.1825 left_pitch=-0.2612 left_roll=0.0378 left_gripper=0.9946 right_x=0.2867 right_y=0.0003 right_z=0.1601 right_yaw=0.0044 right_pitch=-0.1041 right_roll=-0.0046 right_gripper=0.9969\nstate[joint_eff]: [0.3214, -6.9128, 6.6667, 1.5849, -0.0952, 0.1783, -0.0855, -0.253, -0.8957, 10.4, 1.8144, -0.0757, 0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssgGKMHBOqU43v0H6Nk_dcDXO0tFlcQBbBsfjHHmLReNjVPamPsosVFwX4OE-mB34noJ4lrPz69QCHt0lXdgMAm_J_Sa0sDBvD5lIxh0QdiS7OJ07y_j5gE1qyycTOaoeQZYkFc-WkzOhi4g7-7JYxzns1f7uOgLDjMo3SN2wlAWXZL6Nj9_CuP4OGmuo9H5Emt6GCih9VpzSwxBtmporiUmgouB2dTVJTSilUDMfV6uXNau3vKSwVlwLT0n1l3gggCCnnQl4nGszUDUD-WkvVlhexXrRxemHXPv4xGSLLM8MKLsBT-iMD6iG1IhRa4DylPhjgr013nubrwEMfO7AEbTKD-zJASi4hVBAuWfGgUPOCec1uN3JeOj5RfmxI04OrdGJwLu2-q9PhxHXV27Sqcke0SpFqHenpVSwX0L-F9Gl_AixZyKze9HTN7YyyyawJAp3onOFxPmCQqQCTFzTW5JqLJOe6XIj0xtxHCCOOkamn7DshBcxnqqH7b1PwMe0BvxpYQBmk5jt15l304iTk6qp7ErPSIDZLpA7mFEMKdsBXr9JkuQGwxtTvNk8Dw1ifPrVa0MZoCpCaTznG-iH4_7PWoXu1LhRpnzVuoVHTamcm17jAUO18087uN0lTzg20lKBi6j_WxQWi6Thrz5qw_CnN4aC8pyve_pYGitiaFcFRTxV1iTAJglLj7KqL4MkrlpWiain-JRrdLPkM0xXvlfeJ_x9s9qa4vNgtgLOMojT-OXxy1OYsIqm-ejEj0pq3-yCOxaerxUvNptrM-iUhZBamFA0OiNJAFkF80yAVQ-uDiIpMs1KWmMYWIG7aN5XI2wlqgfW0WBegrtsNMiWvGbWeTeddFqoVMSeGnYtv-uxt4OVNrnphEiLjeu9Cznc7rMCxtlHFhkrJQS4lQ2aYQD-YeiLJsGUhjayyfIzCync3UhTKpOlgKSZrCRSvjBYavcqkQeKP-i6VX1D_CYQF8jFN_tBPgcZDVPOKDfk73YNZgs2cjdtESRUmrPmbGaVNtkbKR52qEW4kDCVIfiJcO6iT_A2ksWInZAlWR74xBSpu-PjBXHl6UMfE3bH1z6zEn_lazAkgZYXnFRzIY56yFXtX5xXDejNixzGHQU90ag66pFF9-DunPOoCNtPrtb1aX4B4YUOGbYnBDBKWL7x5UwPH1W3p6Xij2904lyaFhLYlJWpi-8-w8ayisP9uGPoblJ1BFqhEzV0a7egxu2rFeU8k_xOy82ttrrTLzI91BQUZed5Iq3euRwi3jq87m8cLkfRHI7KGjquyTTbUeiEa3J989dUn0CC2ypY9XcNCanlCtwW5dJxoDQl0pKhB5jLDToJuTgtxyQnTsml3sStBwW-ld-yKfFM3oreTtx4GhWYlQUo0tu2RJNFOz48g5MR-EDVYbBNEgISclm4BsbbkyKoPBq7THj9gEEAnaRKMdi5ykIJeR4u5VUdkPSMhGZc6Duhr-v6uWQCWb4bCYwMjqZ7-t74dydO89cLlUIbG-WsapGzEe1r4djcfycFgKPlfsY8N2cM0WSv-upSRAuEn4i2D_tTL8Kxc5NwwfPoipxBM2s-5fX2F-AWLqmD1GF8ZGUA7uj6Isd13uN7ZJLODQf6UA9DiVEjloHFFOJ97hczLoy1AitIKtbFlL1yrDqHhrD",
  "id": "rs_067a625f21c9b72c016ab2c7ffb3f487d08980cd551da15b1e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.025,\"left_z\":0.045,\"left_gripper\":0.6},\"note\":\"The left rim is still left of the closing centerline. I will shift the gripper outward toward that rim and slightly forward to align with the bowl’s side rather than its interior.\"}",
  "call_id": "call_KtqpBphwoWMwIur3rIaromsH",
  "id": "fc_067a625f21c9b72c016ab2c804fd0087d0a716551d7f20e725",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KtqpBphwoWMwIur3rIaromsH",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1692, 1.6703, 0.6392, 0.347, -0.2317, -0.144, 0.6016, -0.0216, 0.8371, 0.6216, -0.4744, -0.0162, -0.0456, 0.9969]\nstate[eef_state]: left_x=0.4128 left_y=-0.0257 left_z=0.0425 left_yaw=0.0875 left_pitch=-0.0906 left_roll=0.0464 left_gripper=0.6016 right_x=0.2859 right_y=0.0003 right_z=0.1574 right_yaw=0.0063 right_pitch=-0.1164 right_roll=-0.0069 right_gripper=0.9969\nstate[joint_eff]: [-0.5949, -6.8991, 7.1179, 1.5995, 0.1929, 0.2955, 0.0757, -0.0068, -1.5658, 6.9949, 1.6386, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0529231fc469697716a5f31e2ff31f2bcd7c0f3f1525d132289d7c4d06360aed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6cd7cce0607c13dcfa0daee8a8ce057b5b095b11337b7230c6832449f7f672aa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e7526d27fc93be484f11502b89c3b02ea10c9310ac08d6b68c6da6e4c72605e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 4.99 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2974, 1.6001, 0.5648, 0.3199, -0.3073, -0.205, 0.6523, -0.0216, 0.8349, 0.6224, -0.4713, -0.0158, -0.0452, 0.9969]\nstate[eef_state]: left_x=0.3843 left_y=-0.0581 left_z=0.0395 left_yaw=0.0558 left_pitch=-0.1038 left_roll=0.0544 left_gripper=0.6523 right_x=0.2863 right_y=0.0002 right_z=0.159 right_yaw=0.0057 right_pitch=-0.1103 right_roll=-0.007 right_gripper=0.9969\nstate[joint_eff]: [0.4581, -5.9692, 5.2855, 1.8926, 0.0269, 0.0415, 0.0073, -0.0068, -1.4974, 6.8855, 1.6972, -0.0171, 0.0073, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssgRmF-oNlh_x8zwnpqy6rznlwKyRzhuc8RgMEfv1InRB7Tg2QC1s62C_njYz37XTWwq4_S5kG3qf6e4rMH_S-MBC0TrWbW7DCOQrT3qZ9WWUbMTvwkRxERqJMTox_MJeHQUymfuKNlcQSrWkWbdlR5psUUzYq9Qjw25dHsebcdAIaRF1QfjxOnzDrwOVl5sVyM0H3GPll8KbHDD-aOHbQnNKp5vHcBYt6_WwyHU8O2DumSWEzW7AqEsb50oIPERmDudp2f2hfjQcw6RvLNlVAYcu0EVcZCHz1c2NoQOuSHjgKoKL47A2NLXWMD_nZDsJsqO2gQRu9hXQZcc9ndGQMIChvmfzImOJx_Go0hoStmth923NGYCkWJDsSXsEAWh95_kKFsii_mm8uJ6G1H6JtroJYmeWK6hIZSJZs3piEhTz5FCYFlfV7MALbWWBVoUkdhozPJs-Z3nYz9ZochfivLOKbM2KMLSatSD16i-crYGdEY3HTbdohtHGqTugQL-fYePS0aWU8LV2Ozf-D8KM8vL7r7A24pPvBtDHUvSHsKGWga1JTL7V0oEcJuosddO-uH-sytRFHChBVgLRnFU11AMzeyZPmVWl-Wl2PHjxfAgqNd76VdW3HuESVk53ItB7FDsI-tuxeuHR0Ekw3eX4-fk1RkNRqyTh4tjU860peHYqQrosfv1yGVYzGjndG9iGb0m1hefcRT6rwC26VCDM7Jo-K-YgcB4SFoiiWPgs4d0y0GMb2UG1avfdnYz0gIniPsxoLJTMR8VKy6GSwsCX2rYNdQhlJOX6MbFw3yo_cRy5ITEAw1I6oVr6sxxtHHieijUauYpASaz_laLWXkq9R_VDA63ub-Be9I_FUgiRVjia4aQff5Vdp37873THPrGOtOgtOvegdBdmoaEfGvrI4abGbyKGoENLm0oMpQbWPEEXB0Iz-t-j_iUdQeMN58pv7wby3Z7O27cE2b6rVTGM6Z9qbo7QIBDXuG43vEtb4g41vCE4j5pl-qBDIETNYW9v9fELPZC5KEkLDeOz5DxNd9dtYqYFf8dTj7kby03u3TGl2TlyB9oOXc-MOk6_CCDNAZ-D-TqzXNOL2jWbf-oU7xb2zBzCZ_o1lW45hKwpeHZdH73OXjHcwHIQCKeZfHxHp-juUi-FaTvGnkZpELOPUsC1ucPi8Kp3fu0NdpKpTd6_q5uN7AZ6fwbCVihe-jjHdDA1OYlkLLF-8GEqnLKB9Vy7JYmO_0OSlRjlruFoGqNZEfod44FvtlLK7wDJ-hNNPd4kSrn1nZMtOxOAkdMNReQp9B7qX-W8osKsLpAQuRYSZRnz2CS0LmghZB2v4SLRZISCSRe577-6gapbzcfSR45rPqyZXX1OlfsUjpIjGYrGv46W9oNWu5-a1YYkbNLaNSoAGhDKHOabNUxN4CwomvUgKhzb7B6fLi04D69KHwfWJa0gQS4UHk-4cNXzmweIR_dONGozUScou7wuZganqo8pt0Hm4-OeM72nKdIq3-S3fP7OBiyvxh1QR11LdUudKba-mIYuwyRvY-vAdOOUuKEkc4OBEqngS3YdXUJeZrQoXeJoan_3wV5HLF9g9FhyeKG8oXhnyCjTMUZPYOSR_LElz2COqN-wZroHz_uA-sTpWPUkE2uMqWFOt0SCyNa3yuFNy8USOkl_jbu5u6BIaPzrW2qLrS1bDdmAwPHOQrYz75pvTrdZ5VLuH7vbc6qzo_Bk1uwTDjt61k_tCTnH2XRt7CWxa4c_4oeeJofTnaWUu-XyUVd9ZLFARDpcf02pYwrlFedYpIr0Y9EvCoZB8XshL92NiO0WVojoXpIk2-KE88wJ0ZW2nJMaTLsUIT46Tpz2eVzZ6LERyTA_lB_ARPdV7c1G5CbQujVcPpT4i_Kt1M24mhwCwBzawHZCbLmJO_FWt1NM4v42AZZ_pXrZnRSjFMCSucyV39m4dm7_jbWzFEzk9oYfSpzlVd1lfXFYLMs_KJWoxmdk6v96enC3Wv6jmVoPZHz0b6X368DsDp2Ubr3J-jxSt0xcyWTmyuiEncoTk6732GGgSuiSYPOpY8_2JDuavi2D9CQ_7SwQnR5x5U=",
  "id": "rs_067a625f21c9b72c016ab2c8091a4887d0aea54d8c703409e4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The outer jaw is alongside the bowl wall and the inner jaw is inside the bowl. I will close on the wall and check whether the rim is retained.\"}",
  "call_id": "call_tm7xzJVY92WNn1f8zGnksKRo",
  "id": "fc_067a625f21c9b72c016ab2c810877887d08f937e2d16ba6eb0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tm7xzJVY92WNn1f8zGnksKRo",
  "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]: [-0.1486, 1.6794, 0.6567, 0.3019, -0.2024, -0.1177, 0.0084, -0.0216, 0.8371, 0.6216, -0.4747, -0.0162, -0.046, 0.9969]\nstate[eef_state]: left_x=0.4115 left_y=-0.0221 left_z=0.0363 left_yaw=0.0703 left_pitch=-0.1316 left_roll=0.0571 left_gripper=0.0084 right_x=0.2858 right_y=0.0003 right_z=0.1574 right_yaw=0.0065 right_pitch=-0.1167 right_roll=-0.0072 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, -6.7487, 7.1179, 1.6825, 0.0366, 0.0952, 0.6422, -0.1436, -1.2786, 6.9949, 1.6044, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b4c05fb4230f674b78b04bafaab1996aade2f5096e09b2d2f7e77f3771eb3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:07864d367ee16f8aa6e8004701cd9329ce78f21e080ca3312a43f0562afe3499",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:183a4e8a5c42dba727ff4d36e089555d42add6608dd8a5d96f841cd01ebe5d0d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 9.658 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1692, 1.6703, 0.6392, 0.347, -0.2317, -0.144, 0.6016, -0.0216, 0.8371, 0.6216, -0.4744, -0.0162, -0.0456, 0.9969]\nstate[eef_state]: left_x=0.4128 left_y=-0.0257 left_z=0.0425 left_yaw=0.0875 left_pitch=-0.0906 left_roll=0.0464 left_gripper=0.6016 right_x=0.2859 right_y=0.0003 right_z=0.1574 right_yaw=0.0063 right_pitch=-0.1164 right_roll=-0.0069 right_gripper=0.9969\nstate[joint_eff]: [-0.5949, -6.8991, 7.1179, 1.5995, 0.1929, 0.2955, 0.0757, -0.0068, -1.5658, 6.9949, 1.6386, -0.0708, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssgXAZavnD4ccVrkUz506OooFQYIdMpBHOW0paKhrVvyvLeHC4e15lM8O5JPx5BoWRVfWEczUsQ40MmX3SiPU-6aCDTjoo57pfbVwAMRDPhioEAAr8uXq3ovyq3xLEp4_DyIK7WlRSMgFHHUrnPcnsr9-o9g8BN-SBDuFJpkSfvCf2s2zOiufhXcCcSKByAYpFA-IL53wnDremUmP-vgfyfU1ndwU24FRvV_YPC5ewddiAFDYmZ-eAf_2PsiRKyGBtvECYs00W-N5V8mxsh5OYlFxkCKpFpHfa4uUsh7HlhKoGyqwq7Hp9e5km7yPAS0iZDWzWD2-M3rdd3JdZaCTNgfYSLIP2r9qUI9gcPJ4wV7lOP3NKO2JEC5cSLg4DIoGDjdDEmg0AosFF3ud1yMhMQ79DIwjUJY65Hc9-RbP6c4Xq32UANr9vBeqh04_u7pVHvG15qsaY49mXqrTeVoAAT4F_aoeDogaukbZwq5Bq9dxoSHObypAdbyjqWt9JKCiQT7P4VCqz2sobBhe3VrttViYHi6exLWPbu_j16vNROGc02oVUtf7k8YxeIOxSRGjbRbpKIBeWZEPioghAkVAXHRcfPQdfNK6kKC4ThX98S2T_SpIf3njsSxIsDIrVqyXrFpIqNHpdwW1hxb77_hR5z-kbUUq7p5ofKIetaQzmlTenm5CTK-LaMF_O9ONdMw2ueHaYiwdAL0P9SlHpOlyAPEnwwkWIIT6ARZHF5H49nKhAhWNVHD65tnO07fAX9QxUltHiN2XxlxO6dCCFbO8VVeqlhQnvSgV3W6VCcDGL4U346nV__hb5uPUMpwkQFPDHp1nGhFlDo11XDCddyozTcLrH2NBzc4pHfBa0e-1DzOeetLA66YxuGFIAreelHL1KKiL0StgaIGkflRObmZ52HCrA0lMGhNd2y5MwzmzcKk-tNjcYgDRQK-u81OpBoUGvGiYgdod_5MDWAPp1G7gbFfGpSXb4uWmF-cst5qJa4fgVwN0FpcbHaC37vB0kNAmARPMZp9IBUfslI3p45XKQ--hE0EjZD6tS9WRb5-1hlsMmlxGw39L4YCoJE88P-ZhZI07nYFLgiRW3erTWlKXBEsKFYiZRqOJ5It8JySme_3V2B0RVKKg4TP5kC_J6_HRbWJgpDM57zSY78ZlBtrzMvjQ388xpb3iTJxdu9rNm3NB7FSHiDR6ttTUgnGzM1RwrFkDVYwCwx38Z8N-NxIcXOWzA==",
