adhoc

completed
2026-09-22T18:12:29.625385+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
268.7 s
total steps
228
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteI see three upright bowls arranged across the table. I’m moving the left gripper above the leftmost bowl to line up a rim grasp.
move_to
left_x0.4000left_y-0.1300left_z0.1500left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3809, -0.0223, -0.041, 0.9994, -0.0216, 0.7929, 0.6025, -0.3817, -0.0154, -0.033, 0.9966] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2943 right_y=-0.0 right_z=0.1792 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9966 state[joint_eff]: [-0.5128, -1.6205, 10.0991, 1.7851, -0.022, 0.2466, -0.0757, -0.4444, -1.3197, 10.2222, 1.9316, -0.0806, 0.1929, -0.3639] 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":0.4,"left_y":-0.13,"left_z":0.15,"left_gripper":1,"right_x":0.294,"right_y":0,"right_z":0.18},"note":"I see three upright bowls arranged across the table. I’m moving the left gripper above the leftmost bowl to line up a rim grasp."})
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 left bowl is visible just ahead of the fingertips, with its right rim near the gripper’s closing line. I’m advancing slightly and lowering to straddle that rim.
move_to
left_x0.4350left_y-0.1300left_z0.0650
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4843, 1.4425, 0.823, -0.0814, -0.3889, -0.3035, 0.9994, -0.0216, 0.7967, 0.6052, -0.3927, -0.0151, -0.0299, 0.9964] state[eef_state]: left_x=0.3861 left_y=-0.1234 left_z=0.13 left_yaw=-0.0171 left_pitch=-0.0688 left_roll=0.0258 left_gripper=0.9994 right_x=0.2934 right_y=-0.0001 right_z=0.1771 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.294, -6.9128, 8.7726, 1.8437, -0.1636, 0.0806, -0.0757, -0.0752, -1.6342, 7.0085, 1.7705, -0.0464, -0.0171, -0.0366] 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":0.435,"left_y":-0.13,"left_z":0.065},"note":"The left bowl is visible just ahead of the fingertips, with its right rim near the gripper’s closing line. I’m advancing slightly and lowering to straddle that rim."})
tool
executing move_to over 5 steps (0.5s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe fingertips are at bowl-rim height, with one jaw inside and the other outside the right edge. I’m closing the gripper to secure that edge.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4362, 1.739, 0.8303, 0.1379, -0.3607, -0.2878, 0.9993, -0.0216, 0.7994, 0.6041, -0.3969, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4185 left_y=-0.1224 left_z=0.0521 left_yaw=0.0029 left_pitch=-0.1403 left_roll=0.0516 left_gripper=0.9993 right_x=0.2928 right_y=-0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9964 state[joint_eff]: [0.4855, -8.5128, 7.6376, 1.7216, -0.0904, 0.188, -0.0171, -0.1436, -1.4564, 7.3504, 1.7411, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingertips are at bowl-rim height, with one jaw inside and the other outside the right edge. I’m closing the gripper to secure that edge."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe gripper has closed almost completely, so the rim grasp is uncertain. I’m lifting a few centimetres to check whether the bowl comes with it.
move_to
left_z0.1150
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4355, 1.7596, 0.831, 0.1421, -0.3676, -0.2859, 0.0192, -0.0216, 0.7998, 0.6037, -0.4118, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4185 left_y=-0.1207 left_z=0.0449 left_yaw=0.0092 left_pitch=-0.1525 left_roll=0.0643 left_gripper=0.0192 right_x=0.2907 right_y=-0.0 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9964 state[joint_eff]: [-0.1983, -9.3744, 6.1607, 1.5018, -0.188, -0.0562, 0.735, -0.0068, -1.2923, 7.0222, 1.8584, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.115},"note":"The gripper has closed almost completely, so the rim grasp is uncertain. I’m lifting a few centimetres to check whether the bowl comes with it."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe bowl did not clearly rise, and the nearly empty gripper reading suggests I missed the rim. I’m opening and shifting slightly forward and left to place the rim farther between the jaws.
move_to
left_gripper1.0000left_x0.4500left_y-0.1050left_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4355, 1.6474, 0.9428, -0.1059, -0.3672, -0.2893, 0.0245, -0.0216, 0.8024, 0.6003, -0.4152, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4161 left_y=-0.1197 left_z=0.0921 left_yaw=0.0124 left_pitch=-0.1741 left_roll=0.0719 left_gripper=0.0245 right_x=0.2899 right_y=0.0 right_z=0.1687 right_yaw=0.0001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9964 state[joint_eff]: [-0.1573, -9.5521, 8.8821, 1.3797, -0.1587, 0.0122, 1.0281, -0.0889, -1.4974, 7.2821, 1.7118, -0.0317, -0.0611, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1,"left_x":0.45,"left_y":-0.105,"left_z":0.09},"note":"The bowl did not clearly rise, and the nearly empty gripper reading suggests I missed the rim. I’m opening and shifting slightly forward and left to place the rim farther between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe bowl is now centered more deeply between the open fingers. I’m lowering just enough for the jaws to engage its side below the lip.
move_to
left_z0.0450
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3588, 1.7351, 1.005, -0.1093, -0.3214, -0.2504, 0.9953, -0.0216, 0.8043, 0.5999, -0.4156, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4371 left_y=-0.1005 left_z=0.077 left_yaw=0.0329 left_pitch=-0.2161 left_roll=0.0813 left_gripper=0.9953 right_x=0.2899 right_y=0.0 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9964 state[joint_eff]: [0.4034, -7.706, 9.0188, 1.6728, -0.149, 0.1783, -0.149, -0.0615, -1.388, 7.0496, 1.7021, -0.0611, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.045},"note":"The bowl is now centered more deeply between the open fingers. I’m lowering just enough for the jaws to engage its side below the lip."})
tool
executing move_to over 3 steps (0.3s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe fingers remain aligned around the bowl’s near side at a low grasp height. I’m closing for the second grasp attempt.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3573, 1.784, 0.9565, -0.0284, -0.3218, -0.2516, 0.9957, -0.0216, 0.8043, 0.5999, -0.4164, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4346 left_y=-0.0988 left_z=0.0509 left_yaw=0.0368 left_pitch=-0.2311 left_roll=0.0872 left_gripper=0.9957 right_x=0.2898 right_y=0.0 right_z=0.1678 right_yaw=0.0001 right_pitch=-0.0492 right_roll=0.0002 right_gripper=0.9964 state[joint_eff]: [-0.1983, -8.212, 5.7368, 1.8339, -0.1441, -0.0171, 0.022, -0.253, -1.2513, 7.0085, 1.7118, -0.0806, -0.0171, -0.0171] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The fingers remain aligned around the bowl’s near side at a low grasp height. I’m closing for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe second close appears to have pushed the bowl sideways rather than secured it. I’m lifting and moving clear so I can relocate it in the overhead view before trying a different grasp.
move_to
left_z0.1800left_x0.3200left_y0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.358, 1.8023, 0.9394, -0.0296, -0.3367, -0.2508, 0.0218, -0.0216, 0.8043, 0.5961, -0.4191, -0.0151, -0.0338, 0.9964] state[eef_state]: left_x=0.4283 left_y=-0.0941 left_z=0.0376 left_yaw=0.0514 left_pitch=-0.2604 left_roll=0.1133 left_gripper=0.0218 right_x=0.2889 right_y=0.0 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9964 state[joint_eff]: [-0.1299, -9.5795, 7.6513, 1.4139, -0.0024, 0.0122, 0.9695, -0.0889, -1.1419, 7.3231, 1.7167, -0.0513, 0.0073, -0.0171] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.18,"left_x":0.32,"left_y":0,"left_gripper":1},"note":"The second close appears to have pushed the bowl sideways rather than secured it. I’m lifting and moving clear so I can relocate it in the overhead view before trying a different grasp."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe left bowl has shifted toward the outer edge but remains reachable. I’m approaching its center with the jaws spanning the narrower sides, and tipping the tool slightly forward to improve the low-height alignment.
move_to
left_x0.4200left_y-0.0250left_z0.0700left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.1219, 1.1469, 0.8761, -0.5739, -0.2035, -0.0937, 0.9944, -0.0216, 0.8093, 0.5949, -0.4225, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.3273 left_y=-0.0005 left_z=0.1633 left_yaw=0.0847 left_pitch=-0.2562 left_roll=0.1081 left_gripper=0.9944 right_x=0.2885 right_y=0.0 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0652 right_roll=0.0006 right_gripper=0.9964 state[joint_eff]: [0.2803, -4.3419, 10.3043, 1.5165, 0.0415, 0.1832, -0.022, -0.0889, -1.2376, 7.1043, 1.6874, -0.0513, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.42,"left_y":-0.025,"left_z":0.07,"left_pitch":0.2},"note":"The left bowl has shifted toward the outer edge but remains reachable. I’m approaching its center with the jaws spanning the narrower sides, and tipping the tool slightly forward to improve the low-height alignment."})
tool
executing move_to over 16 steps (1.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe bowl is now centered between both jaws, which sit along its opposite sides. I’m closing to grasp the bowl around its narrower cross-section.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2028, 1.7069, 0.4885, 0.7105, -0.3237, -0.0708, 0.9949, -0.0216, 0.8116, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4082 left_y=-0.0229 left_z=0.049 left_yaw=0.0856 left_pitch=0.0869 left_roll=0.1172 left_gripper=0.9949 right_x=0.2885 right_y=0.0 right_z=0.1621 right_yaw=0.0001 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9964 state[joint_eff]: [-0.4034, -7.0359, 4.506, 2.1465, -0.2515, 0.1197, 0.0415, -0.1846, -1.4838, 7.0496, 1.6728, -0.0611, -0.0562, -0.0171] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0},"note":"The bowl is now centered between both jaws, which sit along its opposite sides. I’m closing to grasp the bowl around its narrower cross-section."})
tool
executing move_to over 10 steps (1.0s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe jaws closed inside the bowl rather than on its walls. I’m lifting and turning the gripper so it can pinch the far rim from front to back instead.
move_to
left_z0.1400left_gripper1.0000left_yaw1.5700left_x0.4500left_pitch0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.2031, 1.7245, 0.485, 0.7136, -0.3309, -0.0742, 0.009, -0.0216, 0.812, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4062 left_y=-0.0214 left_z=0.0419 left_yaw=0.0927 left_pitch=0.071 left_roll=0.1227 left_gripper=0.009 right_x=0.2885 right_y=0.0 right_z=0.162 right_yaw=0.0001 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9964 state[joint_eff]: [-0.294, -7.9385, 4.8752, 1.7118, -0.0171, 0.0073, 0.6618, -0.0889, -1.3333, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.14,"left_gripper":1,"left_yaw":1.57,"left_x":0.45,"left_pitch":0.2},"note":"The jaws closed inside the bowl rather than on its walls. I’m lifting and turning the gripper so it can pinch the far rim from front to back instead."})
tool
executing move_to over 10 steps (1.0s)
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 wrist turn caused a large position error at this extended reach. I’m drawing the arm back and raising it to regain a stable pose clear of the bowl.
move_to
left_x0.3800left_y-0.0250left_z0.2100left_yaw0.8000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3019, 2.4485, 1.8694, -0.8562, -1.095, -1.6413, 0.9941, -0.0216, 0.8173, 0.5945, -0.4339, -0.0151, -0.0345, 0.9964] state[eef_state]: left_x=0.5072 left_y=0.0102 left_z=0.0474 left_yaw=1.2982 left_pitch=0.092 left_roll=-0.1747 left_gripper=0.9941 right_x=0.2872 right_y=0.0001 right_z=0.1585 right_yaw=0.0004 right_pitch=-0.0851 right_roll=0.0007 right_gripper=0.9964 state[joint_eff]: [1.6205, -15.0222, 5.8735, 0.3883, -0.6618, -0.0415, 0.0904, -0.212, -1.4564, 7.1043, 1.746, -0.0611, -0.0708, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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":-0.025,"left_z":0.21,"left_yaw":0.8,"left_pitch":0,"left_roll":0},"note":"The wrist turn caused a large position error at this extended reach. I’m drawing the arm back and raising it to regain a stable pose clear of the bowl."})
tool
executing move_to over 11 steps (1.1s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe left arm is still not tracking the recovery target well, so I’m returning it toward its original orientation and home region. Meanwhile, the right arm can approach the unobstructed pink bowl.