  "id": "rs_067a625f21c9b72c016ab2c81478c487d0a44e7c118d2e9b00",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.28,\"left_y\":0.015,\"left_z\":0.2,\"left_gripper\":1},\"note\":\"The second close was also empty; the bowl slid instead of being pinched. I will lift and move back to expose it fully, then use the visible bowl position for a fresh approach.\"}",
  "call_id": "call_UnFsxzwtyLcNI57cm6g4lKSE",
  "id": "fc_067a625f21c9b72c016ab2c814ff0887d0a9d462c062878849",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UnFsxzwtyLcNI57cm6g4lKSE",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8799, 0.7506, -0.5606, -0.1307, -0.0666, 0.995, -0.0216, 0.8425, 0.6205, -0.4755, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.2925 left_y=0.0151 left_z=0.1874 left_yaw=0.0907 left_pitch=-0.1109 left_roll=0.0451 left_gripper=0.995 right_x=0.2857 right_y=0.0003 right_z=0.1553 right_yaw=0.0082 right_pitch=-0.124 right_roll=-0.0093 right_gripper=0.9969\nstate[joint_eff]: [0.3761, -2.6462, 10.2222, 1.8535, -0.0611, 0.2808, 0.0171, -0.0068, -1.4017, 7.3094, 1.6288, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4621b7693b055ddcb2b255bb9462420ecb1f42f363fe33e98bef0f3f1d6a12a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49347d9fe9eea127087cf040602c84c1312992a3989f05ad7b907403730d246d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:58c2370442c5421ae51438cc0069468f9fa6effde8fd7ba1ccfaba8f6d5fc9be",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 6.564 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1486, 1.6794, 0.6567, 0.3019, -0.2024, -0.1177, 0.0084, -0.0216, 0.8371, 0.6216, -0.4747, -0.0162, -0.046, 0.9969]\nstate[eef_state]: left_x=0.4115 left_y=-0.0221 left_z=0.0363 left_yaw=0.0703 left_pitch=-0.1316 left_roll=0.0571 left_gripper=0.0084 right_x=0.2858 right_y=0.0003 right_z=0.1574 right_yaw=0.0065 right_pitch=-0.1167 right_roll=-0.0072 right_gripper=0.9969\nstate[joint_eff]: [-0.0752, -6.7487, 7.1179, 1.6825, 0.0366, 0.0952, 0.6422, -0.1436, -1.2786, 6.9949, 1.6044, -0.0464, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssgipHGUuFxQjOFYqag6HLipq-9sOI3jMEa0vWIAu_U0ekllk-vBO_xKB4KK2L_b0cE7vOSKTX-beTROXoBFg3PEmvmKCiylTFyWGv9VTYHguHD_JyGsGCBlUVYtW_8qjKZdA2eAsiN_SBSRD6sHGYgtBPHFShlr_VxjLZuyAIAFqnWaApVtLpefUseVPe6LhaZHITGPFrlxXNQeqVQK0_xVCOWryYwxJx04bsvk5_Sqd9oCdCDSXZZPa4_ngoA--tKmtLisrWPgYdN62wPLC-Vqh5v2rKy0-2MvjQ7mQDqPrajVIj6IJoi4rsO_G00mKNdgSfZgA55XQOD0A5eYBHRTRVVvLdZCRB7C0pHa4E_zHiKGHGpGp0Fhfw053-SN6FORsEP4gK6u0euF1lXEEliawSD9afAtgcbJhovBDSJ5ABf0H4Oq2R7zOnCuSbgfHXohBkbF3pPIB-Ddl-nkY344eVZrsLxkz-VdlPKtDovYinxxw9TS9HgT5SyRVZsnEbnHXX3ghTvKpYf5UQG50Y6SVxpIyix1aqKqTVEt21CW81duD_wJ41cTz8be2tJ9J5rkOejxv7NZ4RAY2hP36Z99M2WbPnNmLhNr_WBC_wzKZ0ictwXlnnV5D72n8yuIU_AxbH6dPRveCHpMZXgMUGd7JYNL3OtDm2XOhbnL4-uBDhxTsXz3rjjCfVBQEmxJsjw59IjjbuCvmnLCWGSo3JbG6rx1GzFA_AtfNSN1XcLChLkMr-wjqYioeF4rnPPj2SqNF8HveSqEV6zjk9b7gzQDw4qo11RswANN4DUVQ2TJjzUv7DEJH4Muy3ICts9DJwl3yXDVoXlTBY5yBtoUh7B5RIvfvjbnihaqO12FAhZZthiy8mBMyLKUKv5jN-SeQn7jGbVUq8b5YIyuvduu6yhzjFLPFfLZdGjYMiHkB0wJi0-GaHiwFRa9zlmv8EePvyO11QT_0z9ywlc-pAPGYR5fQoHf7gi1CPOcUj4daSulCIE8A2dB9Bs2xmACmygIca4OwBzZl0jAwYWzCsIbM_hx0JuGeYBar6TdxybYSDVXgDy4dqUJXLT4mvIFyEeAk46ZTgL5sJ462fnzZZ_4Wqp6NOr8siwjBLaER8naDb1853SYEiVZ2FnJMaQVsqU-oSXX5ZZAoUBHkNLeMVSMwpbSLW4v2kNv0nEdggf-NHZ_RR9jSrU-ulOdgg245HUSHuqn_vgll5LP1ZJJfbbR0dLknYZq-ceHsJTJF9cE3JeYe6lLjFGgmzR5J3vOB64lzJWfQfMWFrbSBfAkQavUAtmflujCCHt5ZGGGgJfFClypAcWtsEuLpL9YU9czNqMBORuUFGzqjGTY6GrfB6AaHnPXNk1ZCst-v4QWUFHjTmKuwyeuYATdiiPQRmmjphwiZUmnpLvn3aLZup-ro2seR2pM0fsD_Te9vGCVVSqjM7BVtKYA2Jcd80NF7Qu7lhsexHny6xx0mOcUB2_jye6T6ro4B9depp4biSSebCAvJ4HJxFFfoFtiGog_ZHOGmlzIyrpUwkirmtK_0iZpJ8nCKzZZIXP8mxb6kSuh7Xbzt_xP1uAkFvpdzvq29Ktls7yYplMd3Q_VKW-sSEestXRioY5uu-e56Z-TdBLsQenhsI4WmbBEEYxUwIZdpoFoIPv932nji_W7DIF8MOZWV4mYaKTKQEjOTEuiy8R4gf1QJ8zHgXCWWrY9VSsNsCFA6KCKdzy-Zg5rvBH7jxzAcSY1BT8FsLGveFMVWPz6LqO8MgDfPP0=",
  "id": "rs_067a625f21c9b72c016ab2c81a8b0087d094c36a0de5b64273",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.045,\"left_z\":0.12,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"left_gripper\":0.55},\"note\":\"The turquoise bowl has shifted left, while the purple and pink bowls remain separate. I will approach its now-visible left rim from above, avoiding another sideways push at rim height.\"}",
  "call_id": "call_qUex8eaSYjF0XcDLlJvs8hbP",
  "id": "fc_067a625f21c9b72c016ab2c81fb92c87d09036df8a86f466bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qUex8eaSYjF0XcDLlJvs8hbP",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1371, 1.5013, 0.728, 0.0673, 0.0822, 0.0303, 0.5527, -0.0216, 0.8436, 0.6201, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.404 left_y=0.0447 left_z=0.0877 left_yaw=0.0344 left_pitch=-0.13 left_roll=-0.0173 left_gripper=0.5527 right_x=0.2858 right_y=0.0003 right_z=0.1549 right_yaw=0.0082 right_pitch=-0.1252 right_roll=-0.0093 right_gripper=0.9969\nstate[joint_eff]: [0.253, -7.0769, 9.4564, 1.9756, 0.2173, 0.2515, 0.1197, -0.0615, -1.5658, 6.9949, 1.6093, -0.0659, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff5e433a55714d1d07c9e04e6716452eac38a4be4a88511ae9d298ec442143f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e27dec97f266f7fd973bc60db2e25ff71854b364252252e3d05a88686335f838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf5a06a90e517f645881e1c190db99239170d50ba2e221753bfc3b6c2cd737ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 4.498 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0395, 0.8799, 0.7506, -0.5606, -0.1307, -0.0666, 0.995, -0.0216, 0.8425, 0.6205, -0.4755, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.2925 left_y=0.0151 left_z=0.1874 left_yaw=0.0907 left_pitch=-0.1109 left_roll=0.0451 left_gripper=0.995 right_x=0.2857 right_y=0.0003 right_z=0.1553 right_yaw=0.0082 right_pitch=-0.124 right_roll=-0.0093 right_gripper=0.9969\nstate[joint_eff]: [0.3761, -2.6462, 10.2222, 1.8535, -0.0611, 0.2808, 0.0171, -0.0068, -1.4017, 7.3094, 1.6288, -0.0513, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssgpuuxpYs1er4yHpoIt2wNf2Dmkt3e5IdsIquoGpuZPYOiIEFaKFg7fw4Y4u0IUvlEtxF3WI7x-l3QbkkzBG3s8Mkt671TE7fHZdixBx0g5jmEgg228tyTwdJ8qdD-9jmQv63Gj_P1mvLwcx6yrpczC24yHcN-l90YaZzdp4mOMgC7osKQMix5wE0TeHyKirjsIVhV33FZe6Cz2u41oeblwBg-WGoIUaokFuSq0NCvd2Uem-Lg9138rSpTWOyXY9Q_PoVEwBTF7YAXEu1sNS7p-Fe8pbX9gAqwgXAJszvOGPS5ngfK3BaqYfZ5ezLPcpe3wsAod7tQ-3VZsOMHboCeAezSJZgNPbZsfT2xrUd6c2CLETFrdl2KhHtK-nA_BCnZDro8vBw2TDWvnA5RY2WClMjNHPaE4Do572ciTU2pQF8Y5StfSgXHWf5RWrQ1B__MWSgl_be4yMcOFV9eSQcIKD84hy2TB2s0_-rYZa-Sx2r23b0sfjrNrTu4-Lt9v0GYXEUTbZgBwFWfD2xJFFoi2VYtK54IEnVTUQV9_pR3AwHsYY2PAaGkiYVdvHk0ExoY3rYor2Xig0rfWy5VQLY-ztoCGd9iQGP3wKnfkFT8KN-kC-KO8YRF2RKLJZ5mEh0MIjApqd1RaIItruPVOusF6rGzHsu-63d506J3G6woi5JGUxq3ceHRRSGCFiSvRMimdbWCJLsJWnpMXFbAsVg4ME_02CCIrANdNWTbqvUSG6V3YiCv1_hEEgUqIUyL7uu23PNvd3hV--wsc_qblN6IETHfVsLgQK3L4Jo5cPkTt8edj7spp03mPrbfJ5sRnMl0-E6XACfRI0ZeMAu2HQMHV1RCjnDhjfryyWu59xRzepNDdodl_geKsHpE5ZPemPNQN73gO5LCqECjoQlcYlXWUnoPhsZmZo2aE84xWebm2rhXgEdTclTAIAdWB3USN9N-6-utRAx3BTnZfgzRMdAZyyN5IB1f11EaWgDhXHHcEhTUSg0LWwqXRv90JFM9zY4g7SJsMHPBNHPlB5zC7vmUjVSOWQFZrZSinYNKo5abgJ1KYp0Kxet-7OmBlOObWqwgqna6q0BqUmqJmXV-_j3dOfg1RQjuWuPNioD3DVhho2JsXQDO00NXelbqfoRcCaUz7q6r3XmPZ3-VvEbXD7wrjKNSxxfrIohgFoM-f0qACfATgOS7JnfYwSf_mbMpRbT6nCRcBVb836K-Wlzkr1SFmU4_fl5AQrzMFzONpS3rUB1tLyojV5xeSWK78njlBWsLV0JjtUC5yKGhL5ZpD8UHS7m4jU9xtmYorYb6smUO25LW0aVD6L0Ctgo62ZvBln8AQ_t43Xy9DjVpYNkfK0G6Fzw==",
  "id": "rs_067a625f21c9b72c016ab2c826d04887d088ff4497617944d2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":0.045,\"left_z\":0.04},\"note\":\"The left rim now runs through the jaw centerline, with one finger outside and one inside. I will descend vertically to pinch the wall just below the lip.\"}",
  "call_id": "call_Z20ngp2rbE79ewJAVg5EfQSS",
  "id": "fc_067a625f21c9b72c016ab2c828105887d0b73afb7c823879bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z20ngp2rbE79ewJAVg5EfQSS",
  "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]: [0.1307, 1.7149, 0.7307, 0.2237, 0.078, 0.0261, 0.5521, -0.0216, 0.8452, 0.6201, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4197 left_y=0.0449 left_z=0.0329 left_yaw=0.0329 left_pitch=-0.1846 left_roll=-0.0231 left_gripper=0.5521 right_x=0.2859 right_y=0.0002 right_z=0.1545 right_yaw=0.0079 right_pitch=-0.1267 right_roll=-0.0095 right_gripper=0.9969\nstate[joint_eff]: [-0.7043, -8.2803, 5.6821, 1.8974, -0.0415, -0.0806, -0.0708, -0.1436, -1.5658, 6.9812, 1.6044, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac01a4e1615b33aa2ffc150cdf7054dbb9892f7204211bb4aeb8f00fddcba33",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3093db4301556da047253aaea5e576d3a1dc4c0075d323d3e7ca9dc7e2137ab3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e5f7e65cb9f9555d59166613288536eb03eaad5f76768609292d7fa634a355f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 3.851 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [0.1371, 1.5013, 0.728, 0.0673, 0.0822, 0.0303, 0.5527, -0.0216, 0.8436, 0.6201, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.404 left_y=0.0447 left_z=0.0877 left_yaw=0.0344 left_pitch=-0.13 left_roll=-0.0173 left_gripper=0.5527 right_x=0.2858 right_y=0.0003 right_z=0.1549 right_yaw=0.0082 right_pitch=-0.1252 right_roll=-0.0093 right_gripper=0.9969\nstate[joint_eff]: [0.253, -7.0769, 9.4564, 1.9756, 0.2173, 0.2515, 0.1197, -0.0615, -1.5658, 6.9949, 1.6093, -0.0659, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The rim remains between the fingers after the descent. I will close to secure it without moving the bowl sideways.\"}",
  "call_id": "call_WDJeU1Nxuz7MF3yOg6SnRU1u",
  "id": "fc_067a625f21c9b72c016ab2c82d859487d0975f713db10c4481",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_WDJeU1Nxuz7MF3yOg6SnRU1u",
  "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, 1.7222, 0.7307, 0.2348, 0.0895, 0.0071, 0.0408, -0.0216, 0.8486, 0.6189, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4211 left_y=0.0432 left_z=0.0321 left_yaw=0.0341 left_pitch=-0.1803 left_roll=-0.0448 left_gripper=0.0408 right_x=0.2858 right_y=0.0003 right_z=0.1531 right_yaw=0.0082 right_pitch=-0.1313 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -7.665, 5.4632, 1.4335, -0.0855, 0.1343, 1.0427, -0.0752, -1.6068, 7.0222, 1.6288, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26341c5bd2532a9c53adc2db856cf3a57dca66723b2054b3d87f81bbe019d90c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5f06ae5c851df0ace10ba7deeb4b279d1ba91dea969581c1bf00a6f7efb60fa7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06212b4f7d215c688281c9a4bd7126ebe4ffa6d829919b90c8fb9ceca44032dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 8.878 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]: [0.1307, 1.7149, 0.7307, 0.2237, 0.078, 0.0261, 0.5521, -0.0216, 0.8452, 0.6201, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4197 left_y=0.0449 left_z=0.0329 left_yaw=0.0329 left_pitch=-0.1846 left_roll=-0.0231 left_gripper=0.5521 right_x=0.2859 right_y=0.0002 right_z=0.1545 right_yaw=0.0079 right_pitch=-0.1267 right_roll=-0.0095 right_gripper=0.9969\nstate[joint_eff]: [-0.7043, -8.2803, 5.6821, 1.8974, -0.0415, -0.0806, -0.0708, -0.1436, -1.5658, 6.9812, 1.6044, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.11},\"note\":\"The jaw opening stopped at about four millimeters, consistent with a thin bowl wall. I will lift five centimeters to confirm the turquoise bowl follows the gripper.\"}",
  "call_id": "call_Qoq2UWXnxgKSu448ehpZG7ni",
  "id": "fc_067a625f21c9b72c016ab2c83193ac87d0b6b8fdcef81bab59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Qoq2UWXnxgKSu448ehpZG7ni",
  "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, 1.5726, 0.8585, -0.0742, 0.0811, 0.0017, 0.0429, -0.0216, 0.8494, 0.6186, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4164 left_y=0.0441 left_z=0.0865 left_yaw=0.0436 left_pitch=-0.2125 left_roll=-0.0458 left_gripper=0.0429 right_x=0.2858 right_y=0.0003 right_z=0.1527 right_yaw=0.0082 right_pitch=-0.1324 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.9915, 9.0325, 1.6777, 0.0757, -0.0171, 1.0232, -0.0752, -1.5248, 7.1179, 1.5995, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:398f91f79017e234d8e89a7a1fdeb3041a9e296fe01f89c292fe3576417df9dc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f897f297c5775cef0105c88507db42da290a6ef24cb8b50f87f254605d0c701",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb4d29e6a218f480b35f75045193fe1df7d318a316041dd3634cb08e05678ee6",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /responses · status 200 · 8.861 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]: [0.131, 1.7222, 0.7307, 0.2348, 0.0895, 0.0071, 0.0408, -0.0216, 0.8486, 0.6189, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4211 left_y=0.0432 left_z=0.0321 left_yaw=0.0341 left_pitch=-0.1803 left_roll=-0.0448 left_gripper=0.0408 right_x=0.2858 right_y=0.0003 right_z=0.1531 right_yaw=0.0082 right_pitch=-0.1313 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.212, -7.665, 5.4632, 1.4335, -0.0855, 0.1343, 1.0427, -0.0752, -1.6068, 7.0222, 1.6288, -0.0659, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssg8uckDhZJxKi_TAamFo3d7cbXGxD45bgY04or7jEW_7kxyN041D6rZioSNr7rodkRH2U-73cPwbW-U7rNdgctjv0Uq5Pe4ygvZyraFMl0CqZ-WPnijCMs949hZobnBi-oHcvMPRxIT5WZu0T13gQQUALyfjvSIcCkExtlc7AjPn__ok4tVvAdb9GO6RZgIw3ntPtwxyG2ooZevCtPqv53dhQ5PJjzhr8r0uBUkFXswiuJXKo0GOrWD0VY9N5OEpoKD4KhH2OHEu4snToMZOl3NP6jSE9c7XeT1yjcYFLQVC4vgO6SyVmbgZ9iVq7PmHOHlbuFeIvUADSv8WlIjZWvfUWGWR3maAIZMeV2to00H7x7KOlrn0rU4-mUtjtB296WuCBA7DnPi7NCDYXxEmiAwZtEun7bzXU65xA70z2URHOVyjbVbkvq-pi1W-d5DvnKfQ0xrh5e4MQ9si1xHPe-awkW4lmVTd5zuLZWcLMWiwifkyASWZKV7ou7dIyC8EbkjgkZRu1FlAr7-SXX9JgMjd6PaenFUhQx-0IacdEIu0EMuqDhYcTtB1ewuXjBBkqkzrpg2ppMjmgh06AZHC4laRhGrcxQbRDFkNgVmRffEoJ1bfZqDJXXNanD56aupuUSOYP95OBlAbqwAjENX2Alk8YMFaNKT9WvAC4VWParTmEJAqkRncKfQzJZEnGb7oE45tH9j1rgX4JonUtpeTYWKyhcCUAR5VN0aXM087Od_fNp6La8Vu7eFApjvJ8ritpy9ul0PcjetSbn-cMzEd0Rsa50KR8i8alhvNnoAdlfZopX-c7IZW1Nd4ElRUUzZLGqioofwqI2BfyT6hvI6GIp6VzJ58cuCOld-oN3dbe_yGfrFtqDUjjhO7UxP7C6wqF2VO3qIl3DBCPIebymMLv3LObkVmREqltXgk4XHufIn3vI4Llq1O_UgLBEiuqgLaFUAOTSTnCbQeIpLHWNRo-llAFt0HmuLASG3ZPkUUJeJo96NbtcotQdJshtTCCgSc9FuGIMS9kfHwj3CHzbn3jVmK0lLw-3KH4hE_5X6JwkOoCuaBODAWqGbXBCckWrdOIaFasAEKgvoaktfsK7P3tFuHMdupsjIXbwuUp1xA99MuBNnwAqHc7yMU6pS84oqPaYDISztHvV3wgY00isZrKH5IyxCE3y-ItuGCL9QMM7__OsXlZgoVmR7NnaKl05F5b3BD95QcN8ohYThHmCWDJIS7cFh2FN4l9wf966uNM_QWNxYfjZzsBl4iJVwUGDHmse6FrN9O7JrSE0GgwoFqxVssQPYlPdciirQci3YRZacY_aCR1Y41IbrxypoOhx7cAV2ar78a8aJSREUdOq6eXSfarB_AZ07kpAjt1oynkXDY11YpfXN3kuCcNwJ3cUA74738RKQuxj_bjuM0f_wN8avcNlMDnZ59OHspBvj763Sjlluopof1_k3SBaPXuDj8XAkJOvnzlJ53tgsJFCBUkWTDFq9Xxsphiz2WBn6VfjEzAfVz9QpmGm0GQ3TzuvrtLxIikkmYyDNWYecCqP9nK1esWqylBnfnTBdf_EaPu_HkGN6Cw4YuMhs88xxtnmZtwTRA05u60or8IJIGeQdNrVv84go234S7p9oV18hA5natJh0dSwqP1L3MR2rFxn-RSK-r_kVqv_SsxUcKetLL3CZ3w==",
  "id": "rs_067a625f21c9b72c016ab2c835e41887d096a68305c43d2892",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.2,\"left_z\":0.2},\"note\":\"The turquoise bowl rose with the gripper, confirming the rim grasp. I will carry it above the purple bowl with enough clearance for nesting.\"}",
  "call_id": "call_8hmwTJb2SyXE3G6q3k2KqE6F",
  "id": "fc_067a625f21c9b72c016ab2c83a9bf087d0b7c401a989584576",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8hmwTJb2SyXE3G6q3k2KqE6F",
  "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]: [-0.667, 1.6009, 1.3376, -0.6716, -0.4351, -0.5896, 0.0457, -0.0216, 0.8509, 0.6132, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3758 left_y=-0.1966 left_z=0.185 left_yaw=0.0196 left_pitch=-0.2449 left_roll=-0.0387 left_gripper=0.0457 right_x=0.285 right_y=0.0002 right_z=0.1499 right_yaw=0.0079 right_pitch=-0.1393 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -7.3915, 9.5521, 1.2918, -0.3443, 0.0855, 1.0281, -0.0342, -1.6479, 7.4188, 1.6239, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4eefa785905d7c792812a59b10c3f8f31a42d02fce594545ac3714071e5937b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:259d0e42962356c1f6343cf49bf4f2a9a1a9118fea922cdf40acb56c747c7ad0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6b6fb73c23cdd8bdab190bc5c62d72d060b38a385454dcce5d69403af6b03ecc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 6.045 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, 1.5726, 0.8585, -0.0742, 0.0811, 0.0017, 0.0429, -0.0216, 0.8494, 0.6186, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4164 left_y=0.0441 left_z=0.0865 left_yaw=0.0436 left_pitch=-0.2125 left_roll=-0.0458 left_gripper=0.0429 right_x=0.2858 right_y=0.0003 right_z=0.1527 right_yaw=0.0082 right_pitch=-0.1324 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -8.9915, 9.0325, 1.6777, 0.0757, -0.0171, 1.0232, -0.0752, -1.5248, 7.1179, 1.5995, -0.0659, -0.0708, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshHixHrQdnLPGM1h3QI5tXFoxo-K76NAhG3bp-g99ZFbuCi4a0BWuKrSLpSFXhouf-G6PEO0OjGOaJq3XtI3CVEJgOv35hsMyqOR-GgYNc9RwJU_B8QDa8XCcAA9K0gZ_4ygh9lxgOa9sNkQuKJDCJFCSf4R-BmiSmQH04UfDQGCw2SU87dNlZtHt1AjCFQ0gpDpOe3vayqexxYFELc8LA0c2uuoipGwHYmdKMdSClvDCjyVn9_CSaV7pY5Ww8-FJje74yPZd672rDlKJpY0MwvyS68VG0E9TjLkQNp9stSoswrY1MCRVbZPu0JWGjVcu-8AFqHS0TrstgEqiyJYkLiFOZYmaXuTSMSxcM8yDDbnYY6qbiHIewdBcNJ-IQTSmdYA7XtN36tP390rmfddLzUe_SL9FTYBmHbbMeeN-036W9sao8HV0suG6z-yEweO49LHIysAhK5dIIpZFvT5LxSBgJrePwmAgQJfFz27mHsVRAAXzzQdN-RkmIKXMQGPF-PEl4tZ7GoDIZ4lEtb3v5iYc-pJmayFyqg_Z6x1eLyhV8q2NSGMSiMO6UllS8OKl14gGWU0Mhu6ep1Ty7dT4fiFWtRCaOHboK5uKvaXt9OxP2Puqz2etYB5KaFt_4DG2fEODll9FTCOr1c7gsA1zl31Grsac3FSTqRMTmiwdFdwwvToJICPo5pOvLfF3CYf7k2KIQoVrcZAVhaWSGmbl0dmPd8hOAP1UDFBRzGZ6H1afr_t7gR6uyS9-mR3jGagSjGDkeF-u_59ZndsTOPu8knTRToPsIIaPv00i7wykdlFnmuG8q9x9oFvTr_DhKKUuXGdI8FdFXxetPeVuoHXSiRrmdqUIW30x0iCSK3G2_GgJ0IK2CcD3cWD5pEHJ9xLLUhNQXNtsIOY7g_9MKs8gHcB6jnxNACg-Uw9rcBs6hKUciH1UbPo86chjsjk_pc9Oa9FPPRfoYDQ7pERSj3MG84vMVMkzTnJzeEwEaR6hNTQoksQe06rL97L_26cO35xsECtWO7C4mUUkjWXuS8xmModEbh9wnAdsoOmD-lyZf5IR3wucTFSLpAnlXZ3b83-XL_n7gsul7IJ3tZBnIfG5cuZYpnOBbAIucqMqF0IPoNc8GU0KQWZrS7OgnG3Pk9pDx8CHThbQIO6fiLDfDKpXilQ4H-ZeWPDP12FMOhlmo_qhPVwzKoLhyLRbV084mY5qYCPt3gr3LWKPo6ATekimVyvyjjYKSJL2hsfFOSBRhKXL8DLym-cu26HkqJATw8m10B_Z0QEnp1QQKdbrdqJKtl-TZAUSOj3bpwfMvXZKZ5Jl5Ewadi9A6GJYxud4M4RzYNAZIvAQxrUGpKrLC6E7j7ldDN84jChn-n7VVPcIoRMnBOkUIN1rXBpUjk5XuBEHumbFp62iK_hGMuAvRmSZ2OKip7og0uXTTtjSqplCYyr6kOqTYem9o7BZSIp21UM1MBvoXPhbaLJZa3q9p1f21wzBXkuG82_h21UP5D-n88uD74QARDBU2uZP0bCRddGxviFoudQqYTaOOpI9WGWtyf21kz2P3vZXuoaCg-2nXd_YyvUHwSeR3goiVyLmltTjz9yIy88djaAsGcnArvUIOMtg==",