move_to
left_x0.3000left_y0.0000left_z0.2400left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3700right_y0.1200right_z0.1600
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.3496, 2.3783, 1.9076, -1.174, -1.1175, -1.7161, 0.9949, -0.0216, 0.8181, 0.5945, -0.4419, -0.0151, -0.0341, 0.9964] state[eef_state]: left_x=0.4739 left_y=0.0001 left_z=0.09 left_yaw=1.2697 left_pitch=0.1191 left_roll=-0.0323 left_gripper=0.9949 right_x=0.286 right_y=0.0001 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0012 right_gripper=0.9964 state[joint_eff]: [-0.1983, -14.9675, 6.8034, 0.0171, -0.8132, 0.2222, 0.0659, -0.0752, -1.2923, 6.9812, 1.7363, -0.0464, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.24,"left_yaw":0,"left_pitch":0,"left_roll":0,"right_x":0.37,"right_y":0.12,"right_z":0.16},"note":"The left arm is still not tracking the recovery target well, so I’m returning it toward its original orientation and home region. Meanwhile, the right arm can approach the unobstructed pink bowl."})
tool
executing move_to over 14 steps (1.4s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe pink bowl is clearly visible ahead of the right fingertips. I’m moving forward and down, offset toward its right wall for a rim pinch while keeping the left arm parked.
move_to
right_x0.4250right_y0.1000right_z0.0650right_pitch0.1500left_x0.2950left_y0.0000left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0597, 0.8825, 0.8215, -0.5053, -0.1909, -0.1715, 0.9949, 0.4599, 1.3369, 0.8463, -0.3038, 0.3275, 0.2451, 0.9964] state[eef_state]: left_x=0.3078 left_y=0.0188 left_z=0.2304 left_yaw=0.1716 left_pitch=0.0163 left_roll=-0.0211 left_gripper=0.9949 right_x=0.3548 right_y=0.1163 right_z=0.1371 right_yaw=0.038 right_pitch=-0.1707 right_roll=-0.0353 right_gripper=0.9964 state[joint_eff]: [0.2393, -1.9487, 10.0718, 1.956, -0.0171, 0.1783, -0.0073, 0.3214, -5.4359, 9.4427, 1.8339, 0.315, 0.2955, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.10,"right_z":0.065,"right_pitch":0.15,"left_x":0.295,"left_y":0,"left_z":0.2,"left_yaw":0},"note":"The pink bowl is clearly visible ahead of the right fingertips. I’m moving forward and down, offset toward its right wall for a rim pinch while keeping the left arm parked."})
tool
executing move_to over 11 steps (1.1s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteThe pink bowl’s sides are wider at the lip than the jaw opening. I’m lowering toward its narrower base so the fingers can get purchase below the rim.
move_to
right_z0.0050
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0246, 0.8051, 0.6769, -0.4587, -0.0364, -0.0853, 0.9949, 0.3485, 1.742, 0.5819, 0.6003, 0.2985, 0.0879, 0.9963] state[eef_state]: left_x=0.2933 left_y=0.0028 left_z=0.1941 left_yaw=0.0305 left_pitch=-0.0154 left_roll=-0.0289 left_gripper=0.9949 right_x=0.4117 right_y=0.0981 right_z=0.0448 right_yaw=0.0417 right_pitch=0.0379 right_roll=-0.0612 right_gripper=0.9963 state[joint_eff]: [0.3077, -1.9214, 7.1179, 1.9414, 0.1001, 0.149, -0.0122, -0.4034, -7.5282, 4.8205, 2.0293, 0.0904, 0.0122, -0.0171] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.005},"note":"The pink bowl’s sides are wider at the lip than the jaw opening. I’m lowering toward its narrower base so the fingers can get purchase below the rim."})
tool
executing move_to over 3 steps (0.3s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteThe descent has stopped against the bowl or table without reaching the requested height. I’m closing at this contact height rather than pressing farther down.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8082, 0.6701, -0.4595, -0.0273, -0.0784, 0.9949, 0.3466, 1.8648, 0.569, 0.844, 0.3061, 0.0837, 0.996] state[eef_state]: left_x=0.2927 left_y=0.0013 left_z=0.19 left_yaw=0.0195 left_pitch=-0.0263 left_roll=-0.0278 left_gripper=0.9949 right_x=0.4265 right_y=0.1012 right_z=0.0412 right_yaw=0.0327 right_pitch=0.1417 right_roll=-0.0354 right_gripper=0.996 state[joint_eff]: [-0.0889, -0.9504, 7.5419, 1.6972, -0.1148, -0.105, -0.0122, -0.1846, -4.465, 3.412, 0.2564, -0.022, -0.0562, -0.0464] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent has stopped against the bowl or table without reaching the requested height. I’m closing at this contact height rather than pressing farther down."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe close was empty, with the bowl still ahead of the fingertips. I’m opening and advancing to bring the near wall into the gripper rather than closing short of it.
move_to
right_gripper1.0000right_x0.4800right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8097, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.3466, 1.9034, 0.5537, 0.8352, 0.2981, 0.0853, 0.008] state[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1895 left_yaw=0.0185 left_pitch=-0.0278 left_roll=-0.0284 left_gripper=0.995 right_x=0.4177 right_y=0.0995 right_z=0.0183 right_yaw=0.0407 right_pitch=0.081 right_roll=-0.0497 right_gripper=0.008 state[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.6874, -0.0708, -0.0464, -0.0122, 0.0752, -6.4205, 3.9043, 1.5214, 0.0855, 0.0171, 0.6032] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.48,"right_z":0.09},"note":"The close was empty, with the bowl still ahead of the fingertips. I’m opening and advancing to bring the near wall into the gripper rather than closing short of it."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe bowl rim now reaches the fingers, with the jaws on opposite sides. I’m lowering slightly and closing to secure it.
move_to
right_z0.0450right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8104, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.2909, 1.85, 0.8383, 0.4538, 0.2443, 0.0456, 0.9953] state[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1893 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4697 right_y=0.0998 right_z=0.0622 right_yaw=0.0519 right_pitch=0.0304 right_roll=-0.0694 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.388, 7.159, 1.707, -0.0659, -0.0464, -0.0171, -0.6769, -11.7402, 8.0205, 1.8877, 0.0122, 0.0904, -0.0708] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.045,"right_gripper":0},"note":"The bowl rim now reaches the fingers, with the jaws on opposite sides. I’m lowering slightly and closing to secure it."})
tool
executing move_to over 10 steps (1.0s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe gripper is now reaching the bowl but is closing within its opening. I’m raising and shifting sideways by five centimetres so the next close pinches a single wall.
move_to
right_z0.1050right_y0.1500right_gripper0.8000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.2878, 1.8946, 0.8196, 0.498, 0.242, 0.041, 0.0085] state[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4674 right_y=0.0979 right_z=0.0437 right_yaw=0.0533 right_pitch=0.0113 right_roll=-0.0766 right_gripper=0.0085 state[joint_eff]: [-0.0889, -1.3197, 6.9812, 1.7167, -0.0562, -0.0415, -0.0171, 0.1026, -7.7333, 5.2171, 1.9951, 0.1392, 0.0024, 0.5788] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.105,"right_y":0.15,"right_gripper":0.8},"note":"The gripper is now reaching the bowl but is closing within its opening. I’m raising and shifting sideways by five centimetres so the next close pinches a single wall."})
tool
executing move_to over 8 steps (0.8s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe left wall of the pink bowl now lies between the jaws, rather than the empty center. I’m lowering onto that wall before closing.
move_to
right_z0.0500
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.4252, 1.8347, 0.9627, 0.2169, 0.3283, 0.0956, 0.795] state[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4599 right_y=0.1496 right_z=0.0734 right_yaw=0.0896 right_pitch=-0.0469 right_roll=-0.101 right_gripper=0.795 state[joint_eff]: [-0.0342, -1.265, 7.2684, 1.6825, -0.0415, -0.0562, -0.0171, 0.1709, -12.4239, 8.8, 1.7656, 0.2955, 0.149, -0.0317] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.05},"note":"The left wall of the pink bowl now lies between the jaws, rather than the empty center. I’m lowering onto that wall before closing."})
tool
executing move_to over 2 steps (0.2s)
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 arm has settled against the rim at about seven centimetres high. I’m closing gently around this single wall.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8146, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.4305, 1.8469, 0.9558, 0.2386, 0.3313, 0.1009, 0.7959] state[eef_state]: left_x=0.2932 left_y=0.0011 left_z=0.1881 left_yaw=0.0185 left_pitch=-0.0332 left_roll=-0.0282 left_gripper=0.995 right_x=0.4597 right_y=0.1518 right_z=0.0693 right_yaw=0.0896 right_pitch=-0.0435 right_roll=-0.0975 right_gripper=0.7959 state[joint_eff]: [-0.0068, -1.6068, 7.0222, 1.6728, -0.0464, -0.0708, -0.0171, -0.5949, -6.612, 4.6291, 1.4432, 0.0611, -0.0269, 0.0806] approver: 1 step(s) modified (delta_clamped). 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_gripper":0},"note":"The arm has settled against the rim at about seven centimetres high. I’m closing gently around this single wall."})
tool
executing move_to over 8 steps (0.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe closed fingertips sit just outside the pink bowl’s wall. I’m opening and shifting about two centimetres toward the bowl to capture that wall.
move_to
right_gripper0.6000right_y0.1280right_z0.0800right_x0.4900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.4301, 1.8717, 0.9287, 0.2359, 0.3271, 0.0937, 0.0086] state[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4505 right_y=0.1482 right_z=0.0471 right_yaw=0.0953 right_pitch=-0.0963 right_roll=-0.119 right_gripper=0.0086 state[joint_eff]: [-0.3487, -1.5521, 6.9812, 1.6874, -0.0366, -0.0415, -0.0171, 0.0068, -11.0701, 8.4308, 1.6532, 0.1099, 0.0415, 0.5641] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.6,"right_y":0.128,"right_z":0.08,"right_x":0.49},"note":"The closed fingertips sit just outside the pink bowl’s wall. I’m opening and shifting about two centimetres toward the bowl to capture that wall."})
tool
executing move_to over 6 steps (0.6s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteThe rim is now directly under the right finger’s path. I’m making a shallow descent and pinching it.
move_to
right_z0.0350right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.3466, 1.8782, 1.066, 0.1028, 0.2615, 0.0311, 0.5952] state[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1874 left_yaw=0.0185 left_pitch=-0.0358 left_roll=-0.0281 left_gripper=0.995 right_x=0.4796 right_y=0.1285 right_z=0.0704 right_yaw=0.0996 right_pitch=-0.115 right_roll=-0.1276 right_gripper=0.5952 state[joint_eff]: [0.0205, -1.265, 7.0906, 1.7167, -0.0562, -0.0562, -0.0073, -0.6085, -8.3487, 8.9368, 1.5849, 0.1001, 0.0024, -0.1538] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.035,"right_gripper":0},"note":"The rim is now directly under the right finger’s path. I’m making a shallow descent and pinching it."})
tool
executing move_to over 6 steps (0.6s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe overhead view shows the gripper still to the left of the pink bowl’s center. I’m moving right by three centimetres while lifting, to put the wall securely between the fingers.
move_to
right_gripper0.7000right_y0.0950right_z0.0900
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.3447, 1.9495, 1.018, 0.2001, 0.2527, 0.0254, 0.0075] state[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4763 right_y=0.1279 right_z=0.0355 right_yaw=0.1074 right_pitch=-0.1383 right_roll=-0.1317 right_gripper=0.0075 state[joint_eff]: [-0.0615, -1.347, 7.0496, 1.7509, -0.0366, -0.0317, -0.0171, 0.1162, -8.759, 5.6274, 1.8339, 0.1734, 0.0757, 0.5836] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.7,"right_y":0.095,"right_z":0.09},"note":"The overhead view shows the gripper still to the left of the pink bowl’s center. I’m moving right by three centimetres while lifting, to put the wall securely between the fingers."})
tool
executing move_to over 7 steps (0.7s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
assistant
agent noteThe inner jaw now overlaps the bowl’s left rim. I’m closing at the rim height and will check the grip before transporting it.