  "id": "rs_067a625f21c9b72c016ab2c841629487d0a89f7bc557f5e5cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.24,\"left_z\":0.085},\"note\":\"The carried bowl is slightly left of the purple bowl in the overhead view. I will correct that offset and lower it slowly toward the purple bowl’s opening.\"}",
  "call_id": "call_aXwOFmyNVFHqYnjMUXYiFAza",
  "id": "fc_067a625f21c9b72c016ab2c8459ddc87d0ab2bf0793ab5c8f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_aXwOFmyNVFHqYnjMUXYiFAza",
  "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]: [-0.7498, 1.787, 1.1748, -0.4019, -0.4667, -0.6556, 0.0494, -0.0216, 0.8509, 0.6113, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3728 left_y=-0.2336 left_z=0.0848 left_yaw=0.0115 left_pitch=-0.2875 left_roll=-0.0096 left_gripper=0.0494 right_x=0.2847 right_y=0.0003 right_z=0.1491 right_yaw=0.0083 right_pitch=-0.1412 right_roll=-0.0088 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -8.5128, 6.065, 1.2332, -0.442, -0.0611, 0.7302, -0.0752, -1.5248, 7.1316, 1.5751, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:988f26990bb0c7a13ae4535308b2983a542d83ed3acb78ff3d23781e2a8335c5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fcd7fadb873d6cee6510af2cab2163d1079f405924604771d885e52321eafbb0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ae505949f0fb6434058c8723bad981fcd2ddb3967045f06fe804009e25e443dc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 4.973 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]: [-0.667, 1.6009, 1.3376, -0.6716, -0.4351, -0.5896, 0.0457, -0.0216, 0.8509, 0.6132, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3758 left_y=-0.1966 left_z=0.185 left_yaw=0.0196 left_pitch=-0.2449 left_roll=-0.0387 left_gripper=0.0457 right_x=0.285 right_y=0.0002 right_z=0.1499 right_yaw=0.0079 right_pitch=-0.1393 right_roll=-0.0091 right_gripper=0.9969\nstate[joint_eff]: [-0.3624, -7.3915, 9.5521, 1.2918, -0.3443, 0.0855, 1.0281, -0.0342, -1.6479, 7.4188, 1.6239, -0.0269, -0.0464, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshN0ZHqGfOUU1PCu004ZiRTtRGi4CfK4roYHZ9IYNgzDKmDWxCyC_gQtrWZtHPtUzkDHnD_PAAYkf0vkvQzXgY6vCMDHzKQOOsuzR-_ylRnFkM9m4gVI6TmseIl124akxlYgXo0sG318Fl5XQneFz04BEz3qBr3Pxl5BjBVwhPAJayGXssSpHmd8cCT0rD1dEkIN_4ornb6kJpzdzUOlq2jg4Ahz7hz_4AuR6p4oymqNjkE6jZN_4S3Et4gPA8OWyvpmDfovVqG_GYlXBLfHgV0ih9gK8AmJr1UyYdjTxHQUgC26rTZb9sLj6bpKsuF0kY1U-RBbgOZQ9KRYVWzW0DosBLi4rc1jXxLGO5KbDOpm42B4F7d13MGDfZ0teKxe_42l4GRu_6fD7BVzhxS2uGUAkJXXBvfQIxo-8nAEKGT-hQWSh48SRwCO5HeJ-57wYbfZLrtSLse9HeWSpPZnCIOx3ZRdi-QX8nYNMqhCy1XQC8sCtXMFDOcqb07P457XrG8YkPUokOfTAmKamPIUAmJbcURGR4eruTTkE7j3CEDdS04POzWGZLlxldvXKnnRMhD7vHw7tlwaL29pK_xbXgCOdItO4GQXKkmqhu40sOaiyTCa2vkGMtH_UttjeMKLf-YgakQHgTwqNthztsysbveLoxEZuo1sGIltiTcgVPM86MooCg8ucHBF35kqzwzNLdnditVfm5AQXvsI4Pa7MTft8D7byWaWymShbSgIRbZD2FPf0F9f5PbZhaJ59kas4ARLY2lLF3x_YDgOUT_5cwW0kH52qJJ1yBG-EvrcB5whuoofSj1QM3P9Ei0DzLOFXuwU_1Dpc7oldzsj-sdKiiK-XinfvNWURuBQJpkFmEdgQkHoupFiJGZmQWVgkbA3xWLrmpZIcsZlOZMXd9Ew6NHzzFK4SIBWg-ZL9kY74u6piYdI4V4-47jYsmyl7ygm0lk8K6S_Aar4iCxg3GdEoSSXpjoD2F8hN-eq_9-f7Zfc5OP3O6QXkCWxmy0wpF0duzVHZGKf48L2agDCETt5QvCVQ6qAYo6CI04nOepl584DAg7KVa5D9MJjZyCaSd9wO2iAoCiwM-4shuLzjquwXTz3D6dD92myMskcCfCwr81B5bkn1IOPh5fL3cHFeZY3jC9i2iRvivab1vRhM0RCOvNC2u2AtR3ifdGNMAAH_mD1gBdruu_u1CHTS7dWbiAQ8HNjB2W7tgNNdaqADe3bFhr0L6juw3PIfWj6QXhUhj4h0lg9zq3oGibGzVd4w6VjdiltmL_V5xE_-4pUyj3vcIFbs3U--kXvgEPxNG1k2Wkv5MyPW1405Uxn7-LUVzeee0ojzJaufyku0DZqRRt0tKvyIeJxcgU-DP99ylvRo1sBfXGscLKvQSl7v4xw9wxVDayd6lktVolrw_ZSI0i-k61xw==",
  "id": "rs_067a625f21c9b72c016ab2c84a4cbc87d0b575494f17243fee",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.26,\"left_z\":0.065},\"note\":\"The purple rim is visible just beyond and to the right of the turquoise bowl. I will make a small forward-right correction and lower the turquoise bowl into it.\"}",
  "call_id": "call_Oz8pRKS1pKwN1jDHrESEB3hN",
  "id": "fc_067a625f21c9b72c016ab2c84c1cd887d089deadc8ff58d19c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Oz8pRKS1pKwN1jDHrESEB3hN",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7528, 1.9251, 1.2644, -0.3775, -0.4675, -0.6777, 0.0504, -0.0216, 0.8532, 0.6086, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3907 left_y=-0.2521 left_z=0.0605 left_yaw=0.0266 left_pitch=-0.3043 left_roll=-0.0066 left_gripper=0.0504 right_x=0.2843 right_y=0.0003 right_z=0.1473 right_yaw=0.0083 right_pitch=-0.1461 right_roll=-0.0087 right_gripper=0.9969\nstate[joint_eff]: [-0.1299, -10.4684, 8.2256, 1.2723, -0.2515, 0.1685, 0.4957, -0.1846, -1.6752, 7.1726, 1.6142, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd0825198f588683dc24457eabbf958f76e857049f688eb9fc272e79d813effd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:816a832b67274eabcd6e086139b8cce54d5a31e847d5eca05e0911514fe7c615",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86ac1f32e86f0815d7246eaf26c002692833b0ad6f262823c13dad21a6853e33",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.683 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]: [-0.7498, 1.787, 1.1748, -0.4019, -0.4667, -0.6556, 0.0494, -0.0216, 0.8509, 0.6113, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3728 left_y=-0.2336 left_z=0.0848 left_yaw=0.0115 left_pitch=-0.2875 left_roll=-0.0096 left_gripper=0.0494 right_x=0.2847 right_y=0.0003 right_z=0.1491 right_yaw=0.0083 right_pitch=-0.1412 right_roll=-0.0088 right_gripper=0.9969\nstate[joint_eff]: [-0.5538, -8.5128, 6.065, 1.2332, -0.442, -0.0611, 0.7302, -0.0752, -1.5248, 7.1316, 1.5751, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshTTMO2szekA_06cxw8vQQvwjlZhHU0SPKpMX4cPDa0XyTKVbs4E5YpK7CXATDZ0Wp5ulHIEticIkXaiIbtRt39JGRtlQVerFuRX-DD7NQIa3WpgO7Xo1pVShPkBUQ6PX58rhEdaZw83S4QcqwlCuHvCebcBR_64HXQbclisKL681QcWkT-vW5nLGXF27P9aiJVIotriyp0xRLTX1CiESOSTpIJ9xoR1g_Ygh7qUeHQhPHJTks4yK_JVDNvKpFebdBgIMMFaeeR1_GGvFosekZuyXfS7VQlGfr8vMWJgubtoTbgkV3WL73dFnqrc0FV-OwMAAGZ-XRC4wPPjq4USkRGai6vSCE0mEMSvnOmsk1JNO0towu-FPllnwjSk3-6HD6A2ZPs7EOMBPHyR4C48GHdZCOiQtBnAm3leqVSBFZh8soMRNUwTCqsWRZDpW5MALaUNnuGQWXEOGmMpkphR7QNuDZJAKTUoTGaGlwPFNG3ZoCVMxoc7FhtjPXL-HMqUsKIN7uek8O6EvFYwBGn4xV8EgjZFoaBreaDj47WmpZTYx9nw5DtSKj-hKbPuS1aKQHtRcjRpuZ4CUB7gpRvj-J9wcRNmBXXYk0Oh4Zs9qyIvS97-XLG96BJn72UjZTEVEjGcDvR81vbxeAFL0ZdJCgLUxo0yTONTGT8VI-c1ewAlJtqwAW7XcdoydYNDC7mGHCNcMp7mhB3BAkYnkGRorneBAdYOIfSUKLSP_3jc7cA_HIZRD_ZOnaym4LaGk82c2jqiiKanK3q82IuYmbU2gXQERfuIzEzRMJ68cLFfN1DR7wmIqlYwB4CgLNwp4zpV_UWJd876Xni6U5LBcY5GPi4vX6ZvyNsNw9pldSK5tYk4INTOdjSfSdTZm-1gkdi41__k10V6uZfqHGn0Ul_gNKvccbGpRsEVgOU7-25pBMMsWEbOX_zqz-w_Kd2wUxtmoX-Q-5MKaC1PGf12wqdDHise4aSwoYlOiL0E9d6dbfn-gpRJNgjxCjnacLSQB4PO9tpISTc2sLCH9VbtoXwZSBTGEMv38O1YuMwvXPQC5t34m90jtmZq9hhk7IKXcbzWvpOhYjxeA-UVJlnEla8xzGlAyTuEls0iBCblCPatcsxoREcbMCYcUy5XcpNaJ_FBbQmzrh9xPIbnEIm59hjsQnS-WwAKrlUy-AToC-OLy2hwZDEOi94Vi1IZIbgwkEdBT9Q",
  "id": "rs_067a625f21c9b72c016ab2c850db3c87d0b1d784a048025be5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.6},\"note\":\"The turquoise bowl is seated inside the purple rim. I will release it while holding the arm still so the two bowls can settle together.\"}",
  "call_id": "call_SMZxFG0Sckzy0Pzgyl8lN8vV",
  "id": "fc_067a625f21c9b72c016ab2c85161e887d09aad479dccfcf388",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SMZxFG0Sckzy0Pzgyl8lN8vV",
  "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]: [-0.7528, 1.9545, 1.2846, -0.3801, -0.4664, -0.6708, 0.5948, -0.0216, 0.8539, 0.6075, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3935 left_y=-0.255 left_z=0.0542 left_yaw=0.0245 left_pitch=-0.3135 left_roll=0.006 left_gripper=0.5948 right_x=0.2842 right_y=0.0003 right_z=0.1466 right_yaw=0.0083 right_pitch=-0.148 right_roll=-0.0086 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -10.6462, 7.8017, 1.2283, -0.315, 0.1099, -0.1001, -0.0889, -1.2923, 7.0906, 1.6093, -0.0757, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f4e89f6ca0dbbbb8cba073868e5986a3b3c9c3b660a9c5cd19150fd119d53f82",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d12f4228ee3778335a90168254823f70a32dfa3b85c5d3149b1b4fa7f413d5d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e94fa9e3de718e65483c0a364a6535f9ece584b37480d88bd01649f22dd6dd5a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 8.301 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]: [-0.7528, 1.9251, 1.2644, -0.3775, -0.4675, -0.6777, 0.0504, -0.0216, 0.8532, 0.6086, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3907 left_y=-0.2521 left_z=0.0605 left_yaw=0.0266 left_pitch=-0.3043 left_roll=-0.0066 left_gripper=0.0504 right_x=0.2843 right_y=0.0003 right_z=0.1473 right_yaw=0.0083 right_pitch=-0.1461 right_roll=-0.0087 right_gripper=0.9969\nstate[joint_eff]: [-0.1299, -10.4684, 8.2256, 1.2723, -0.2515, 0.1685, 0.4957, -0.1846, -1.6752, 7.1726, 1.6142, -0.0659, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The released turquoise bowl remains nested in the purple bowl. I will lift the left gripper clear before approaching the remaining pink bowl with the right arm.\"}",
  "call_id": "call_AO2NiujqOJGR3ohxo2XWLyyr",
  "id": "fc_067a625f21c9b72c016ab2c855cdb887d0b166625316723be4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_AO2NiujqOJGR3ohxo2XWLyyr",
  "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]: [-0.7528, 1.8679, 1.6451, -0.7624, -0.4664, -0.6796, 0.596, -0.0216, 0.8551, 0.6075, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4037 left_y=-0.2645 left_z=0.1791 left_yaw=0.016 left_pitch=-0.2671 left_roll=-0.0472 left_gripper=0.596 right_x=0.2842 right_y=0.0003 right_z=0.1463 right_yaw=0.008 right_pitch=-0.1492 right_roll=-0.0088 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -10.359, 7.3368, 1.033, -0.2759, 0.0611, 0.1099, -0.2256, -1.6205, 6.9402, 1.5702, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:113c2fe76e23935f00795a77e1565539062b89d0cc312d239fed8814a8a02ea7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80a578b321517ad12231e22f2c6df83bd74f218a13d0bf6fddb11797746283a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ccdbaa04d427916135526316597e2d9ade607cfb7df903eeb5db4efe0b3235c1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 10.77 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]: [-0.7528, 1.9545, 1.2846, -0.3801, -0.4664, -0.6708, 0.5948, -0.0216, 0.8539, 0.6075, -0.4751, -0.0162, -0.049, 0.9969]\nstate[eef_state]: left_x=0.3935 left_y=-0.255 left_z=0.0542 left_yaw=0.0245 left_pitch=-0.3135 left_roll=0.006 left_gripper=0.5948 right_x=0.2842 right_y=0.0003 right_z=0.1466 right_yaw=0.0083 right_pitch=-0.148 right_roll=-0.0086 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -10.6462, 7.8017, 1.2283, -0.315, 0.1099, -0.1001, -0.0889, -1.2923, 7.0906, 1.6093, -0.0757, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshgy-OX9Pube8CjiCeLNBgDx3cOtN1XL9ppjYCyHUp7eOV1F7m4Z1GQn56m9KQvFe9thH2yMLQtBwXVqn6SBg9x55FPxeE09wH1LjY85-PQSMf0ubfbG9Qfv7YkfU4QnT8TcMjfSeDDoCBj58-neEhPQcQcF9MB-tBy1bIscD7A6NwPgoCmfbA9-zecA0iC7EwNcGXJ9_rhuUkcS8Heia4HYGYzjSRQvOrzesv2xgWXNCg7Sn5MF-ezkeXPoXq6uE9yutOIXq2rGL7jCjDqxewGhqEcLljbvEMdqvqfRsWer76VcgR32wSg1Ne3BOvy31IYqoLZuID02dmJSx7C14fPRrNcuY3z2dE9NsaVpRBs-j2W-4GeWpi77w7y4gA4a0GlQ95Ql16X2n7owMbu_FBkIJcipAuoV0AWnm191VpvlIDR2WGjVZF9ZoW2JZI11DaOiclsI4nhRh-ZE3BXmsFTPRrHnqu24kI4uSuIJwfnm5THS6AKUOpz9rm1u41jGYPWnT-9uQqPKqZN9n2oq9NjcQcJmWIDImk3cOTrdeZb-UV105DSOEYgj2PrCv3nJ48ai33f1s6cBajpX8EOc_UzA3VBpR7HPzzTtY8uzBcJImCpjI7f2s7PWqgIIDKQUF8EaFF_bchbMzHfVdumtG5FtUVD2Z6WfQLxYfUCK2isqdMkL-bgnwFi2TiJ7HV8yM84wHjESft22JiQaREbGWPSWJORiFyF_0CbzDdx_oDnqLVRaUoFhgNvulzjAxdvfACsi30iRS2z1hOaH7FWWlKMRdkmOi9wFCmJu7H12oOOXCPqzR_sYVUpMBNZ8iIZAAl-inl9wT4mhE0mq0LVBxIGOOL1WvUgLBtAC-w0ru-8nDxfq016cVwpyhJx6LdUjNogU0XED4w4gL-4pEZtIwmOeC6-mZgUjbQFHoB7w3Dte8qwM1C1xkONLqyW6e4rH_3Uy8vW1h_KPr7FjASVyr3c6KpeaGcdbLgmS_IEzOqfPnnhVDMFMFl11pek_w273imaC_SUtDUMks87Pvd9-1jvIydbBD7lkA0IBsP3OBthwJXIsX0W5BbGIn5nUdvR_XHBrXT5_Ac9DRrdspnALfWjXHriIwPraP67ZN1yffbGdIMQzkAq6FERyRLOTuQPUHwSt4B2jcYmUrC2UkhezBn3N6UWIMi8S7Edx9CMmMtGK4cbO4mmQdJd5S_HJy-xBO48SB9WP1pwIP31ZWjzrPSPZX9KcY1hFFPO1M0NGEdaSZxzDDq7uChjzc3J0ET51qLKW54UYdh0ocWEpOLba3MARAsHBAKVoHzB00fjuEPUizizqinRdKF_moUeQnv69FtnXN28Q7TQIKjXkVg8Ef8rg9Fd24vlsEAFLsu_YEL0sXsdW8_AJPMcrtDUEnXpLA8PyMLPep4dHy4W1yOySgiXc2368SlCh7zxKzsSZ0LYA6XOKyJknAb7GnRhqnjhEDepMxNlVdy6JBG29lrBbJbz2Y8-KsqVljXVS4NvNDcsnBPVzMDGtG0mUvrKFJ8i1ODbeHa2Jw-h45l91q2-4E8t3zTu9_AlvE-lvwjDMcxsx8zcjftHr9Xn-aJtXrZJB9sfHhwhec9YYAZ9i4JiaCDnoNyfbl6mWVnIrcVMAIx5iWgIVcmhkDsgihLtmwQyfOYqoRWjtxo2Gyw8CwV0kPqINHQsRbElhCrsobTfm_1vevc=",
  "id": "rs_067a625f21c9b72c016ab2c85a61b487d099d8eb7ecc14c19e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0,\"left_z\":0.2,\"right_x\":0.38,\"right_y\":0.095,\"right_z\":0.13,\"right_gripper\":0.6},\"note\":\"Two bowls are now nested at the center, with the pink bowl still separate on the right. I will park the left arm and bring the right gripper above the pink bowl’s right-hand rim.\"}",
  "call_id": "call_q9XuE12Xn4JLf0aiOMdi497C",
  "id": "fc_067a625f21c9b72c016ab2c85e4b4887d0a1adad07694eb55f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_q9XuE12Xn4JLf0aiOMdi497C",
  "output": "executing move_to over 24 steps (2.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0341, 1.0199, 0.9607, -0.7841, -0.0452, -0.1444, 0.5962, 0.3515, 1.3869, 0.8013, -0.2489, 0.2321, 0.1757, 0.6013]\nstate[eef_state]: left_x=0.2942 left_y=0.0015 left_z=0.1984 left_yaw=0.0694 left_pitch=-0.2698 left_roll=-0.0539 left_gripper=0.5962 right_x=0.3617 right_y=0.0932 right_z=0.107 right_yaw=0.0427 right_pitch=-0.2324 right_roll=-0.0351 right_gripper=0.6013\nstate[joint_eff]: [0.3077, -3.1932, 6.653, 1.5458, 0.0317, 0.1343, 0.0024, 0.0068, -5.0803, 10.0308, 1.9267, 0.4176, 0.1832, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dac57551727176ae3a66dbe1e545ff06933289331dbdddcb75f86acfdd95d38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8a982b6d514ed608fa910c5338d4606006d2f6e6a8e7f50c554c607914cc9c67",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20f3bcd047846a0ea567beb819bc350c8ea2a0dbdd3aa40a1794764752afdb29",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 5.176 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 71 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.7528, 1.8679, 1.6451, -0.7624, -0.4664, -0.6796, 0.596, -0.0216, 0.8551, 0.6075, -0.4751, -0.0158, -0.049, 0.9969]\nstate[eef_state]: left_x=0.4037 left_y=-0.2645 left_z=0.1791 left_yaw=0.016 left_pitch=-0.2671 left_roll=-0.0472 left_gripper=0.596 right_x=0.2842 right_y=0.0003 right_z=0.1463 right_yaw=0.008 right_pitch=-0.1492 right_roll=-0.0088 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -10.359, 7.3368, 1.033, -0.2759, 0.0611, 0.1099, -0.2256, -1.6205, 6.9402, 1.5702, -0.0513, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshsmhlVSWe-nf5El5FG6RU45fBZZEz0xAov-JvnturHyOaCvuRcbuJ-tdQtWey1Bi-WKIuWTh2BpuSAKPxPb_vXhOQkJSsE92oINq0wtpV8g_PM6stAnQMAFzem_pbZM8D2jy7vyfqLuBYSyIBI0dBgXOKfUt1HUj8Io_0h0JtGjzJhKh42rj2ylMBjFjUZpsQ4Zm3G880k1_Zo2k4WlM5egjPK4RI3xApfS1gHmqus3iLLugH-piKd-YR5Gp0gDXboiOs1r34qOtEA1oX9bddNitDwi1oeBzIQftXYTZdrMqTkRdhQSJe4KDBCEMM9GU4ldvs8Mu6JUyfJjYDDfGTeqc-G63GKgvw3vJG3PltkOpPIfpP0fY4gywzev6yBJUJUZorFVIF88tCv8UBcRCkODMnFAK5xYt92YV--CzHaYay1qPhVZC6IwYBG28rsVyH4OZJrv6pgAZsgxCf7kfeGLMQlGli3r3Qsnu2iWiZ6wn4869ay3NsJrewaZhdBysaUTid8BRfWeOGfe3gmSAO7U64X0xOABtCArKSQrlFISRmWBEh0X78Pw8q-_dHPWdHl_Wxqd255fpMHyjBltb8Ups7mfVh5_6zqPSc5-OeahpO0617D3gYhVBCQswWuGsLnD2pDmppyitE4jtdZzE1hoUJVEmzeKP4ZSGnnrboaPB5zz-Flt09MLMzc5KpLP_ZrRzUS-eFtARjuMdbdBnOl7U2S9bci7uTf-l5hoHN4xnE30pavm16jGpEGdLJyIhX6di3vomoW3XEFF4OanNaURaDdXtXnmoa6HtT4uLC0GD-m35bJIfakIBzxWolxMTwY-pwsndxAEdau-qygmghqXCBjumHA8WlIMI0k9-cUVkQCYZ7jtBFcO5aMeSaa0BxqtsRn50oAFCZ5HO5wbfmqWubGa-utas59PWH9_kfCSxAPCKe4cragt7_H4dFd114m1xFkCaVDqoag3GhcD0oOMr4oWb4XIJlhewSiZUUeaR_UjOyowvIucLj3WGhfr-Wdv_oh5OsMh4McUfksGLIpzDTlzJct6Vq_a_D7JeEZdh8Q_HmvBulvfKEausZnmrMbDwLpeFFxvzR3YO4rOogYzslU240soaX4nI8ZsG6OKoEODnkVIazFOwKPJtg1F7tZeIps3TL0Uh0RWvIkSX9afCZbF_tylsuJ-PQKHvs3KCwoUTLAOS_psyEmaRugL6fyxcNqgmObmTYEIPs4UqnmPcHkphjot61TNtBTaRLsBimliGtYlDYlvDvstPurD5K_sZeGubOrY4ClEcmHP6lyrv8PfSmqJ53KcCPoVBwrtUamo12AqSvAgPZPJJ7BTikSo8AMSkvp06ocBeT0EW4DQhEGPkrWPqb52xsXszCDAJXpm6cOZT6qnsf9Yg9iK0esaNvnkJugDnK9uHqxu9VYI2uyb2z1QvIlPa9JQTkmJe1h01XvN2MlVGHE0tDfWq-kR-H4rHK0WCtpgCrgFMjRzSmSqImrbqJArEmRmHnvHuQ=",
  "id": "rs_067a625f21c9b72c016ab2c8684a5c87d0bd3e5bea1aa54303",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.065,\"right_z\":0.1,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The pink bowl’s right rim is just beyond the jaw center. I will move slightly forward and outward while staying above the lip to line up a side-wall pinch.\"}",
  "call_id": "call_F2unS8jNIhYLmRFpNXDfgN8r",
  "id": "fc_067a625f21c9b72c016ab2c86ac55c87d09717920e274dc95b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_F2unS8jNIhYLmRFpNXDfgN8r",