move_to
right_z0.0400right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0261, -0.078, 0.995, 0.2665, 1.8378, 1.0225, 0.0284, 0.1928, -0.0345, 0.6951] state[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1875 left_yaw=0.0183 left_pitch=-0.0355 left_roll=-0.0278 left_gripper=0.995 right_x=0.4646 right_y=0.0954 right_z=0.0572 right_yaw=0.1104 right_pitch=-0.2053 right_roll=-0.1465 right_gripper=0.6951 state[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7509, -0.022, -0.022, -0.0073, -0.7179, -12.1368, 9.4838, 1.663, 0.0708, 0.0855, -0.0562] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.04,"right_gripper":0},"note":"The inner jaw now overlaps the bowl’s left rim. I’m closing at the rim height and will check the grip before transporting it."})
tool
executing move_to over 7 steps (0.7s)
step 214
assistant
agent noteThe rim continues to slip away and the gripper readings confirm no secure grasp. I’m lifting and parking both arms clear of the bowls rather than risking tipping them with further attempts.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0242, 0.8181, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.2642, 1.8656, 0.9966, 0.0631, 0.1925, -0.0422, 0.0083] state[eef_state]: left_x=0.2935 left_y=0.0011 left_z=0.1872 left_yaw=0.0185 left_pitch=-0.0362 left_roll=-0.028 left_gripper=0.995 right_x=0.461 right_y=0.0934 right_z=0.0407 right_yaw=0.112 right_pitch=-0.2248 right_roll=-0.1547 right_gripper=0.0083 state[joint_eff]: [-0.0615, -1.0735, 7.0222, 1.7118, -0.0366, -0.0757, -0.0171, -0.1709, -7.7744, 5.8735, 1.8242, 0.1099, 0.0464, 0.6081] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_yaw":0,"right_pitch":0,"right_roll":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.2},"note":"The rim continues to slip away and the gripper readings confirm no secure grasp. I’m lifting and parking both arms clear of the bowls rather than risking tipping them with further attempts."})
tool
executing move_to over 13 steps (1.3s)
step 227
assistant
agent noteI could not obtain a secure grasp: repeated approaches closed empty or slid the bowls sideways. All three bowls remain upright and unstacked, and both arms have been moved clear.
give_up
hindsightThese tapered bowls repeatedly slid sideways under off-center side grasps; none of the near-zero gripper readings represented a secure hold. Avoid repeating these side-pinching approaches without a better rim alignment. A large left-wrist yaw change at extended reach produced severe position tracking error; returning toward x=0.30, yaw=0 restored tracking. Check actual tool pitch as well as position, since pitch drift became substantial during repeated low approaches.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0261, 0.8326, 0.683, -0.4995, -0.0265, -0.0784, 0.995, -0.0051, 0.8551, 0.6727, -0.3752, 0.0246, -0.0311, 0.996] state[eef_state]: left_x=0.2903 left_y=0.0007 left_z=0.1812 left_yaw=0.0171 left_pitch=-0.0778 left_roll=-0.026 left_gripper=0.995 right_x=0.3081 right_y=-0.0023 right_z=0.1955 right_yaw=-0.0185 right_pitch=0.014 right_roll=-0.0196 right_gripper=0.996 state[joint_eff]: [-0.4991, -1.2239, 10.7009, 1.6777, -0.1001, -0.1099, -0.0171, -0.212, -1.0735, 8.8, 1.7949, -0.0952, -0.0366, -0.2418] 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
give_up({"reason":"I could not obtain a secure grasp: repeated approaches closed empty or slid the bowls sideways. All three bowls remain upright and unstacked, and both arms have been moved clear.","hindsight":"These tapered bowls repeatedly slid sideways under off-center side grasps; none of the near-zero gripper readings represented a secure hold. Avoid repeating these side-pinching approaches without a better rim alignment. A large left-wrist yaw change at extended reach produced severe position tracking error; returning toward x=0.30, yaw=0 restored tracking. Check actual tool pitch as well as position, since pitch drift became substantial during repeated low approaches."})
tool
give_up: I could not obtain a secure grasp: repeated approaches closed empty or slid the bowls sideways. All three bowls remain upright and unstacked, and both arms have been moved 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 · 9.936 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Stack the bowls on the table.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3809, -0.0223, -0.041, 0.9994, -0.0216, 0.7929, 0.6025, -0.3817, -0.0154, -0.033, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2943 right_y=-0.0 right_z=0.1792 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -1.6205, 10.0991, 1.7851, -0.022, 0.2466, -0.0757, -0.4444, -1.3197, 10.2222, 1.9316, -0.0806, 0.1929, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a731ba4993af2578398bb2068fcc6d0b8ce48f7ed7737eeb982bea4a61e375d6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d474ccd354a5aabf6ed0c5b402f48a78498190f2621fb2c4646109b7c2d496d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:496be77543391ec18222e412b059364ebd9a55e28b2916dc63b4c433909d22ec",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /responses · status 200 · 12.29 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssUkV-Bud71yRaM0Mo-QJX7WEEFzYyOwH0MhPLTX8HSTk591kZr-36hE0Y2IzppcA7FyRiUnDTiaysF2ckpR6gTJPhu2f1-l-oLEpgLXeCaZ2RWQFt0KEsRP5YhUp46Ix6bWf-DjcLWegGULysAMZ8XzBA4nAXColFv6dJpSEencgT9fnvrtK_Pmnn6U2fTSS4ECFujfFDt9fPy-x8PKh6GryYEwGBoAGGwOW2fJZqQ9IR03mfcfjY7Rdwi76ozqVm5nUzbUn_-GED3kf1Oxre0_Xr9qFuB4nBg7iCMNSimsfZiWkvERqm8yqZ1CxXz-MwbB9T_q7Xdh-PEsN1lakOLz5NIC83TfrNB04w8GYKTYiKGyCebL7RffUQTLBcpgaYBJxkWCOrnsut4p2X6dN1xKAOuRz-M9QNFfk4Efgj7cvF0G35DTtNuzDEaztWRPZJ-xh49p1XA_NBtCR623IoYlhKdEqFSKlEwKrT0iutSSGdlaoBcfCSYdrGPc8LGyzK_kQQarkhIj-V7BYDwOdJjOATe8exXrJ9pYSujCj1KGPhigDHSWMGtejh-0ZbXDUmyukCyLWPMqqsB2SD1tAMTglorxoVaLQVMh4ZSsaX3QD2CTNsG_wSsyaxalN2yDex-G3DypHPprNx4HJG7gqiO0qiqj3U4_KPL9qbDLpXALjpKGLMu4JzIY4rq-DBdvdUwjwAJ5p6fk8cX-gbUPeCuBzQkcemgRYjZx1Gt_63IEqVMEzYE1wdT57PX8Tflo9u3X5EhsdUe3xZuLXLTmtskux1lOwGbn2zRmexr20hzCmnZZQOT4xNZ65bnPHCu-nzVyhG29k-MqUysmSg1KcF-FvwjoJhdSyY7ttcUpcs6xy7hgSaTvsiPvgkeDj40y4QdmdRrrDsWibhz1XVY0yYh97P6E9FuOrEbxgYOxlvMmnw5uKWDleDTPSMtM9ig1xh7JJDQ9w7RRWEJ8dJfOa1n85Ny6l1Z2xfEC2s5H_DwDNrJl4z59eTQlwKFbOd8ssXShjrIr3chlD7fw3wg_QUov9PsI6ZL4fZk7RF_f-sfYugAhj3L3DWJtDRvIFT3ApP6bSu0p57HsHS6JrQQgzZD8ds8v9y7ySxTZtu6kKIq5ckvAjJEqlJLfGRYH9dtG0jOon7BeFSGX2028dhOX4kJQIXIW3GDJuJKFCaE0SOrZJ5slcCa6aDjbUPRCM0r3RUhZd1dcp0CfGbYlgV04ayts-rLBKmYoYOXriS-obiZizFhOWZfOWKinJnbX8SQaBRGMmhtSGxD5atZJWAQnu7fbBiz6KYQIjMEgIVKQbdjeOVXMIMlSl4GTucEB5XKa2Z3-TetxKfO9Cs-z-T6tL53DTSeTmCB0B3hS-ozJglRKT12VoF2FBN5dgp8VIQC6sBOJ8OpsoXWtPofhDdM1cb5IINYEKrCxhGzZd4s_S_zAUgDd3pJVWp9GLmh6m61EfFlHUqRH9DAokOxUjF-8joT3pzoYEManOGG3NKDeuSgV6VukeG_mSxsHqqvjR0KXFgXMAU6zlFKg_RBQ_f5TTve0xUcDddRG9fl94G3yGOzx972QkPsgmizxQ9UEx4Ep0Ay805pPOvCfDdkKg7gCIO7D4TJDRS2V9ozGIZsyXuPlGzqVtlUpE7RvxR6gA6m1DS-aDJ7Oyj9JEfKN6KFIJWCYJGjtnv61pDKE98aP6e0V0TlGBVdo27l0UEcoa55J3PqfuKaO7xXsasW1rrF1Fn1XUi-cUb54rhOBexncOMKd-8qQaS69GRR_D85vqWsR1pGH",
  "id": "rs_039c5ba691a2a084016ab2c51c646487d0a53fe1a6d3e61496",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.13,\"left_z\":0.15,\"left_gripper\":1,\"right_x\":0.294,\"right_y\":0,\"right_z\":0.18},\"note\":\"I see three upright bowls arranged across the table. I’m moving the left gripper above the leftmost bowl to line up a rim grasp.\"}",
  "call_id": "call_Y2XLYCvgo8F6y5LfqdAiFtn1",
  "id": "fc_039c5ba691a2a084016ab2c521b9a087d0aa2ffe03a2770cb3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Y2XLYCvgo8F6y5LfqdAiFtn1",