  "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]: [-0.0338, 1.0245, 0.9607, -0.8001, -0.0387, -0.1463, 0.5962, 0.218, 1.4891, 0.6662, 0.1375, 0.1505, 0.0727, 0.6013]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1945 left_yaw=0.0658 left_pitch=-0.2909 left_roll=-0.0581 left_gripper=0.5962 right_x=0.3942 right_y=0.0639 right_z=0.0816 right_yaw=0.0407 right_pitch=-0.1028 right_roll=-0.0204 right_gripper=0.6013\nstate[joint_eff]: [-0.0205, -2.906, 6.7077, 1.5995, -0.1197, -0.022, -0.0122, -0.4171, -5.9282, 6.0239, 2.0733, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6377de5132c2bd60507a154817f553561ccf36742aba4cc120034a2165b151",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4e1d64e2e8a4548a01f836168c279d1fe5fcabdb0ca0195e82dfb3dd0a17e8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1f274f6b0469a06917c82fa5ce4015523d7df79ee14c3f0bbc1452285ad1bbfc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 4.442 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]: [-0.0341, 1.0199, 0.9607, -0.7841, -0.0452, -0.1444, 0.5962, 0.3515, 1.3869, 0.8013, -0.2489, 0.2321, 0.1757, 0.6013]\nstate[eef_state]: left_x=0.2942 left_y=0.0015 left_z=0.1984 left_yaw=0.0694 left_pitch=-0.2698 left_roll=-0.0539 left_gripper=0.5962 right_x=0.3617 right_y=0.0932 right_z=0.107 right_yaw=0.0427 right_pitch=-0.2324 right_roll=-0.0351 right_gripper=0.6013\nstate[joint_eff]: [0.3077, -3.1932, 6.653, 1.5458, 0.0317, 0.1343, 0.0024, 0.0068, -5.0803, 10.0308, 1.9267, 0.4176, 0.1832, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsshz94SVhLBlZY0nmmg0Ojm3I_nW0OFeQ8EZKrP0DnvwietaJvrPWoTsZs6DRoz5wCgapFW8SNw0WCuPKA-gWFq_pUfkWiWkVQsG8snLOK3CtU2jAfhfTe8GhNbpWD1hwUJQCndMohWq1owqmldQJqhfE4P1JGVD9FvC5uSzy-lQXXl5gB7Aafa1jCJYv_2mTqYn9f4qyJMYU-yhxEG6OTmlQANTqOLI4IBdtZGwKQ1Zau9cMLkZmk7-kOJ9okI8pzmTxWCFgjSA6IvM8GgkPjvVIrk8SebW8LHcy57z6c2K6k76JdmzMOajsYrZQhObjQGF1tcFQNrcX5qhYo9Hud8qwY03ODh9FaHzR6a7lwTqvXRlM446O7mh0pRyBYrOzcRRfczHyXgh651qgy5meH9wQTS7v6IBJkrZUPJ3COwXHEwgeS-5_9vOmpc_8FXgxretwqmkozmnvaHhAPuWc_m_Yz58KbK-aEqRY8jnoEQjTMcux65alCYScQANPGYFZ5zz028k8rjKrD7o0rqvluOhuM4SeGLcs9bkG2rfv1zqPOVNNEZhumpAhRtEx-rxclPvG-iAPpj-gh6T2BfDSzGSNx7K4R-L9deevk3bWEpwxmaodc6ELM5kdjB_CEV6kYbExVd6HsTEh_5iU7pW8wVmtqTH31DbCpre-pthOQq0w_EuXQffeJWujjAAtW3o9b5YGtoPnXKkmEQO23ZvhB6y26CNXpd6duey_YYHYZoWw690iJV6mvRjK70OeT9C-TDNQL2JvFOE4a0k6sCP4SD8YtqhRMWnp-m1uHRLFs73UizYIR931TfAXq8CHdqiYgvQd3KYGgUHx6IYim75xzW-1n5_5cIL18rElR8XUCIVfnwVpRjnycPGjil9LKshhVZAI6VpsEgKxP0BSq5k8nmA4Od3vMWkRnkzzYMpkGms8VoPyzT696L_6jP21uc9tzE0Pt1Fqk01PDeesewg-QkcBo0up02u3C6u22-Ttr3jML5phQHRx0UVnJVI9I5LAueUZklUWPGGjFWh98iGpLXcD7ykfdwQ4TAutcqk9zq4ih44ZLNGT6hG_7c3cwm8OwDeAevDaxtBz2RLi-KeUF2zJswcBQxJtcP9u8-uuMQjX14OcQNj8VUORifl-TBM9gOhBZ2TwoqmwU6uZlxicHoDiORvgaSs60PywMK-Gyghr1tbeTO_UBViu7mAQIaeKihQdWFptVsv-o-dYEcq8YcI9Hk6H5kJt2mdkYsbNwP014ZWWXrBRJ8t5QE07FzLkrPz",
  "id": "rs_067a625f21c9b72c016ab2c870e82087d08e7a6992ce4f0015",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035},\"note\":\"The right-hand rim now crosses the gripper centerline. I will descend straight down so the fingertips sit on opposite sides of the bowl wall.\"}",
  "call_id": "call_FFktRUwZW8KmusCRWj1Rw0v3",
  "id": "fc_067a625f21c9b72c016ab2c87191e487d091b8bb8dea66ab37",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FFktRUwZW8KmusCRWj1Rw0v3",
  "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]: [-0.0338, 1.0248, 0.9607, -0.8051, -0.0414, -0.1463, 0.5962, 0.215, 1.6272, 0.5789, 0.3027, 0.1413, 0.0605, 0.6013]\nstate[eef_state]: left_x=0.2907 left_y=0.0011 left_z=0.1936 left_yaw=0.0683 left_pitch=-0.296 left_roll=-0.0554 left_gripper=0.5962 right_x=0.3848 right_y=0.0622 right_z=0.0272 right_yaw=0.0507 right_pitch=-0.1635 right_roll=-0.0341 right_gripper=0.6013\nstate[joint_eff]: [-0.2393, -2.5915, 6.6393, 1.4921, -0.0171, -0.0611, -0.0073, 0.1026, -6.9265, 5.6821, 1.9121, 0.0904, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:723edc14b71021348146fe16804460ef6f9d967e7ab819334295cf745aedfd3a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68151fb1d25f9203df35abe21bd9b49318f11b742a3feb0637383bcf739dd1b0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1303e6bee0357ff14bcd3f2772eabc46c3b4f83e1393b13af533915ee24c7bbb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 5.181 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]: [-0.0338, 1.0245, 0.9607, -0.8001, -0.0387, -0.1463, 0.5962, 0.218, 1.4891, 0.6662, 0.1375, 0.1505, 0.0727, 0.6013]\nstate[eef_state]: left_x=0.2916 left_y=0.0006 left_z=0.1945 left_yaw=0.0658 left_pitch=-0.2909 left_roll=-0.0581 left_gripper=0.5962 right_x=0.3942 right_y=0.0639 right_z=0.0816 right_yaw=0.0407 right_pitch=-0.1028 right_roll=-0.0204 right_gripper=0.6013\nstate[joint_eff]: [-0.0205, -2.906, 6.7077, 1.5995, -0.1197, -0.022, -0.0122, -0.4171, -5.9282, 6.0239, 2.0733, 0.0317, 0.0024, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pink bowl wall is between the fingertips. I will close the jaws to secure the rim.\"}",
  "call_id": "call_gLjjm08W4OFUXDdT7JRRCkdv",
  "id": "fc_067a625f21c9b72c016ab2c876ffc487d0948727c2dfeddb62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_gLjjm08W4OFUXDdT7JRRCkdv",
  "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]: [-0.0338, 1.0248, 0.9607, -0.8074, -0.0418, -0.1463, 0.5962, 0.2157, 1.6394, 0.5686, 0.3939, 0.1284, 0.0772, 0.0411]\nstate[eef_state]: left_x=0.2902 left_y=0.0012 left_z=0.1932 left_yaw=0.0687 left_pitch=-0.2982 left_roll=-0.0549 left_gripper=0.5962 right_x=0.3943 right_y=0.0669 right_z=0.0356 right_yaw=0.0546 right_pitch=-0.0969 right_roll=-0.0016 right_gripper=0.0411\nstate[joint_eff]: [-0.0615, -2.5504, 6.6393, 1.4579, -0.0708, -0.0757, -0.0073, -0.0205, -6.3111, 6.188, 1.2381, 0.3443, -0.1929, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:590b6cda793e707ec016708eb972b5f54ed44d11346fb6e382835bf69f8901cc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2f5578184b026c1e6710bf748b3cab3c8fbae749d257fd7101226442757f7f2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d49ba8458a7610808ac7a935fa7936e64cba5c363d038734c9c241e383be1f9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /responses · status 200 · 7.947 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]: [-0.0338, 1.0248, 0.9607, -0.8051, -0.0414, -0.1463, 0.5962, 0.215, 1.6272, 0.5789, 0.3027, 0.1413, 0.0605, 0.6013]\nstate[eef_state]: left_x=0.2907 left_y=0.0011 left_z=0.1936 left_yaw=0.0683 left_pitch=-0.296 left_roll=-0.0554 left_gripper=0.5962 right_x=0.3848 right_y=0.0622 right_z=0.0272 right_yaw=0.0507 right_pitch=-0.1635 right_roll=-0.0341 right_gripper=0.6013\nstate[joint_eff]: [-0.2393, -2.5915, 6.6393, 1.4921, -0.0171, -0.0611, -0.0073, 0.1026, -6.9265, 5.6821, 1.9121, 0.0904, 0.1343, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.11},\"note\":\"The gripper stopped at the thickness of a thin bowl wall. I will lift a few centimeters and confirm that the pink bowl moves with the jaws.\"}",
  "call_id": "call_GhNcfZ4YbXm4tYla5rOSK8cx",
  "id": "fc_067a625f21c9b72c016ab2c87c79c087d0a18126e00641dbd3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_GhNcfZ4YbXm4tYla5rOSK8cx",
  "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]: [-0.0338, 1.0271, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2157, 1.5581, 0.627, 0.2523, 0.1177, 0.0742, 0.0424]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1925 left_yaw=0.0688 left_pitch=-0.3012 left_roll=-0.0546 left_gripper=0.5962 right_x=0.3966 right_y=0.0693 right_z=0.0612 right_yaw=0.0652 right_pitch=-0.0998 right_roll=0.0024 right_gripper=0.0424\nstate[joint_eff]: [-0.0615, -2.4274, 6.8308, 1.4188, -0.0855, -0.0122, -0.0122, -0.0889, -10.4137, 11.4393, 2.6642, 0.1832, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:364abdb45537ab2bd47f1083da6122ab65453361a91751d03b07de23ea63871b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a33794aab002ebaf61a1a1c4effc2c40cbe599458973fd88f4c4bec7aa5a1a30",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1b3a14e9498029800f86fdbdd02450d57749f99e5aeb407788501b4dd3a4b78",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 10.78 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]: [-0.0338, 1.0248, 0.9607, -0.8074, -0.0418, -0.1463, 0.5962, 0.2157, 1.6394, 0.5686, 0.3939, 0.1284, 0.0772, 0.0411]\nstate[eef_state]: left_x=0.2902 left_y=0.0012 left_z=0.1932 left_yaw=0.0687 left_pitch=-0.2982 left_roll=-0.0549 left_gripper=0.5962 right_x=0.3943 right_y=0.0669 right_z=0.0356 right_yaw=0.0546 right_pitch=-0.0969 right_roll=-0.0016 right_gripper=0.0411\nstate[joint_eff]: [-0.0615, -2.5504, 6.6393, 1.4579, -0.0708, -0.0757, -0.0073, -0.0205, -6.3111, 6.188, 1.2381, 0.3443, -0.1929, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssiGfHd9YDFQVl39w3wM65imk6W-RsuBeKYMZFKDCMsg0Cz9oovxrrsHOZWZbMhj0pZtP0vM4nGDab2Put5V4zL7-1XrKe_nxXwxBMDiftHDxVwJKHukGh2R_lbmoJIBi3XJ8sKTZ0nQaASVim-DSOp5jJXUedbGW5GeLbLBeW7kOBuZGp64t_4XP_f843Vv_11lbiXaZIPr8pw8X-OjZgbdA_bvga3DB-YpBUkwcEXXRwlLS3txy4awNPLBIh8NuRl4xAhnaCGe3AJENUc3jHNbd5qaCVYMjf0sgxcau_8g5SV7LBHzjBhDXumnVS_EbvSCvLLHatemAwxSXmOV8Tnpnpd8trNtI0lLMYgsegRK9usNfrlxtWSYYC3TgEP6-3RtY0kQnbNxD9H61H_V96RLhxuFNNr4JhPf9JBcaGn9WlgSTaw9IpYTL_cs6y3n3rfH2WXWlWHBcSk5DJw7TcLsGci0DN2-GQ661UGr_H2MeUpxNnjFoQGPBiWcL1dV4T_ANPc0lS2aEbFW7uuc0cWYnV97qf2EfKkNMAkHPM8xGwQUkbt1lO3VuXldGFeRJFgLRcqSMyUpzkr_6GHCXivMudetaYoySYBpwC28ZkrTI1-DSRDxyi6_v57pPlqxsYsx37jGiPMhAp6XrYdwQSMQmoO67L04RBJecFunwutNkp2_RoWeGCtCulA89VK6ag2pLLcX7mOO4PiolfJN36yO6d7zPg2tlTuD96rciYoG62Z49ENGe1dxMu8NrYXCCA361LCca3b7tUsL5yAtFN74QBiRuiDz5Q0yL_JCnNIiZv6fIyBxUHoIgZ9CVUG1YVIRt6E0sh0Q67ahEErLF7Lyi69RC7aR_itZBkQJ-fHQQZuP0ulpu7xTSJqYTaoAZF4z5Nw7myFoJEQCi__KgKAvwVdm4WMTP76oW8id0Cpg6tQLlOGBnm_YUW56gMq7lLQQ3HEnQG2wQ1Hu-7V0l1ktzrF1ns9IRd_CzTAQVOUd-1DnA3jaQIQeIRvCEdtncxXlIyUhlAEf53c8_xeC16_lUTCgvi6UkVyTvzu2VElUbFRaItkh1GqAeuY3DOzy3uRi2HbWmcGhwNz8-bO1vfJxe6ul5Ka928ZneqOseqEflZ1SBlU9sMXYnnMfp11pQ1soENSrBMFDZPlIluRrzUTcqFYci1bJRKogE0SqjsghYr0MfCIvxqCcbROvao8ds7VjhqcHIlKHYvbvVPFqzQQEYrmtDcw3DKAzEvKaogc92Y3-VIn0fn84OPxLU3TzVRFReL2_vK48xLI7otI-UEUcYl3mQrlr6fOj_LO8VwmBpGZaTre2bLKdG3e8VJx2VUZb",