  "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]: [-0.4843, 1.4425, 0.823, -0.0814, -0.3889, -0.3035, 0.9994, -0.0216, 0.7967, 0.6052, -0.3927, -0.0151, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3861 left_y=-0.1234 left_z=0.13 left_yaw=-0.0171 left_pitch=-0.0688 left_roll=0.0258 left_gripper=0.9994 right_x=0.2934 right_y=-0.0001 right_z=0.1771 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -6.9128, 8.7726, 1.8437, -0.1636, 0.0806, -0.0757, -0.0752, -1.6342, 7.0085, 1.7705, -0.0464, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:beac7e2af2e162b23c3bea5d56f51088eec6759916af5c06fcee330b393614d2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:22ba7a75666fbd635e2b4005c95f0ed61d02bd13ce3de443e638dbcd6363ea7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93b55f563939e68a1abddc7f83196e468326175bdd6799900e10c8c3e92c5a02",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /responses · status 200 · 5.396 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7956, 0.6052, -0.3809, -0.0223, -0.041, 0.9994, -0.0216, 0.7929, 0.6025, -0.3817, -0.0154, -0.033, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9994 right_x=0.2943 right_y=-0.0 right_z=0.1792 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -1.6205, 10.0991, 1.7851, -0.022, 0.2466, -0.0757, -0.4444, -1.3197, 10.2222, 1.9316, -0.0806, 0.1929, -0.3639]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssUxF1WUX-oZKWFwF0VZYegYYsjNEsBCfxFKLh9lDk4NAJbVOThlSCpFEJ3O-aF1g8INUgYsoUmwdD95ldOy83AOn-7p14rbq9jnqEBLshPhpUHL0S_7CBBdl59tbOMZSJ_m6igNtAwo0incNcbCevGDV5Q6R7OIosApF2kpmjnJ_aLpeiqJ1fYP6fd9RQE6uxJdx-XMCHh50ZXMH2wzrj1xNzOezqUVcdq_kQ6eg_Xhr-Wzq0Ezkwwlt0lKpHHMux19I6O3AgQk_7EiIcJpMDpkz4Tkkvj1B2TBVXeyCIsq2oj5YXB-KmwHT1xvkKEtFeZg67VowTxCKv2or9MoZUcjM3nN0fZp0PS6PLbXPSjARgseGT9Xi0-LTeS-bZ3MN7uh2jyfTVDhNBN5U9YeqnW9jImUinvN2TjPfXvFku_Lw39qRTx6wr9lkfWhC17At_pyaDhZCp8wp8ifREiQzwvmscFPffDALhT3yTXPDE2-y9mflFD0-Hx4AcB2kLwGRYyHb6aVxeqKTPYtGMAtEVGiGVGWHKacXN199lvHi_yM-uMAbJvCdXGwRPwZP7H8WQR22RoBr9poFZLJUWPeYK3p3ERdOJSVgbkkZfBuonYPkV86Dk3A_weQ4vPWsxn8DtgGwXITTFNEzVcoNBtG-_qzhXvPyDr8jhrw7S2OW9Sg3v5DFuA1EatX-A5A-S6XQ6OChXgyjDz1IVL5Sf5c5H2l97o9rD-sXrNztbSCnU3kzNUzLgWTxCL5q9T1rrl8sB6PZy_BmTTnewhTUx-ma43YXQZ6H3AFujQpA82V9X25JBheE0qEoCfkng8xv-WYgCU0LXyq6BErkEXUB7EwGpOVpQubaHX2Zn-bJS719qgURPxdfmxu_2JXNn2zloi5o7JHRF9ncjLY1Q9DQMc9Jg-x--aaH74GsJWpjcV8mX83YfOnp_HL08KjztoRCv3e9DjajFIzmYkqJBAQ7dzGiLtAspPwun1012VsufP9QU4R-NjwcR4hKjGFOGTkTLWKBzHb_lHh_vHT4IwdX4J0KFjQKyeEkKtwK76ABcvexMfD9OMLJp6zSQ0TJfRd-GQ5bGg8YSje5Eqks_sJ_kPGY8xs52EwIWJL3ba2S4OjVH3zjcUULc1ZBMc30wJ2WILsLcpP27pqOc2QT3-KP0vvn5t4X_YKj-VL7Xd73k9_69cBCfqjXyT3r0M79UDkz8vcoMYEGDBeA0_ADdz-KyashJPmmh2K3FeI2Y0mjvm9QIUqO2Z04QpM5PpwsoCzOCc9IhVk26K7_I0rOsWCy3t7iWa7lE6ZsCgofYAIk8rNOizygfZBxnmvpF0WbmfZNMuHaMv0GPJ-LaHb3O__iSFElpDNRZ-gWHusDlIRn5UvuUdV8JksH7LxIVNc1dXKtBsQI1Zpiwa7FSgiteg4oooXWSlni-374plqNal8PvR7YrBuZuyWznzFBkqmNSpFp8I-46Gktyy5ZySGqMvReB3DGOXBoOIirshRu9Tzvtl9DUlOWSv0YqFeKxVW5M1Y2IE_-Q0bAlz6lh24VcjAzfHGf5eO6-uRJqBsQiS-OOn_V6D7ChoIXLmln6J5ueQa4yAQ6Pxi1KOc2lICCBKAcYj6afU_Xa1JK3V6I2bYzpe0d6nAkJGnnkPRqHkKYe0viFzrOTpS88R3yOi2g9Efgdg6ospltH81iFCK_CofeKQhH9F6z8og2J9G4jVPFuRNvzszDyd5HYYQb0MWLau4XoEaBSsafxk6F-YoEysy7LOk4XZrBdztCXgBPQ3x1fkmQdQiacLaspozQi0VgN2IoZqVr6lRGZbZuYLkqvkj4Q7QVwod39SuiPSzB2LqfA0BVj9-MTAyLT6ikM5DYHadzfhYgnCyydRSQ0nPt1ZMwYWCiZblwC9w4dJRFtT6ZSONHk0YxQ136eM02urB7QA74g8ExJiUysOvm69Qi3fkA23XrLFwJUkjEgR8-DpIwn-EfQ1kCTY0ECUtuFQ_oY2mvSMf_u7OWhHAkwlHx6ldim0bLa5K4LGkV18iJOIRu6FSiAjZ8UN44tFl8Zo1CQ9tNZkJMFmUWU-ykxeKfi0F_7AgdWMSmgEMHByzcpnnvWnKh68UAtES1bwrcnBwmpnTcy3Wp1SeTg==",
  "id": "rs_039c5ba691a2a084016ab2c5278ee087d0a5ce514e7729efe8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.435,\"left_y\":-0.13,\"left_z\":0.065},\"note\":\"The left bowl is visible just ahead of the fingertips, with its right rim near the gripper’s closing line. I’m advancing slightly and lowering to straddle that rim.\"}",
  "call_id": "call_Hm2MQeVhl0ug0RIfV3zZ2zC5",
  "id": "fc_039c5ba691a2a084016ab2c52fd6b487d0b26d08b237a6e9ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hm2MQeVhl0ug0RIfV3zZ2zC5",
  "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]: [-0.4362, 1.739, 0.8303, 0.1379, -0.3607, -0.2878, 0.9993, -0.0216, 0.7994, 0.6041, -0.3969, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.1224 left_z=0.0521 left_yaw=0.0029 left_pitch=-0.1403 left_roll=0.0516 left_gripper=0.9993 right_x=0.2928 right_y=-0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -8.5128, 7.6376, 1.7216, -0.0904, 0.188, -0.0171, -0.1436, -1.4564, 7.3504, 1.7411, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71eb0caf4d9d9bab386cce06b85d8c548651d9a127a414a4dd37ad74a477c1d4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:424919617985889a20ed695d16b614ded43cf89bf38ac0a8b65be38e6511fda3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:61d316c7dd42eb25a35976fc710a05790df64ba218d1cbf501d1d9dead81d12a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 8.92 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]: [-0.4843, 1.4425, 0.823, -0.0814, -0.3889, -0.3035, 0.9994, -0.0216, 0.7967, 0.6052, -0.3927, -0.0151, -0.0299, 0.9964]\nstate[eef_state]: left_x=0.3861 left_y=-0.1234 left_z=0.13 left_yaw=-0.0171 left_pitch=-0.0688 left_roll=0.0258 left_gripper=0.9994 right_x=0.2934 right_y=-0.0001 right_z=0.1771 right_yaw=-0.0022 right_pitch=-0.0126 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -6.9128, 8.7726, 1.8437, -0.1636, 0.0806, -0.0757, -0.0752, -1.6342, 7.0085, 1.7705, -0.0464, -0.0171, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssU30ZpmdKTP9vgKCh-SvHjoXBnzmShnTh1pJVgZN1M-EhuiUabSG-EZmSIIu1zBF-IHz-K9BAG_qBWoptWFJZLf1vnPhzOLUvshb-E-ftQ8swhEqKR9M1v1IcvT5cFHvl-40Z83TTkTqMZCQMXHnWIdcK53JtvIMbs1-AZRl0f_UE7xiVnWnOuRT9fDBP6VET3MvzrIBJ1eq9bYvJOLx8vV1fZaszmFYgqqsSjaKtZjBRun-BQRs4EUX6UkzFb_i43gSHgVLRIIfAcNIUNLW3veNFO4yED62Gtypwf7FJWuW-EjB9KFDoydTfr9hX8IsvQCzXj3jEUEHtuW2ERV5AfgeDu15T1-wBVaD0_m36wNjL0EXBaBedPTggDpN6lIT5w3ehELWKW367tX2jnoGurk2o5tPms5ekmJxIADtt7Fbr15nu87u4MQshws52_ASBJ7oxOeQ9nyOrFrnr0ythe2HQikpEg1jy816Q2-OJ6cyqzC4qmeYQDFwTlXgK6SfUvHZQ1fNSWhvQjag-RLYJqIIXfvv5UTLsLrBQyM3mds3xxMM9s87DMrSPQ4zAR9DxuM72jKWCnyCaqcUgPjof51v5CWjBIBTEW861YdOQDFyre-Sfh4-A6JyDOa_zUH-lREDruqZHV0DqwZssCio5mewSu2QKNIa4cHDlAAuN2gX0-AYnKwtFb1STuKaYhjMKvPknCkTq5KeB3_ONuHB0eI29gvxQzOJKmTJzG8s0HbqoKJ4BJJ1ORh6PUCYGtv43nyaLBStboh5ODitmAYnBNf0H4hvUgvdLEw9ZP1-o3Tk473fpU3RAWJ70n9HvtpR9_hMcHW39oKgM2T6HUeL1TrcC5KgGBbqGFxor0iHq8_VOnMZBsq22NlbuNvE4VXP2yd86_taEqFbKUjWVoEsyuQycUeIJdTKuJkgEy62KdtDEB5VVL_Pyry4yJG5NoZVxPZnTiOQ6iiqpgRGc9tLbBIeCfSXRK3U1kBTfUnWNU6JjUIoNiM1tqtVlqrLXc0KCICJXVHEGKw0HgVkAwEcSVHmFZTr1ww3p3SGznDAxpwkXYecgNWsOu3K81rg4yyMwI08ZTIOWHFb4uPXkiNv5eSFalTzDJKhTzaBQRM-TWgECU08HJXBeo0_ZDdA85Nkbxjbj7Cw_nm65QB7OZOwlkM1cXnNP3P4wq9Yb1LBlaq4hdvkKOaJPeG8yV0QsOPaXh7PC-AzoVJm7WPLqj6UW9cWPG3haOmKKnmOqdyCxAoI_YpSALejPtdaRLs7QAcbVmGAYxsNOfcZRwDnCfvo4vJ_ztzaNPGzVlISTB9X-iS_3g=",
  "id": "rs_039c5ba691a2a084016ab2c535342c87d09dbe8a2b394fc67a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The fingertips are at bowl-rim height, with one jaw inside and the other outside the right edge. I’m closing the gripper to secure that edge.\"}",
  "call_id": "call_FUPD0s94KNFyOu74ByEtEDr8",
  "id": "fc_039c5ba691a2a084016ab2c5365ca487d0b612c43d1f66bded",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FUPD0s94KNFyOu74ByEtEDr8",
  "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]: [-0.4355, 1.7596, 0.831, 0.1421, -0.3676, -0.2859, 0.0192, -0.0216, 0.7998, 0.6037, -0.4118, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.1207 left_z=0.0449 left_yaw=0.0092 left_pitch=-0.1525 left_roll=0.0643 left_gripper=0.0192 right_x=0.2907 right_y=-0.0 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3744, 6.1607, 1.5018, -0.188, -0.0562, 0.735, -0.0068, -1.2923, 7.0222, 1.8584, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8e140c7a2d3e99810d44c2fc745c7514bf8960a6d79520052a9ba4f570e510",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:76d7f606fd606abbd892e5fcd1971b9a37d4336ce670dd9f92e0ce98b4997592",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:daf2a37d23cd3483c68a1b36816448fa1ca5da576841cbbdcc26e6b04551882a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 8.587 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]: [-0.4362, 1.739, 0.8303, 0.1379, -0.3607, -0.2878, 0.9993, -0.0216, 0.7994, 0.6041, -0.3969, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.1224 left_z=0.0521 left_yaw=0.0029 left_pitch=-0.1403 left_roll=0.0516 left_gripper=0.9993 right_x=0.2928 right_y=-0.0001 right_z=0.175 right_yaw=0.0001 right_pitch=-0.0206 right_roll=-0.0004 right_gripper=0.9964\nstate[joint_eff]: [0.4855, -8.5128, 7.6376, 1.7216, -0.0904, 0.188, -0.0171, -0.1436, -1.4564, 7.3504, 1.7411, -0.0269, -0.0171, -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": "gAAAAABqssVB_RUE9bEEMMygyhGPhqHWOmsNgdZQZuuUzhfODebStPZkUOc-O2cnHgk58jC6AslboUFcvwPAkQaFqFt_Mh_0GVgfCKYihqfixsdt36YMtxxFhG59fW0IhzQZ-kGOeWx_HnPWqpa7KBbebfdehRleTSz6xts0ZYycnTioQNUdn2PxbaOXMyCcAlQVB4FkA1nnHkU8LoeJ_1BXSo8G03qiKCvhF5YP7QNvyvAWsiGp42QXfdTx_Znp83nGu9cQ33g-oAomi9z2CD1SS3gWAJ56h5YR2V5Qjvc8SeguGrK4_qOkg-5fO6uHCGXKXpJKc2KQZohqsfQMkvibDqqKuTR6HhNj8RGgw0OqyoQ7bAUu7jQzbskNLhqO-ltfszFSrPTsHEIvczEpk0BncSc335wrpuZkUOv2GFyFTQRI2SKpOe8B9J-AadjUYQmGm1rCrUlGeSFRpMNuU8Of6Gbb0q0MGf2STpUMqWEZM_Lbvm4mMRwjz1nzqox9oFDiNiqPzi9jZWg8dQNb8_bR8C1JGsBbLVVk7_rj0PP-Mp4q3bCUSfIteZlzf2qFujtrX1X7YNQbwkCTW9pF7I5aE1XTrUlEqpvCkoR0iAvNpO1eOFxiLfgKGNCa8DXfdgr3pKuLdM6uRkkhqLq8WYvf72Ut2XwOhUu8LEt4UpEtAUMrFnOVJN8fc7Y2m1-tMsBt0NQJAWBSLTBEbVqqvbfWB6yfCcutx5E0PYcRRnoOdQ3mFkK34bC1bXYgeoqPZAwdNCvgloMOPqGHIjv8EEYrFjx2xrq8IlUHZqk3PS3NKsnk6asI73RtKE_9L0pj5mSUvU0Rj5Vxmn1cmvcVebrUyBStRpjGGEalw8TyglVHx-pO5wpLAwHeTFx5si6J2Uj8akF0pvqYluaPwD6Vucpv25Qt4gvPTDIsFLgyae77rNdCKLaX22Hy7FGawbih_RDYENnC6KC61hvhL7thqaiXmce0th9jwwEOx1SdmyJJ6UKsFiIGSl5aQYm9T5qDwM-P5VinyLAgwH0pu23YEsi-QNnaCQ-Zc5KY3_3oDoBksgPCA5YGIJw97aipY45ZYXzn2dIl9ky9Hv-MYrVx7iQ6jJiln63nMz5OllCwAcy_MQwqtjUYDNOtAnEe3B5AsvLAGi7cn2m_1j3TpZKQaQzBDMUFh82ZlS_qI-mHQn8MzLFK2zd8_6VF2bJ4Xg8EEJrLx_uETtgYpuqkLmaw_h7D-isbdYtJJX_gk7XD5Jb-HTWUGI53Yy2WsAc9-wzgHpy4PONiENFiemG0-1k6Lm-QWwudZrIf52-JM1jYgBk3K1G_I3X021H5QH3c5f4O4AZ2XaHtscAOdBTI1gKgtPdFfy8GkIi1J0s9qsl352HTZZUTDg3-570PFE4ly2ye8v8-bGzOj9zm3a8eU8RggqFlbPHPaRmv1Q==",
  "id": "rs_039c5ba691a2a084016ab2c53dd1dc87d0be72249048cc1103",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.115},\"note\":\"The gripper has closed almost completely, so the rim grasp is uncertain. I’m lifting a few centimetres to check whether the bowl comes with it.\"}",
  "call_id": "call_vmbN5qINORU17b4GxIa46rik",
  "id": "fc_039c5ba691a2a084016ab2c53fd3bc87d08432698e310b65c4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vmbN5qINORU17b4GxIa46rik",
  "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]: [-0.4355, 1.6474, 0.9428, -0.1059, -0.3672, -0.2893, 0.0245, -0.0216, 0.8024, 0.6003, -0.4152, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4161 left_y=-0.1197 left_z=0.0921 left_yaw=0.0124 left_pitch=-0.1741 left_roll=0.0719 left_gripper=0.0245 right_x=0.2899 right_y=0.0 right_z=0.1687 right_yaw=0.0001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -9.5521, 8.8821, 1.3797, -0.1587, 0.0122, 1.0281, -0.0889, -1.4974, 7.2821, 1.7118, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ada250c65b5ae8295425306e3e2adf951236b592cf6c7337e630e29cd3aebf2b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4e60f441a9a28c5202a15a07b3074f5c859bf04ef61698e38f2b6e9fa49395c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab182809ed917080830dfff8ae97b8881fd5df259ce030382fb35d7e3e51e0d1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 10.26 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]: [-0.4355, 1.7596, 0.831, 0.1421, -0.3676, -0.2859, 0.0192, -0.0216, 0.7998, 0.6037, -0.4118, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4185 left_y=-0.1207 left_z=0.0449 left_yaw=0.0092 left_pitch=-0.1525 left_roll=0.0643 left_gripper=0.0192 right_x=0.2907 right_y=-0.0 right_z=0.1717 right_yaw=0.0001 right_pitch=-0.0362 right_roll=-0.0001 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3744, 6.1607, 1.5018, -0.188, -0.0562, 0.735, -0.0068, -1.2923, 7.0222, 1.8584, -0.0317, -0.0464, -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": "gAAAAABqssVK_OqlKulLfnpw0B-EqpU9jzEjxjUVq_wLMIe_T-XWmGyASxmQ01bnCI5sQtSa590JD4XB7bHoa2s1O-uUwrj4ekNC4JBjeollttf4-66Vu5cMPrhDbhlyZlZ9rX80tzoY1Qb7V0UdiuZbGZoW1LxaJ9XgxN9JkDm_qZlUcFOlIcM94yeIF5Fs_P838JyumL5kFQ3pNLvBlP7pXi2-RNWo4b6CXK20jTX_Uuq8MRXUzLOHVJpkSxLv_se1XaLxewO9waORIV8xHQSFeSUVhHwjdjbTXrsoxl5EwdvVqoF9th_He9_o47Bx0nG0ltILzpPX6DC3R5LcIeyFJfYHLwYX8UwIQYRivm-NqBLcFdNZ1vPJYCgi2F-Mnzk2sDufwTGChslPtmZCZN46XUm_rVWKog9VZNDn44aaV4whjef0al8kEExPJe_BrCY61viARc9JORXH3r5Uvl7iVZLEDPQnaLvVfKOE9OKa-uUoYjLsGefKX4N7fImKx-SOpU15Z9zIY9xowTjuH_KuSPh2fuyIbRTJhX7199JbyDY2OqUKnHzs2srqtBRSeyT394zSyly1ywVGUPe3ykfAydfZMCUWDwISX0QFERpTznFjRM5Q0P-RT3Yh_7ifc5StcSqPl3liLt6PTS7CgacZS0UAJ4PEs8dcX-ciBs_Wt8FFVlhZ3cv_DSGeqk1sRxNUdx67nsp8LrugcjWVqUstyNa1NCYdQZMF5v9GO9oyQtNJDFY0ktegXZ9BErKAzmr_cE0dlYhHwaWWZZY88jIC9JBoUOXhaChASUja8bsK1SS_GWSnNTE49XGlzdBtwXUEqNKqV3WwaKB7-PkvObdTltOFiX9WgFneVHd47fcTFr3iNr9Fm8OqjC1gDGCd1irzQXCg6nhsZdKyCXzGOQ53sarR8D8NKrIbNZqwC8vnXiHiVBc0BHrZ4Z9NuBViNvZ9rBfAe8tR4o-Pe5ah2ubFC9Cay4bL22bAsD2TDKp22NZWYQZJzZ2utmLE3Q_vkHWhIuPK3B1MW8uqNxujzhNpfEYPxRCp2pjP-Sw0IN_9ZRQirCT1d_pjOrMLPrRle3IArNPRnRztXAL3bXzSJtDBYhk6dTBqQO1Dt4zhqlt0RYLz1XEH3pB-FI__3iW4jzmIAKedsyKx9vtQEDTP1zzGcVShv1-qZCY5v13ea7rpmC5h2y7xF6rJwd3mQ9WnQbblR6Ynhl7gBDgD_rZHco2X8-xh9W2mHyl7N21v6SZwBdAY0JNRtN54Ug6G2fKKreY0QRJkfzIDp1Rf5XnHexfhB_BD20JveYQBwLBo8fYFJ4ZjX0uAdlkiLNIof3KKy2jXzW_NpqQYOSpaQqTADuGucrQ31w7ynNCxEJQc0QtqLBgPEvrGMRejAtYSuqD0eboxReGvRnDT5CsqoAKtcHghsmNZfeCvNzmQDfiXv6UMy2WFEySVVErNdPYZ1vlw9-4Rl5ZDbcf1NlekQZ1j2N8-gAS2MqqohQ==",
  "id": "rs_039c5ba691a2a084016ab2c544313087d0a75434797a935e51",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.45,\"left_y\":-0.105,\"left_z\":0.09},\"note\":\"The bowl did not clearly rise, and the nearly empty gripper reading suggests I missed the rim. I’m opening and shifting slightly forward and left to place the rim farther between the jaws.\"}",
  "call_id": "call_rJ3GxJNesxDUEyfnmwxp1z9O",
  "id": "fc_039c5ba691a2a084016ab2c5470ff087d08d40b3bd89215f15",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rJ3GxJNesxDUEyfnmwxp1z9O",
  "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]: [-0.3588, 1.7351, 1.005, -0.1093, -0.3214, -0.2504, 0.9953, -0.0216, 0.8043, 0.5999, -0.4156, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4371 left_y=-0.1005 left_z=0.077 left_yaw=0.0329 left_pitch=-0.2161 left_roll=0.0813 left_gripper=0.9953 right_x=0.2899 right_y=0.0 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9964\nstate[joint_eff]: [0.4034, -7.706, 9.0188, 1.6728, -0.149, 0.1783, -0.149, -0.0615, -1.388, 7.0496, 1.7021, -0.0611, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44023272809a3312c391b00c0fd4843006e0a2fb308e36a719e76726befa70ed",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4808829d3af9db6297387d76abe91162afcf3a50e8a58c97b3a37f76f3f50212",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60a9e47d80e24ce7616521c8aab43084bbf6b4922a87984ce422eee26993d160",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 4.95 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]: [-0.4355, 1.6474, 0.9428, -0.1059, -0.3672, -0.2893, 0.0245, -0.0216, 0.8024, 0.6003, -0.4152, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4161 left_y=-0.1197 left_z=0.0921 left_yaw=0.0124 left_pitch=-0.1741 left_roll=0.0719 left_gripper=0.0245 right_x=0.2899 right_y=0.0 right_z=0.1687 right_yaw=0.0001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -9.5521, 8.8821, 1.3797, -0.1587, 0.0122, 1.0281, -0.0889, -1.4974, 7.2821, 1.7118, -0.0317, -0.0611, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVVQsBLnComEU7tT20gbeL_uDnygo-Y7GYbj6_uQ4b_pXNLvT5gSFSZF0UaQHJvPkjO0uLX4CNEBZZIroP8krefRGTNDV4-k3vx3R46k0SRCTYfZbmaMCwmDdhoPSCCAhntENFeradAsD_UBo6DZqgXSCTgk1wd1WnyWwhIAcafy-rCPjH4nxdw61uYBxDnoyWeW4YlxWXb6u6_IqgGFsoxi3QJfUpStIKimMG4tlQ5j7RCYfivclf1H9pbbuF3KxaCIcNF9YkiXUc5SuOCInB6mrzZQFe99HNMks3olXEB5mKjIGWaZE-U66_b3OmMOK-SL0YHBaRyXmO2z_09hSvxRRqQVnee73nKOxXo3WhKYCsAAhAFLFYJ3dz-dD1NpuetyHdgC87g71shR5ek3OSTPVlK0WQAwqyZJy1RUcPchNz_C975ID7Q4-ab0KJVCR6WygLCUITIOVK8SGaEe3J1aG5Q9SHwbCjffdQxmJGlgnPxHBQ1bTwUNSI3fSw36HvflcNZ18uSer7sNWTM1bEnFQI-SzeDXnNzWjnGzLTkR5ahis4so1BTtznVNXZb1J-KPvLiCcCKLihfqUYBHyTMtlE_jPeOd41qMwPY0kVgDO7_MU-LvVH0QmkzvTgYkvqaaknqXQ4rdB_bRX3JolfindkYWhrf8FZYigrVGIkSIfCOG3CwJgPktvQUyd81EDE9JTa6jqfWC_LDfKSpWOZaxLAolgadhwRMv8DXlqFgzpVsfHiMd99S7KngrltOhoOxmQBovUFuzOX2-IdmPUa3OtlKpNKWFdkxge3B2m4JBwaTnLVDFb8OAsFBcQTa_doAt2SGEDJ5U8qQs-3p2Pf1hz77_qMe8-1L1pJpLamliuysOwh0DO9tuc8KGiuTMcSl9zMR7kAmq5In9p3IvV3yfIrnheo1aV7jcbkt9Q-g6bz87M4_OqhYrZ1wnxsRdIC-EjFixhbLVA35XjCbZEHvZtHyjBKu3rCIAFrYBWc9sWtfVyvP6IagoE8ytwmseZvRxaKw13vG09kMFm9awT69dzA8EaUvXUL7cMZP_vzBWWeRC5HTvc6gnFEipGT5iQaNQFoUegNupud0v-jVU8YCIdFKDz7ilb_dt_ckyWI2NYutX1pJnQyGkztj7IorBayMuHCvGwQNLsZilouTQACKoYlvARFZo9BPhUzTzh9peVL5SibDd7iyW7qD84Yzq8RxFgmMghoSt2AGSTWNtqcQwuxV6vTMu65_xmzB5YjrElQSt3ffQ9V94nS5Vaf0D5BkN1trarmBLI2fQiHETsc0J5YrRnysPDX4G1398tOfGmPTJQcSp9qNlazxHcI8wOKXZd2PtGMQR-aEPG4dqD6do_I2Y3RH5_yNJeToFZSbozjrswwR4-Zy8IsEGRHpOo85Wn2urbKTDFtbBH0Su4k0YkoLJ4UU666bHK9AQJIAZpb-2hBMCgRw8LSUA4HjoBFJk3OrOi9Ezm3ykimzkPk7TAoEuQYV4BALSqkvTQwqaOKaly7izPc4fvGBbLGGzv1gJNJxZMnjoBGUjPJRp9kSSUzesjWtVqB-5zy3KgAO6vUmTUFp7ypxYH8xrrw3rgqMN0-kafukZbxAD3YR4pbcjN_9ZxXD4sH3eL-kxoz2cGK4fP4ZxNgt4bEZ8gflTMXpE9RMJ7lp5l5NdobVEjEIO_wlbUqRN7YhHwDbGpGx2FazTHLNxkUqklpC-73VCRk9",