  "id": "rs_067a625f21c9b72c016ab2c882bb5487d0983061f4ba141604",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_z\":0.18},\"note\":\"The rim remains held, but the arm rose less than requested. I will move slightly inward and higher to clear the table before carrying the bowl toward the stack.\"}",
  "call_id": "call_QkjKrWNdZr83WvUnz7h6rVa2",
  "id": "fc_067a625f21c9b72c016ab2c883cd8887d09b5787c4d9f2b5aa",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QkjKrWNdZr83WvUnz7h6rVa2",
  "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]: [-0.0338, 1.0275, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2291, 1.3075, 0.8696, -0.2676, 0.1181, 0.0704, 0.0438]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1924 left_yaw=0.0688 left_pitch=-0.3016 left_roll=-0.0545 left_gripper=0.5962 right_x=0.3794 right_y=0.0708 right_z=0.1583 right_yaw=0.0799 right_pitch=-0.1262 right_roll=-0.0048 right_gripper=0.0438\nstate[joint_eff]: [-0.0205, -2.1538, 6.7077, 1.4237, -0.0757, -0.0366, -0.0073, 0.0205, -6.5983, 9.7162, 1.707, 0.1441, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ea0cd088f157bfec2234b996343bae1fe32eac6b3811470856bb981c4490e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2daa1e86332b23b5dc9c9ac4f81f7d43bc704c85ccb2125f1b137d28ac54fc0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7ca25b6ba8a57a806cf7ef724bc2a01e2b6ce30d4b3ad5192c19ef570561d35",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 7.978 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 89 changed as sent

message 89 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0271, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2157, 1.5581, 0.627, 0.2523, 0.1177, 0.0742, 0.0424]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1925 left_yaw=0.0688 left_pitch=-0.3012 left_roll=-0.0546 left_gripper=0.5962 right_x=0.3966 right_y=0.0693 right_z=0.0612 right_yaw=0.0652 right_pitch=-0.0998 right_roll=0.0024 right_gripper=0.0424\nstate[joint_eff]: [-0.0615, -2.4274, 6.8308, 1.4188, -0.0855, -0.0122, -0.0122, -0.0889, -10.4137, 11.4393, 2.6642, 0.1832, 0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssiSWbIcdlDEdWU5ET7pOwIw1gXMxJJsxzkSgt4aT88gPTWrOa4D3YJ4DulxAEzowcvGv3SkbLwhVzatpYj2muxfR-nFq51a7d998zj9EBagiaRIGS9C9lj2DETFSoBk7qnEzdiiVmV8-44oD0cKJunCgVbIVyEBdHuVMNiFhHvOcpuTNgzG91Oc1VBF33PiavTtKzT6Ce_muvH5UAsInYvg6U3Q8bHLkHOW6tL7B_w5Yd3uwlaCDQSULVfx_pgJeJDqtn6Od8cYz0ICETQ9ljKYS_AlaldDSWJ_vteYYwbijttNknSpgc3cLeY5EvAhFmHdRGVr6l9-V_B4I8k_HZMP_QXnRNAHMconuWnXT6XQM90192rh3oSfJ4u0BQI74pqfX1fC5LdiU9KnCw-2tLSKgHWYhhkgR9P_o2y7d-lkiqweSX0FPARLEpy8Bw5c3I5DE9Vbm7TnvjyNMraBvqI0qOf_7IFOUuIyJCDbSedx4KDvG4o05oRYprXrxEXq2vj4dPiJUWwSz3j_2c8k-893wdsm9LSJNTvP1QQvJiykAhHQr_2kmSCy2S_VP7GkRkAOLmPUMqOntZbI5YXDBFFWSgV_gI-B2596o6-ibF_ljyUkfrrH9TVH2UUdNwCIHQrK_6pMI3Pz3jKIf9n3jidsID9G8dGqRf6ZDsex6DLNeQC-4RFd81wPXxmTlZs-DdpbiUdK4cUgUrFCsPqFU4mSvBoSUly6yphl3HvDlJKJH1e3q_CV9xosAvaCkEU_pxgrrUU8AZWp-OlWBtC1iiZR8Qb7JOgHv8pJj0xuzzSej0L0u2qsTTHD7OpXJMqoGvTlB7WTyGIhjJB-AtAzrvhTwBDqsMQ7ppDl59ZgdQddz3V-bMxno66XKpSdErhZH6t7SCsNKN1L9VdNJWQyVfk9hrKNm4-LTStpv5okb3W5s55Z0f_iem-SnVmwW1miJ7R52jrMBCY-O2zRGNNjeQN_Ncjo7vBu-2Mf9HpLtBHAbk2QaE2Ddmr4kDuH5zFk0DtXXtXe29zW0s--G58K7d-CeMO4bGHn8yag3aUxXIh_KRcwkEnvjd3VZj4IIlYdZ2Ajvmjc1rorHMBEBRJ9s8djAX-yclMwOOsAKz37Jnu2HF9z_wRnEEURYrvo0wl7d0u5V8ndxw3CwGPDW1YzQvpdd5n1wISsoQel4_K9qJSIK8j1fF0Rzc43aa-hoRoL_krkwPbWGrGyvVrZb_Yh5HX3Z6lmh3nN9F1LQ1i2GXt-8F2VcdzHcqV4JlLWxOnc4J2l4uXNdVrNDiSQhfAnUCSlEpZAYPkgVfUtKcy3zUXyc9HaIy2BYkj_XRN-JSUtwqPdFcu8epgikZdld1hLoK6cJuCJ2TBMdyOFYqnh6Kg0IDAeTewYfY_T3KByUBByzlz_AJs-GsPMY1RJbelD0UMRJWbYRHrzPqDQOwq3nERIQrwvU0sBXG0Ch_jbG2JUyWalbWGLoAm6YNvshKQQaLbPFdUXYn6PniX4auTO04jdX_9tr1xMIvBjtCZlrBpoVmtL7dM_sPjXYeYCUrTrJ_flPLkYY7sD2fSYcWfaxug10gSh5SA-YDhtjYGKzyzvLgQAcFW72Vq9ZUo1TZM94OSznaiuO9fzJyrErhdI1u6zmvPP4Ja66HnrD1OQBrLsC7vjYxV2ifZJExoKt6Eu1POVatiNtGUZyRmoKsQ7ZJPiDTINkmwDWSOOgG2jZZYkZi-0CiTM9-QjfdhBGKTMCgG-sZc1em87cQlNcXwtpOLE4Rgb1MpPUmZuSg2XsS12gSfYbn3ZFH9yYy5QXK8-Mwhp-Q==",
  "id": "rs_067a625f21c9b72c016ab2c88ba07087d0b5a64d4792263977",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.25,\"right_z\":0.2},\"note\":\"The pink bowl is now clearly lifted off the table. I will carry it leftward above the two nested bowls, keeping the rim grasp steady.\"}",
  "call_id": "call_mBle5jCmvXUHwwDiuC3Qv5gF",
  "id": "fc_067a625f21c9b72c016ab2c8907c1487d0b28c2afa9b8ea25f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mBle5jCmvXUHwwDiuC3Qv5gF",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.7189, 1.7027, 1.3815, -0.5476, 0.4412, 0.3798, 0.0452]\nstate[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.3894 right_y=0.2453 right_z=0.178 right_yaw=0.1251 right_pitch=-0.1896 right_roll=-0.0473 right_gripper=0.0452\nstate[joint_eff]: [-0.1026, -2.6598, 6.8171, 1.4042, -0.0562, -0.0513, -0.0073, 0.0752, -8.3897, 10.0581, 1.5507, 0.3883, 0.2711, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c325f99d83dcc812c851b3b7212ca47e34a78af39af364ff7ad10e6e0da8786",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87660574852ee3b21e44e8718d93134c8f2bc9f0c1d7e3d1feef654d01641f24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419b572457d97e589991eec0fca65fc9e8eec18df982d728d76d7740a5459708",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.356 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0275, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.2291, 1.3075, 0.8696, -0.2676, 0.1181, 0.0704, 0.0438]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.1924 left_yaw=0.0688 left_pitch=-0.3016 left_roll=-0.0545 left_gripper=0.5962 right_x=0.3794 right_y=0.0708 right_z=0.1583 right_yaw=0.0799 right_pitch=-0.1262 right_roll=-0.0048 right_gripper=0.0438\nstate[joint_eff]: [-0.0205, -2.1538, 6.7077, 1.4237, -0.0757, -0.0366, -0.0073, 0.0205, -6.5983, 9.7162, 1.707, 0.1441, 0.0708, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssibAN86s_1uLcqNxfWoEfJMC-1tdF_DE7Rxg7vP8kb-Ypl1ogfhfpHCVf3qO3J2ah_dL5pl4PzDI90hciNsH5xE_M0o4pbWC6ERfXtUrCYE18d_bVrqIRsm60QSi3L20Ed3kTOMFBf_YDDFFM9iMNuPUswcJ2Dhxq05fm6Q-sa-UyGltVB5hLRc3Ij2NWBzrMHF7K7ZBHxtHXcVV8iW0ILLbga2UR1TWWvWi0nQXbMRjYbLJOw8tdU2kcX-bwAJ4WtZCG5TpzaPMM88VW_7TmCF7G4OXMFA5P4yDiBJJahjKKAsXktaFa8o3hI166c4_8PxmGnemy6nRsYGzr16cNbDWggMTJJPzl1lkN2rVvhtTZq7tg79F6fAcEkb3kMffjm3at_dnLqMbtz2C_xyeDRPa_zt-5zM0faa8JR9kODMU1_a8TxrC_ed5TUmkKO2KXZ_MDWEgK8gqJ3rpLyO3aYbNWyYMJtXPRemddfXM05-bXUjoPJ1-Q_fpWLeb51qjxTtEoV9Z9tx-zS08kzuqJo91nCei_4Fkkq6Vv3dk461Lq9sD7VnIzanDUnoVYQM9gz_uTHiTGS6LMZQhsXxQuYjvfFmuEwvepcLQ-iRcSy3IOoqSdI6EZzj-L31L6lHuXJXJD-5gzy-BnjTpADZ1uqVkQsC1Qn07V6zU6qoypnFZPIcsy8b8h_bP7S3TbLmrt3e0cjq1HRPvQWeLSvNfL3LS3X9kJ6Nkqr1T_hKgp8KPaEB6irOa1AbmvFVAiGPMHSBlTj36_tLPza_WSpPf54s6tIT7KJLywhDmPl6iYqYYNHM_Q9KQhi3SIB8Mbs9SB7qjsAu77YUsMgEHIa2C44iUNxE-CsdizeJjbqFIbuUqLPWCUQR3o0_Dhxxm9RtXSqmorMBiHTatn5AodOHeEMPyXoUjCsWWo9eaWeqGt0HzM5Rch9fJiTX5h-nsRlx23pGzIl9yTE7vSdj_7c82n4qww6vTmV4rCohUeVkOqPNUosXmRbUoKk2Fbax_qd4d1QqDIiWsiPPVG2Jt_sHMRDAMBeC6_nT2ZhTWl2gV3F-PCnCOZcViLj9FE0o_LTvAVpV3HMrUhiu6XN84rorLOZ_JYeBqGki1g15pJ-b1pMwOgRD3vZCHzSdiP5ouiMawMjkd0IBZGqwOrSCDjCdxijvBAbsF4oMQU13xkE52Q5pfxENZ_pExH4aFWjaIkIQRgXeBXu6b0P3GK6NxYZm5CHRJ_qr0BZv-KXGPMSL9id8-cypcRNrqnnu56mCt1_9DYlD4Jl1GJcneivsf_qXmrxf5GTFbRZNJYfb1gRPbocYagaa51D7WRtFRevV84ofkB1_5UZsxughZNcuUW2tl9SlF7stRcRwUBYrjcPGBhfYcrpffFTKIdBIeuS7Iw-gB4CH1RgCUC75klD2_YMKsexg5KjD4PoE3GxU1ydc19wL6n4pMD3K-tpYX3Dk3t1AWFjmLhJQdJkGCSkVbsDhj_A03DRY5bTdUXGowz4mk94ZIqfH5595kCZk8i-fX91QjLpQvsSeW4IAumqaGyzBFTMF5w==",
  "id": "rs_067a625f21c9b72c016ab2c896296c87d0aa5adcd1f920d9ea",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.415,\"right_y\":0.25,\"right_z\":0.095},\"note\":\"The pink bowl is centered laterally over the stack. I will lower it with a small forward correction so its base enters the turquoise bowl.\"}",
  "call_id": "call_3pmCN0KIYenQUwHkyYZUwc0C",
  "id": "fc_067a625f21c9b72c016ab2c899a07887d0b6da1e6e624e5655",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3pmCN0KIYenQUwHkyYZUwc0C",