  "id": "rs_039c5ba691a2a084016ab2c54ec70c87d09654acf28b5bbff1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.045},\"note\":\"The bowl is now centered more deeply between the open fingers. I’m lowering just enough for the jaws to engage its side below the lip.\"}",
  "call_id": "call_0UVtT2C9ZM9vZvgzIUvAZPmS",
  "id": "fc_039c5ba691a2a084016ab2c553f78487d083ef1490c3318a59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0UVtT2C9ZM9vZvgzIUvAZPmS",
  "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]: [-0.3573, 1.784, 0.9565, -0.0284, -0.3218, -0.2516, 0.9957, -0.0216, 0.8043, 0.5999, -0.4164, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4346 left_y=-0.0988 left_z=0.0509 left_yaw=0.0368 left_pitch=-0.2311 left_roll=0.0872 left_gripper=0.9957 right_x=0.2898 right_y=0.0 right_z=0.1678 right_yaw=0.0001 right_pitch=-0.0492 right_roll=0.0002 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -8.212, 5.7368, 1.8339, -0.1441, -0.0171, 0.022, -0.253, -1.2513, 7.0085, 1.7118, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92edb5e316edb8a0d01be2905ec25ba8eef79d6c03b7a9218aa5bdc56b05449a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d3ad7f14e6b5ffeada6dc39d1a797496bdbfc4694154920520ceb44cb173cf3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:209a172630fa7b20ad1ccd752361a4681a9ba43e9ac12322ea15e595d7026f90",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.915 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]: [-0.3588, 1.7351, 1.005, -0.1093, -0.3214, -0.2504, 0.9953, -0.0216, 0.8043, 0.5999, -0.4156, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4371 left_y=-0.1005 left_z=0.077 left_yaw=0.0329 left_pitch=-0.2161 left_roll=0.0813 left_gripper=0.9953 right_x=0.2899 right_y=0.0 right_z=0.168 right_yaw=0.0001 right_pitch=-0.0484 right_roll=0.0002 right_gripper=0.9964\nstate[joint_eff]: [0.4034, -7.706, 9.0188, 1.6728, -0.149, 0.1783, -0.149, -0.0615, -1.388, 7.0496, 1.7021, -0.0611, -0.0562, -0.0171]\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_gripper\":0},\"note\":\"The fingers remain aligned around the bowl’s near side at a low grasp height. I’m closing for the second grasp attempt.\"}",
  "call_id": "call_pqOVg0mlKceNmiMejnos0dBC",
  "id": "fc_039c5ba691a2a084016ab2c55925d487d08865a47289c279b4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pqOVg0mlKceNmiMejnos0dBC",
  "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]: [-0.358, 1.8023, 0.9394, -0.0296, -0.3367, -0.2508, 0.0218, -0.0216, 0.8043, 0.5961, -0.4191, -0.0151, -0.0338, 0.9964]\nstate[eef_state]: left_x=0.4283 left_y=-0.0941 left_z=0.0376 left_yaw=0.0514 left_pitch=-0.2604 left_roll=0.1133 left_gripper=0.0218 right_x=0.2889 right_y=0.0 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -9.5795, 7.6513, 1.4139, -0.0024, 0.0122, 0.9695, -0.0889, -1.1419, 7.3231, 1.7167, -0.0513, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c0c48b1a83ca3b47fb036ebdde01a495703bc17ea07fad1315934f9c022cb8c0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:354be43f1fd214c7398b4c5309ace4f5526e98ec784660f069a36b8bc505d000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ff16cca6ba5d94dd9d456b0da9af72ea714f3c18c57d66fb4e487b97629972",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /responses · status 200 · 9.666 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]: [-0.3573, 1.784, 0.9565, -0.0284, -0.3218, -0.2516, 0.9957, -0.0216, 0.8043, 0.5999, -0.4164, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4346 left_y=-0.0988 left_z=0.0509 left_yaw=0.0368 left_pitch=-0.2311 left_roll=0.0872 left_gripper=0.9957 right_x=0.2898 right_y=0.0 right_z=0.1678 right_yaw=0.0001 right_pitch=-0.0492 right_roll=0.0002 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -8.212, 5.7368, 1.8339, -0.1441, -0.0171, 0.022, -0.253, -1.2513, 7.0085, 1.7118, -0.0806, -0.0171, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVhEzggGBiFHv-xo0b1TBepA_L6fsmMn_a1iAV7grp63bwcZkoT6iz-lwRNhv8Vlv7GYBra-d8h5NAPoabiKDlCCGPR-CG1EUNWBU8KJLY9kM4UykkcPDiAsl6e3gG0zXlP_tpyK3fZuYvDdheYUVWFhldScNkMmVBUX79eWq36VDqbAWJucOPu19KyfJymJHnSircZQfZrdWipSdD780b2SugNDGJqxU5k69d0Vwec3ZcC3Ziqg_19ZW1l6fYyVdjC_o5bwc_uhdUBEqWZxhxu1yOEeeanEPNus4DXJmWMwuzU4SQ-cg4yiFNDIAMscseUe1MyG7fFFiGcrm0cH9mLXxzWvZKkxqbXq0BWlZcQihDWgYFPqsHKX4-FjhQ63ERVR_ChyHepS1vZun5DXWtiAyr4N7s1inLagS7aDe6xooSnLRV4NQ-xsXad1SIfStTSGs6qp5Z0n_95tKqxmv4Oh7NAPwNDUoNJXWHkggKurYM4v9y85Fn1IOxQp1E7hWHmkbziiHbI4Rj4wv3WtDw-oyb6zWzhP1F3hCVct3Ql81T-adqeZDadhlPB2gaQHA3iPUkEpiqSnrc2Ney-OkayXANsM8aNboq8YEAhKbpGqgBj77N1ZQ9YRQoIv_BXU4P9FRAP8qrU179_zBbjHkjQvpM3pxCrLHbGHmfzqJaUYVLDti_cBcNGRfzkuEON3WbRzPbfBJbJhFwylduzCMtSO1m2B1rGw2G51fGUa_PW3XuoLRRrOYDWfB270NrBql2J5slQGyKDBHinE3xaPbhoPWpsmjFFApIYiCMYTVAf_oV9YshaBc48COi7MJm_JNcJCZOf8e_drnk4NBbkXX9uOUWaIAk3kpg1eR_NShv-nkLztGGCynMHJXNR28Peth5A3wtvomHIjlWQOq4gty3r_52VSnDImB7z8uHH2sDl3iLh3G-ugL0o9daxJZf7VzjzCol_ga36KBpkcz91HwuiqZIWPsBJpSCo5V6cIzNmBOICYUsOemJjVpUsQpgGvMzU2HgwI66_1F5u1Vk4oMZv7eXatIIYB5WRrjk4kkGSgoOm5HB7rbDu5biuW0N7OykYQPMvHtdzUwbvRU0Q1k_MelfYYVWMdBAK5dbE6UesD7SeRNoAR4oHDrCI3zG38-ljX_5sXZWCWi8e95CZZEItEysXmWmFcJxox9Errf3uUD2eDqrA5Me3dCO3ZD5W5KxaEBsbXs8DioHxTDnhPewnic5FHsBmr8wvFZyNmbhy2eavz3QacHELsEJWoLwJu4wrdJXsg2wSt6zCaqN5uIpSbnR8caB7OCD1PUW8IR-uGJvAcZFswq6mShrg31EUQj8EZZHtLImnkBuH2rBwHJ-HPKoA4VYGDNtoJv_CnONepedTQdojoGfnX0nWRDeofzvY",
  "id": "rs_039c5ba691a2a084016ab2c55def4887d09661b6a0467a504a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.18,\"left_x\":0.32,\"left_y\":0,\"left_gripper\":1},\"note\":\"The second close appears to have pushed the bowl sideways rather than secured it. I’m lifting and moving clear so I can relocate it in the overhead view before trying a different grasp.\"}",
  "call_id": "call_mBd6Xl3bVSiR90fkTngyTfIj",
  "id": "fc_039c5ba691a2a084016ab2c55f995c87d0a1818404b8bdf608",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mBd6Xl3bVSiR90fkTngyTfIj",
  "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]: [-0.1219, 1.1469, 0.8761, -0.5739, -0.2035, -0.0937, 0.9944, -0.0216, 0.8093, 0.5949, -0.4225, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.3273 left_y=-0.0005 left_z=0.1633 left_yaw=0.0847 left_pitch=-0.2562 left_roll=0.1081 left_gripper=0.9944 right_x=0.2885 right_y=0.0 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0652 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -4.3419, 10.3043, 1.5165, 0.0415, 0.1832, -0.022, -0.0889, -1.2376, 7.1043, 1.6874, -0.0513, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e40e78a7a0a87103697fee3a9ca94efda1590ff0f9ab089d3749235220345c96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:254b7440e52f0a7a2c5ee5615eccda3a8d3abbd6f9a32fd098f1248ae5479339",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd9335badfdd94c35e088c46a9d1db94c9cfd26f6b0cfb9ea54a314788005135",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 5.664 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.358, 1.8023, 0.9394, -0.0296, -0.3367, -0.2508, 0.0218, -0.0216, 0.8043, 0.5961, -0.4191, -0.0151, -0.0338, 0.9964]\nstate[eef_state]: left_x=0.4283 left_y=-0.0941 left_z=0.0376 left_yaw=0.0514 left_pitch=-0.2604 left_roll=0.1133 left_gripper=0.0218 right_x=0.2889 right_y=0.0 right_z=0.1656 