  "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]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, 0.6868, 1.8439, 1.2312, -0.3161, 0.4145, 0.3546, 0.0471]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.192 left_yaw=0.0689 left_pitch=-0.3031 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4024 right_y=0.2426 right_z=0.0889 right_yaw=0.1202 right_pitch=-0.252 right_roll=-0.0812 right_gripper=0.0471\nstate[joint_eff]: [-0.1026, -2.5641, 6.6803, 1.4579, -0.0952, -0.0562, -0.0073, -0.5949, -8.8684, 6.6803, 1.6142, 0.2027, -0.0611, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f538bf4f321af3fded3b4af6fb1d3795b70b664fa87abe3e6b8489de5f17b77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1267819d2f9775ab6b832116e2ab65b1118c812bd2362f71c46258a4ef8aee0d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1df2593dd5d52d2a63f26b8a233edf99360752d4bec8df3234960df60c3feb14",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 4.723 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.7189, 1.7027, 1.3815, -0.5476, 0.4412, 0.3798, 0.0452]\nstate[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.3894 right_y=0.2453 right_z=0.178 right_yaw=0.1251 right_pitch=-0.1896 right_roll=-0.0473 right_gripper=0.0452\nstate[joint_eff]: [-0.1026, -2.6598, 6.8171, 1.4042, -0.0562, -0.0513, -0.0073, 0.0752, -8.3897, 10.0581, 1.5507, 0.3883, 0.2711, 0.9988]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssiheXw8pASSonpdWZYvERgkCD8XPhjD0f4ePIIaWF8sRGYm-8nAq95FWmicHfXLtp0AY3ovNTBOeAjIiK7a7IAKJDV-0QMYJ3BxBDoUy-CPQJp-kfnKBgPVZKXOdByGSqL8nwvx3Gj2qATBWGOnIWsuR3mq05b8oVWhovE00Q30LTqyzcqQdNXx3rOf730NLHBxoOr7bR5Yy13-fPg-8l1IkEkEjOvzBtX_gutJi1KmZQlKWQA48tokjtYAPEXC588c4vksxuGXs3HENva5Lv0nwkvN0RHodT2orBJ39uK3DvtGHLqYvdACDnaVr3Di7-oV1T5PnTB64invLxnOzC_bn0VmftOtLHMIhOLuMatgF5iKgSJ6t9eCq_NuIvuPbkNTsHeTGS641mToBcv7OKMQxF7sNWA0boRQ19NfSmLxrOgsPHy_6UixNSgrwHDvFjSvSj7FhXTDg1DxV5AbD_eDY6lxA4ZePrxUHocMVCVTJ4z0LS9XiYe_7fyf0qcHN9gFOXg-KGAkG89vMqtIekTi4AnkGQWmmYpz6ZdYdPrM14IafFkb-qamRtH7NzOwIaG7rooR1klemcsGM_Xkr9JTTtEJZEa13auolfJ52E5FCARVTIfTQQZ5JY77BsEAidQvoHkdZD9DAnNOUIHhrRZY8iGL4FgIhoyLQg_clNQXoVvYjkGQWeYiOtv2AoBA2HTAlrYZmeEXwYjRwgEcxMsaa7CQA9OQmoca4iLATqWiM0RKzNbuyRfl6MpanpNvxpQnQ7BNtveJ2RsDG0xAgPGtXG_W1gP1_zkOSO5vUCxupx_4nWrYrQ2SvZ-3U4g020VesNq5s6h5h21R73cQ1suf57-ybKC55elsYELyKqoJ604Wzf5Us4y9wuSRgOC6ChzUjcQcVpRaZj7aSzNe2Dl9-MX1TLKgyIyBwO4rmW7QLuTVrtXHgUJU0VUT8DVa8QjGg7i_DrL-OvW0qweXTJFi3RGJAIec1wlre3h1zEzuhKrQF0w8vPSBTKLwYypzfHPSvQW0it1RoKaiidKpAJamgkvkoiyrMO1zuUzuZ3kh5_Fk4bDhZf-YYiY4Jl_Fiyy_A8X54bo3DdWqfF0OFmAl7VksmQv4a5bwpLKgrfJLc0L74Zxa0gS7iVkORMjGjJtfHdcxeJ15MdU4ZDp5nyRradtmk3fC941gz-WNESOEdJl6eFhkt9fPqWiy6IM6dWkXmSlXAPxJXjam7a0yS2AvUb_xHwy97mQ0zc3sPtugptRLXAhUyt8zsmGSz3t-LPdLiQX2ZHWYWj-iWO72QyZFuG3SNcgucZuKetgl9I7uDyj3uR-mQnH2nQD-LiMDdwn181OXq0fmNFcq2tO4_RuvTw==",
  "id": "rs_067a625f21c9b72c016ab2c89e5d4087d0ba86dfcc7961ce8a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.07},\"note\":\"The pink bowl is aligned within the turquoise rim. I will lower the last couple of centimeters to let it settle into the stack before releasing.\"}",
  "call_id": "call_7sgaXCrdooT3gD6XFwfgFS9R",
  "id": "fc_067a625f21c9b72c016ab2c89fb41487d0b14ff94d5ce05c3f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7sgaXCrdooT3gD6XFwfgFS9R",
  "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]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.6853, 1.861, 1.2049, -0.2535, 0.4099, 0.3416, 0.0494]\nstate[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.4053 right_y=0.245 right_z=0.08 right_yaw=0.132 right_pitch=-0.2384 right_roll=-0.0767 right_gripper=0.0494\nstate[joint_eff]: [-0.1846, -2.441, 6.8171, 1.4335, -0.0659, -0.0513, -0.0122, 0.0889, -8.8, 6.065, 1.453, 0.1832, 0.1197, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be2e194fc10339575bd3d156e3b9fcbc90f6553e9263ad2a19b1145d49aa6e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49c3c32cff3821f793a6225623feb2b60e9c1226325047f836e4c91085575e88",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01105bd757702ddb3cd7cce83b34170b585c611240eb3a5c36711d631c3e6acb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /responses · status 200 · 3.299 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 101 changed as sent

message 101 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, 0.6868, 1.8439, 1.2312, -0.3161, 0.4145, 0.3546, 0.0471]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.192 left_yaw=0.0689 left_pitch=-0.3031 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4024 right_y=0.2426 right_z=0.0889 right_yaw=0.1202 right_pitch=-0.252 right_roll=-0.0812 right_gripper=0.0471\nstate[joint_eff]: [-0.1026, -2.5641, 6.6803, 1.4579, -0.0952, -0.0562, -0.0073, -0.5949, -8.8684, 6.6803, 1.6142, 0.2027, -0.0611, 0.8181]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.65},\"note\":\"The descent has stopped at the nested bowls, indicating the pink bowl is supported. I will open the gripper and leave the three bowls stacked together.\"}",
  "call_id": "call_BX388ui9xmzt0KLGZw1jD2mH",
  "id": "fc_067a625f21c9b72c016ab2c8a4616c87d0b76b3179a6aead92",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BX388ui9xmzt0KLGZw1jD2mH",
  "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]: [-0.0338, 1.0286, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.6853, 1.8668, 1.1889, -0.2569, 0.4068, 0.3439, 0.646]\nstate[eef_state]: left_x=0.2904 left_y=0.0012 left_z=0.1921 left_yaw=0.0689 left_pitch=-0.3028 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4008 right_y=0.242 right_z=0.0709 right_yaw=0.1297 right_pitch=-0.261 right_roll=-0.0866 right_gripper=0.646\nstate[joint_eff]: [-0.1983, -2.4274, 6.6667, 1.3944, -0.0904, -0.0757, -0.0073, 0.0479, -9.1692, 6.1333, 1.4481, 0.2466, 0.0855, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ced1c59d67d5ccdf90c7bb0acffb3abb51ed641c8a13ad06d9cb89c0ec0d1692",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8c0f24e9a18842403c57b7ef969686a22181dfb390f9d65a0603252ee302e7c8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26e4a829a77c4e8c12d1b821a1cfbb517ed01f40328579a84388b3a2582d18c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /responses · status 200 · 4.095 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0414, -0.1463, 0.5962, 0.6853, 1.861, 1.2049, -0.2535, 0.4099, 0.3416, 0.0494]\nstate[eef_state]: left_x=0.2903 left_y=0.0011 left_z=0.192 left_yaw=0.0686 left_pitch=-0.3032 left_roll=-0.0547 left_gripper=0.5962 right_x=0.4053 right_y=0.245 right_z=0.08 right_yaw=0.132 right_pitch=-0.2384 right_roll=-0.0767 right_gripper=0.0494\nstate[joint_eff]: [-0.1846, -2.441, 6.8171, 1.4335, -0.0659, -0.0513, -0.0122, 0.0889, -8.8, 6.065, 1.453, 0.1832, 0.1197, 0.7643]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.2},\"note\":\"The pink bowl remains in place after release. I will lift the gripper vertically clear of the stack before withdrawing for a final overhead check.\"}",
  "call_id": "call_8LviOKdNhAPCHgNyXJBiibKL",
  "id": "fc_067a625f21c9b72c016ab2c8a8c52c87d0b6fb8dd09d201922",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8LviOKdNhAPCHgNyXJBiibKL",
  "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]: [-0.0338, 1.0286, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, 0.6868, 1.7893, 1.5471, -0.7063, 0.4026, 0.3359, 0.6465]\nstate[eef_state]: left_x=0.2903 left_y=0.0012 left_z=0.192 left_yaw=0.0689 left_pitch=-0.3031 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4012 right_y=0.2441 right_z=0.1803 right_yaw=0.137 right_pitch=-0.2748 right_roll=-0.0967 right_gripper=0.6465\nstate[joint_eff]: [-0.1299, -2.4821, 6.6667, 1.4286, -0.0317, -0.0464, -0.0073, -0.4718, -10.3043, 9.894, 1.6288, 0.2271, 0.0317, 0.0317]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33429cc8945e600851f8f108b1ddb646423136a7136a8b3b426c1b8537bd9388",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de87e63eede5253e7c918813861e34c372d3f05ec523af471a1360f40a55ee27",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d77bef53cd889e40687c42229352edf5e4e83bf0934971f7c1c04e49238e2e13",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /responses · status 200 · 8.92 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0286, 0.9607, -0.8082, -0.0418, -0.1463, 0.5962, 0.6853, 1.8668, 1.1889, -0.2569, 0.4068, 0.3439, 0.646]\nstate[eef_state]: left_x=0.2904 left_y=0.0012 left_z=0.1921 left_yaw=0.0689 left_pitch=-0.3028 left_roll=-0.0544 left_gripper=0.5962 right_x=0.4008 right_y=0.242 right_z=0.0709 right_yaw=0.1297 right_pitch=-0.261 right_roll=-0.0866 right_gripper=0.646\nstate[joint_eff]: [-0.1983, -2.4274, 6.6667, 1.3944, -0.0904, -0.0757, -0.0073, 0.0479, -9.1692, 6.1333, 1.4481, 0.2466, 0.0855, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0,\"right_z\":0.2},\"note\":\"The stack stays stable as the gripper lifts away. I will return the right arm to its parked position so all three nested bowls are visible.\"}",
  "call_id": "call_6iyp8kjd5w2wXGzz5jd4DOov",
  "id": "fc_067a625f21c9b72c016ab2c8ad4e0c87d0b87e8c53d0ac9060",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_6iyp8kjd5w2wXGzz5jd4DOov",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0338, 1.0306, 0.9607, -0.8085, -0.0418, -0.1463, 0.5962, -0.0349, 1.0256, 0.9684, -0.7929, -0.0216, -0.1974, 0.6465]\nstate[eef_state]: left_x=0.2905 left_y=0.0012 left_z=0.1915 left_yaw=0.069 left_pitch=-0.305 left_roll=-0.0542 left_gripper=0.5962 right_x=0.294 right_y=-0.0029 right_z=0.1984 right_yaw=0.084 right_pitch=-0.2808 right_roll=-0.1022 right_gripper=0.6465\nstate[joint_eff]: [-0.212, -2.7145, 6.6393, 1.4188, -0.0659, -0.0513, -0.0122, -0.1436, -3.0974, 6.4342, 1.4774, -0.1978, 0.0073, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcceaa487184acbfb59839a7f4e0461c41375db7724a2d13698b2851dd35bfd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bcfc4d82ecb450a061338a7f7381a9ed43022283ac371d02b213eb48d355a0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:177e185ee94e2b0cf8f03e487b5dbf9c0603db502a2dd0fa390b46607acbfc9f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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