right_yaw=-0.0001 right_pitch=-0.0557 right_roll=0.0007 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -9.5795, 7.6513, 1.4139, -0.0024, 0.0122, 0.9695, -0.0889, -1.1419, 7.3231, 1.7167, -0.0513, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVsW2L3_f2OK5Q7sc5JU79-SKuS4VM2LOrW3omq35UXwdeish-jafxH1MhbqJtLwfO8dSef-dhkjG0Tzg0mjI-JnbJBzInSdm5yMGyilAI_j_Z2GH_2fDPNUKPT7VBIM32in6K_1FIH2VsCqmRl6YTQUCYpVbYgat4fIXZKaSYXX38BPiD_mnrqWT-KhVSrw7lkHAeo8b96JWNt-g6Vd83JDOPshNB9_DPIoe0TuRzViWK0xDpCu8k85NO8Xr301eGJR93upz_JPwIb7FhS3oT1pfYnX4rc-0CiTtQRBIwJP0Kw8Vu0Uzm4NLBOBJSgVb1DjgcUPAF2IAeTUdWwVfnP9ZTxITHqdE7GTsd04mSvJtRpVGXZtsebfGZd44nCz8fiCwiuk_PrxUf88DMAg4f6TjmLN4dbFK8GWGwGVb3aEpCpZXvJqG56rm6H7Q53a0EqkI6JGGO3d7STBSPFIyePNaxffFChdp9STs0S2M1QiZtKf44_j2OlM3jpw4Et29hxe2RYKsVu-1AE-dA1MGROLLkScQebMPLaKd9MR8-uuOG_tMm2NWvsqJiwbFZvWTcdlVMOlMML1de2l2FQaDzQA5NJu19bGl3xd8MC4RFQx2o-NSaq7N-xKj13vg7LLvNo-OELAOMri246rB-0O3ubqyp4qdkwY5VfC9BWc24ue_yM2QfAJyscIKH-Kmw41__gF9pDC1BBxY4SL3UvQ2y3dYAMi1_CbFmqbST0ecZwAOwhZh_GAAe-LsUMWwp2QTtFATzHvJ4NeGkYINywLYh1qUWQvMAS3SJ3QCsdjCArl2M-2ec5gk-QeAtXrsIQoydT8Wfh6OupAUdOyAQsUcQFj5yG6mXc68A6Y6IxwQVZdKO4Sp1pFRGYzASBiLILTLkGGBDNxOXkQ6lLqP6oGFSu0kQ4TPeFy_KH5julHKhprxrKb-VIAT6MJlc38ShEGzQgASJWoTR2dyqR8mllPLVRu4HAWK6aIlHxfP2r60gHfIFvww5H7NTXSCZkMLIKyHO92pQUNlwrSlG4QNt2Ft_wIDj_DdwIs7cEhnxJR6722zV4eoVD1qaq2qJit4HYDm0v1j-gZC8DN6BZZx0ugoWuNc_-ibGgPrA8uYOSEZm1rbyDtCVlHh-TsuNkfERpGH39IKRXG1G7aKSDb1XRQ3v0s2k0yuPfkmqLvhLNiz95Q-j_Io6GDlRssZavMXUxDV-PFSbXZExU8UxnurPaRfRp51jaPt3DDT3AnVxMCXRkntelRrt-l-4if2gyd2IZQ8XZHtIQYs8oCjFaf_US0om5K2IGb272qPIedDadihMN_bkLuUKOCz90vsUNAcAhtBnivOfYAr764lN8zHh4gDxtWMnKcBZUkHEb6jH0dT-c9L117J77A1CWd4PpVpTKlzDTSGVreDGklU15X7vsizJ-pvu5CEBbI2ojCXuPiWle7RbXpScZe83cCzHMMEO-ZU6TIZuPqxfVnc_z8r3t00N3lepvmuaCgoLKBJODA5B6IelrRdZAcPE3h4zrQzqj18RuWFIZfrxCJhdxNhBHb2sVj4yH0YJqD2SZKxUILDlyApmpuvfL-1R2a1Ry_mdwP3j1csSEXkjAz4cO1ihcRfXrHHxANaEbhdYDVssGZR68PfTPD83GWH9w07q19BwmDtX04GjD7gDEzG4zeNw5hnGfzQ==",
  "id": "rs_039c5ba691a2a084016ab2c564cf5487d0a2c7da1e088a6e09",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.42,\"left_y\":-0.025,\"left_z\":0.07,\"left_pitch\":0.2},\"note\":\"The left bowl has shifted toward the outer edge but remains reachable. I’m approaching its center with the jaws spanning the narrower sides, and tipping the tool slightly forward to improve the low-height alignment.\"}",
  "call_id": "call_VhWk0Cdp4zFpsj7trOnF0zmO",
  "id": "fc_039c5ba691a2a084016ab2c569c91087d0a54f50c0a8467ffd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VhWk0Cdp4zFpsj7trOnF0zmO",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2028, 1.7069, 0.4885, 0.7105, -0.3237, -0.0708, 0.9949, -0.0216, 0.8116, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4082 left_y=-0.0229 left_z=0.049 left_yaw=0.0856 left_pitch=0.0869 left_roll=0.1172 left_gripper=0.9949 right_x=0.2885 right_y=0.0 right_z=0.1621 right_yaw=0.0001 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -7.0359, 4.506, 2.1465, -0.2515, 0.1197, 0.0415, -0.1846, -1.4838, 7.0496, 1.6728, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9afe764c93650a43e5a5f702138cf5262f0cef4aad56aa0e2fc4cd391650b76",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d56df83bd44341575131cc7ed3a5e7f67b67e43cc03d2e91980cb41f397d77b7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7a76667be6ba168c3eeef13e48b877dcede35cfeab89e7da8cfceacec87d9687",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 12.17 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.1219, 1.1469, 0.8761, -0.5739, -0.2035, -0.0937, 0.9944, -0.0216, 0.8093, 0.5949, -0.4225, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.3273 left_y=-0.0005 left_z=0.1633 left_yaw=0.0847 left_pitch=-0.2562 left_roll=0.1081 left_gripper=0.9944 right_x=0.2885 right_y=0.0 right_z=0.163 right_yaw=0.0001 right_pitch=-0.0652 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [0.2803, -4.3419, 10.3043, 1.5165, 0.0415, 0.1832, -0.022, -0.0889, -1.2376, 7.1043, 1.6874, -0.0513, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssVzKIA-eIWKi-HNtiirB9LQw0h0PPpMqcl92TjnJz4BniIIX56cmjUuhfF-6xqaKnVOuMAfrXoh2Mg-n1VazYJiDGr0LCRxQ-p-M6WF95M3Q3lrDGBiLJq-Ds9uEtEwKpZRQbID2SUyLETXiQcsyLrt8XqtNAbSE-WS_1t5lQVzw1_aT4lHVFn9JF8LcjvYH1-TJ_gAUl_Wpzc-WPIwJTwyrZrJsRdHNdLUcH3UxmxlfaGDUDp8rjhq_Jymm2er22UfbCyzJpGVFVDLGG0C-YXySKzcXWVkBC4LVuuRka0VZ0FshAzifJkO4jiZPQqVpEUNCLCRHlPvnBmWKGkCcr332rl67qrgHLMdloyHFoMQe6X2YjiySZeJsCeqtzUwQkDgpySuTqwXYwMNfLPr5Y0CblNVSovkNY7jLBmOTF-5CyP9hwpHuC3QTq6XZat9BGrVKAwistj5iXR3CpRSj-9201V6DGId0zEuRoPTPmZJc57uqJ2EWkCTtTglvBLndNjsFPOOOIaIIpySNNK87vlnTt3IXSq32DCCxZFUzZwtuJKh9Cix3wDOB2ELSuQiqGHiEsqLtOFh8Bx1e-LfWkdVkus4HP4T0h9r8XzDr4vf1CE6ZMh7NITux9YltyqdoyQFACL-vUF5MCYov0gvNh4MjctELItKoVhagpBQmu0AiDAGQ_kWJM7lzAdj-sJ0tKxW3O3f2EJQqD_m90_CsV307yuyz-8XSbsWOlCpnK5GosXgsM1qrwDVlrJ--3FeM0lVafvAe-tkSiTHMaruRDz7GFWWNmlsqa61WR7hYJRa65wTh21ofO17kWNR8gTtp4039wOUTjPPMnySiz50YVegjnafzbLeSlH7AvYWZL52f_9adGOZh1ibJi7krYImyBNUKYQnidB163-1A07Wp0nhK-DzMWDJ6PfCuWpPgO5uLUjwZDGMEB3LrqgcTz7AzHYcDnfbX9tHXRVSAC-EJNQuwniGPPEcTnURKZ_6cSsQ2gqELKPGwcqNOyJu57Vwmy1-zXW52edgo9WM9bcusdIxzMaoM2gw0Sm0C-jjxANS0M4WhfkK1N8vWh8E7H2yBFF8cod59mXJp5x9uYx2BZ9_6lHK6WzVPCFRi1xLQDSXzW9RuSA4rKirL6SJzevykOkpLX34FqrBHqvgN_fNoEQpBLMK_2lIqEh7FrwPZY4bVUC9rR846mFHgOdMbTAUWCFyL217_ahnmvcRS0GiS9fCAx8lIw4DTAaX2A7tmVbJrryERvUEQuSclFIp2D2C1EUP_HN8cuL8jRE3WIBeKpbtOoRYdLuTaH89RKe69_0G1IM5h6DD0X8-l9JTZUg3kV2sJWDViupJSyeGriyYfTgt8SaxA30V64bnOsd2OEGbtIo=",
  "id": "rs_039c5ba691a2a084016ab2c570276487d08abc5085e13d0e8d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The bowl is now centered between both jaws, which sit along its opposite sides. I’m closing to grasp the bowl around its narrower cross-section.\"}",
  "call_id": "call_cfY6MCzMhfuLp1UMzH4dHUPF",
  "id": "fc_039c5ba691a2a084016ab2c571aad887d0a598c88e2116f8d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_cfY6MCzMhfuLp1UMzH4dHUPF",
  "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]: [-0.2031, 1.7245, 0.485, 0.7136, -0.3309, -0.0742, 0.009, -0.0216, 0.812, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4062 left_y=-0.0214 left_z=0.0419 left_yaw=0.0927 left_pitch=0.071 left_roll=0.1227 left_gripper=0.009 right_x=0.2885 right_y=0.0 right_z=0.162 right_yaw=0.0001 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.9385, 4.8752, 1.7118, -0.0171, 0.0073, 0.6618, -0.0889, -1.3333, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0f06fe5e7291cd44a2872f9636221b42b7498ac5b386dc3999eb9a9adee7aee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:36e5da6a150f3e96fdd1a2a711869046114810363ddc61b23694a7f60bf67bd7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ab402867599dfaa538e17767c727920b1585e329788b98bb8bc23a41d713b5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 6.811 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2028, 1.7069, 0.4885, 0.7105, -0.3237, -0.0708, 0.9949, -0.0216, 0.8116, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4082 left_y=-0.0229 left_z=0.049 left_yaw=0.0856 left_pitch=0.0869 left_roll=0.1172 left_gripper=0.9949 right_x=0.2885 right_y=0.0 right_z=0.1621 right_yaw=0.0001 right_pitch=-0.0687 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.4034, -7.0359, 4.506, 2.1465, -0.2515, 0.1197, 0.0415, -0.1846, -1.4838, 7.0496, 1.6728, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWAIItKq5f0r91deMxnNPtdBIrxoNMPCdpzHthi3T9oNVj4NZJuwZr693IwpD6LpeEuXsCZ3T7rITCQ3rd4wVTXcvHttbJbqzAOJvJjmu8V7Umk8y20T8zpNy45mUrxWBaR-qJILlLLCB_4KV1I7D6IZambD4nfisdoDthckp_uzXEf6Ua0YnHm-z35z9EbUTaPkYc6NCZzIcQx_VNMQr6HGf4_gtlzA9duTDqxPCzvTdtwXj3WCx2raphsAf5m-E0-X1bMbOIm4Ltln_k5H_sWezz0-2Tt6le6S20JPt-cwg0zzll5CrrGsoRCC0jt5G94_jshn8tVNMTv1ZkpHktK46paIEDN0qT5K8oZQRl4sb4GjnelPw-ml_H1GnXAAs3GGSO8SlwyMEVz-xmIXYDbr_sTUCzXaqt6VYJNTDGCi9bpaLxcNXuQ-WAi6KjjLGhtfFACZmG2xtDKJ3U7mzSxBWidVHHqCiMGRGK8dM7585vvuqjJrWC88HyMmRggg-Adn7oHwmE5M-RmQ2hGVb51rY9IGJ4OPKdM7F4vU9rR1-_QBgzQcr2kaTBo3XG_xq2w2NYXus5zuwKuonsIGUpayYkaycwvr1--R-MxVJNEwxizmUHzpeyIiXE3BxpWVEogc28CnzWA90o4lP5Oh2O6G5zTVLkx5YUGfFh5laiwp748RVPoeI6Sy56rUSwrecOVq73JBM0AdFZn1c6iPpkgXz9zTg0xcc-yPk6LHnFcc1c7kJFwUFTDFKGLM71Komgvlf0npsiJ_-9WJAfTWoYHsliDGr3vItkL_DBopIhFn4dUVljTpxhjPITr-OmZFwIiUoH1vwDNAV5qo6NK9s4Ts_9kQWgnrViJlhmfkGNLpAvWVBGbLTUizBzr3z6B6kSeysrJkEDLeQsUJR61nwNNtevkaL0WXNnWKRQUMm5Bje8H5qUZ3ZsR0r6F4ZdnRf57-KpjOZIzNZeF7p38uczOd9SUZtFSzP3L8OQL49unYzwR1XvmiVMu260G7IHQSYOQhK8C3jiUkWEgR9-Xa-MX7dtFjX2VHi9DHbF57kDwkj32JZguLNwqAKaGah1jN5EXy9x3ElwEfhjECihXX37Qz3NWcO3PTeCht9Y0F1pDxA0feAW5YH-odEchUcaVhuXg9NGV75ZS3xL7n5lZ4eOaGNbtJ3ZIcTqQCK1ht2O8LHuG6B858HeMNDhKG6YmSIOGSYrAZRPhtS0mroumFwvQUlkmi_t9Z2FlBTT1Bkhsq97ybpi4ttxlDkszS_cGvZksBxR-dAO8jMWB40NWkt-r0LCGNaGDk2Y9f3pn6HRaQhsq5jk7Je6YAFCJi4sxWydLHYMVx77hmbVvNoTRuD6GHN1kWV8niuMPIl06Y3dxdLicGolpIII2ACv2oDxP0uQ2cySN5-a8ykR1FygyoFPf3uslB2XCdEKTErPG36DS1JWtgmG4Om6cJCRDnE-VQJiHqOyj2m-thpj7Pa-Olq6UNE_oWj3ZwOHW2gncNSH09Cikp8Kn38ERCfxMvwgfNjKtFCZEk6zHLhr_2ztzLsvRDufSWDpYBGjYNH9IYuAEYwH_yj9n9YtLzRWHDCM-5ZTEAWxgagimnqCO0_pWmit6V4fnNBedZKBQ_--L2I8fs5XznqDSCSv1smYp2-lL8XtCxQZ14uZ1S9Nht4ZKNHQaO78n85xBqu-a1ovR09SuWXKKKVLntcs72xkDfW-XAuk1e1yhOebU4WFIobt2VMsmqKVzrnvwcAIpZ11NHS6-Dsd-8cPJHMghNjyIAEL3YGn-jPbQ3t2zdVRIYozLPaYpf9zvaHMGkf3xSUdZ-BjKWp6PAweCFCcx1zsaoYB6Jjzu9NLlnYZBNgjh0oalP6P0T8cDzM7BaQp6SDhke68JB_33uzUfq4UinYCrbNNQFdCE",
  "id": "rs_039c5ba691a2a084016ab2c577ed0887d0b1e1d28167c410c4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.14,\"left_gripper\":1,\"left_yaw\":1.57,\"left_x\":0.45,\"left_pitch\":0.2},\"note\":\"The jaws closed inside the bowl rather than on its walls. I’m lifting and turning the gripper so it can pinch the far rim from front to back instead.\"}",
  "call_id": "call_O5qDwWmPtaydWgATquEgJIRH",
  "id": "fc_039c5ba691a2a084016ab2c57de46087d0a04b6f9269a2f753",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O5qDwWmPtaydWgATquEgJIRH",
  "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]: [-0.3019, 2.4485, 1.8694, -0.8562, -1.095, -1.6413, 0.9941, -0.0216, 0.8173, 0.5945, -0.4339, -0.0151, -0.0345, 0.9964]\nstate[eef_state]: left_x=0.5072 left_y=0.0102 left_z=0.0474 left_yaw=1.2982 left_pitch=0.092 left_roll=-0.1747 left_gripper=0.9941 right_x=0.2872 right_y=0.0001 right_z=0.1585 right_yaw=0.0004 right_pitch=-0.0851 right_roll=0.0007 right_gripper=0.9964\nstate[joint_eff]: [1.6205, -15.0222, 5.8735, 0.3883, -0.6618, -0.0415, 0.0904, -0.212, -1.4564, 7.1043, 1.746, -0.0611, -0.0708, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c4aa4398f9cf40371bdbde8e3fcf18da599817183912ab73d9ebcebc4fe4282",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94b2c6e517a8a2bcdbca91f2aeef83f742b75a6611c5463bc24a9454088f99ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:649eb3d601d9b762f70c21f73618506544397bbf93a39d2052eeecfc56ae56ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 6.653 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 41 changed as sent

message 41 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.2031, 1.7245, 0.485, 0.7136, -0.3309, -0.0742, 0.009, -0.0216, 0.812, 0.5945, -0.4232, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4062 left_y=-0.0214 left_z=0.0419 left_yaw=0.0927 left_pitch=0.071 left_roll=0.1227 left_gripper=0.009 right_x=0.2885 right_y=0.0 right_z=0.162 right_yaw=0.0001 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.9385, 4.8752, 1.7118, -0.0171, 0.0073, 0.6618, -0.0889, -1.3333, 7.0359, 1.6972, -0.0513, -0.0366, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWIDaj8zB3jZ7ibzIuzQw1utWhvOzMKINdMt4wel-CalIIttti2LxZmthfRs1pcefI3GmFhwsDJU6UsacCa2ctoDdklrt-3K0XvWDHWw1G8zU4gLv-Q-Oyj_Oo2lDQJHFj-HUox_XRYBoD74SBH_sFgxPJEJrvDR40rVC76yKgb7_4umYxKR3DKaLIPzawqqPmxui2MV_MPYR2Q_rOO77jZ8vX-iOfqo0Yb5efMU-zj4cD8hTsxied0ECXYPNQvU9Dl309_0X0EJfxarvITJlYwd4JGf4ddL-dU-CjAwoDSDHLhEsN4Dbe-fHcmUKVMoVD1mWIeX0cu9BOVFwFTEGJaO_EP0w7ir4oCifoAFJLzjDbnhbGmIwW-zez879_hbkirfZqTe8iKIXrg7dUMbiZ6QL3G8hjOM76XL0C8u5QiM0le24j-HduLbHxsHojHovrIHz9mT4D_CvbQKTv16aiEiNEoJ6EH620-BAqBnlMR4hwshSCXFtTwsC17qoMiLtgcP1guGvcEhbRoQo-XZ3kJK7XpyLEiOee5_nd43IkYjUXNXULj6Pp6VZ7qzXzOm8hMVl5QF3rHitzC5ZUKDxUlrtcfiIKEO3U_8eX-x4INRYBXjPR-FK8Q2yIKd3cea6_KzcIE8BVWS1hUkBI2UJZgVdiQvH483nicPp7hYc-y8J7Mlstx_lxHBsg4vPWBMkZoQ8l6J30KqBpfojfVspuUoTZprTLkdNmMLpz6Jft8BGegO9-1doD9ino0A8b4XcZUIGLExT-uBF6JaXcKgpXo2U69yGxtHSIkFsV5BP1ceDmWf928WbqKOjIjtFEDq8AoznrvqSJzmqWICf0M9H4AINk3Wgadxqtn_ZhY1NW6R_FgPk3B8ABQ5osqn7HBPRg1mMcrhnULImvjz0CUeo4aAHsPW0L3pgv78d8nB1N6zKW0ARl5T62RA69kW4oRgl23ak_jmOXPZdXVXwPahIf2b9gdrlCLwlzFy1xVFsFwzjHrZba9zLxhvBUQg0BZ7PBntPJhudBZqF7Agum2zh1CA3iY6B8b36h8NF9l-6OEKYGSANtGpgdF4Z2-xrdiiGbvK7VeCYi5HYXau2h8pJziLfh4HH97CDSyhMRmbUwzqsPgmxUn_n_aLsq34eVAvsBJxUg3cMHZ3aKPcYDaDSTSGwr-L7lJVvsL4e9ziB4p5vGAw1qWg3Osyr0XBdS8UXt-vZmGVwEIr87zEatYQEsvxDa61eUm04re5iVtq-Ix6p7iiICHXafCAxyi_EK_NA4ZjJF1YrGIUmyxoY8jts_aEw==",
  "id": "rs_039c5ba691a2a084016ab2c584471487d092578570076b23a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.025,\"left_z\":0.21,\"left_yaw\":0.8,\"left_pitch\":0,\"left_roll\":0},\"note\":\"The wrist turn caused a large position error at this extended reach. I’m drawing the arm back and raising it to regain a stable pose clear of the bowl.\"}",
  "call_id": "call_VkT3DOwyKxwsqLs0ZpM8tqEs",
  "id": "fc_039c5ba691a2a084016ab2c585892887d08c68eac0983eff1a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VkT3DOwyKxwsqLs0ZpM8tqEs",
  "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]: [-0.3496, 2.3783, 1.9076, -1.174, -1.1175, -1.7161, 0.9949, -0.0216, 0.8181, 0.5945, -0.4419, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4739 left_y=0.0001 left_z=0.09 left_yaw=1.2697 left_pitch=0.1191 left_roll=-0.0323 left_gripper=0.9949 right_x=0.286 right_y=0.0001 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0012 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -14.9675, 6.8034, 0.0171, -0.8132, 0.2222, 0.0659, -0.0752, -1.2923, 6.9812, 1.7363, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f8bdd104ac994a07aa3d5b1ac38a38cc12e1a4c726f6975b0680d72a0609b0dd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8008070db40230d82f349a6e84fc2b2196622301707252ba51dd6440f73a7c9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9544ffcc7891fb304ba5632888cc6bc7f5bff2ae92798ec1ee602d6c4658cee0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 22.77 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 45 changed as sent

message 45 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.3019, 2.4485, 1.8694, -0.8562, -1.095, -1.6413, 0.9941, -0.0216, 0.8173, 0.5945, -0.4339, -0.0151, -0.0345, 0.9964]\nstate[eef_state]: left_x=0.5072 left_y=0.0102 left_z=0.0474 left_yaw=1.2982 left_pitch=0.092 left_roll=-0.1747 left_gripper=0.9941 right_x=0.2872 right_y=0.0001 right_z=0.1585 right_yaw=0.0004 right_pitch=-0.0851 right_roll=0.0007 right_gripper=0.9964\nstate[joint_eff]: [1.6205, -15.0222, 5.8735, 0.3883, -0.6618, -0.0415, 0.0904, -0.212, -1.4564, 7.1043, 1.746, -0.0611, -0.0708, -0.0171]\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": "gAAAAABqssWP5IU1iD3Zf_TNrJ40v7zzuJZEEbr1rRho4txEADrlZh_EH-ZWFZhriJqZX8PlUcIyv_viYKOAEKhm3dJW-HYvOs9rI4uFNmm2jwaXXW3aPpsxoievABwloS4JYjEVmeklWJ7uahrbF8aSm2T9RYauuZ_4fRLvCg77GNcfcvs8PLxHPhgI03BZ63ARmKLgfhC1z20xLqdC9oaYBjJz48f0qOdcFfWQMKy2JFv2k68nRqi0KeAVIZ10wiNVFsZdOfHhhtjRFRf7PwJ4fWRcx2JdsC0SSRubAKUZX808lY55u_yH-GbK-DtIe6mQYcsKhBN6WRqcUoFYKoDf7B_eq5cCZcVElU5LePN6WCx9kJNeobXj_LVBrkf5cE9Z18gVffVu4929HNDZLCUtYNWw4MlERq6sDJXuZ8pdC27wEKwq3Soy2jGXrgPajY0VUEArKiIJc124LUS9GTb69YvqBPxQUae-Sal34fnjPGPIPWI2izkO4Pbxgst4sBHVMDyDXGE-fA9jkQ3LoNBsRYb3VkfAteiLE00oWE_PJUE9ylyEAIoweCBB5du1fwb_zr6ogwELFy5YOcX5F5WxL_kFQw2s1WulKrOEdAxF7_h_b8FAyk1Qg_DQqAZ6EAblV3WhujXxAwtOtHAlN62ptFhUPirVMSq5KdpEHbAldMvPlveZVxUqYA6JrvWECwuy_f8Xd436K1K-531O0CgfM-eZK_eUtxCXjAGpLC-CsKedm_KfwrBHPHmQkm4HH7WQ-s3nqa7x3XjYA5dNxrcq5DlzRc16eUCH-8TsA6OHbPxKAdBoi-dW98ybEe-mkB_ogHrPeFMq-s1VjzXy0wOu1YABexNIizzo5r5_Ysu8uLEmQYoJZcQg3swyYdBnM3EzmHIQoq7nB3g_BFR-4X3IigI9Eck595dt_IF5JW88K2BcIW1TSr5_06HfAAxMtpvzTMjBPqq5Joi-ynzppdLC3rGpV8Iwy8myQc_Ar3V8fVIZ7VEyt3oDXDZ1WntwKYClFJ2gkK33hqq620u02k2z55xlatcxtjEN1oVE_uacVBOvLib4b722a6cKtfF_2V0OhQRmtGBe0A7mvuolVnlI3ydpJQaPQVDBR36W2Jycxtw5wa19MV0J3H1F0QbKDhS0SOrY7AzCV0lvqzHbPYp2uAJcWmGzgEofSjAMLrpIwpt29OiG-8__mgXMq3h5uR5KNiEHK3CY",
  "id": "rs_039c5ba691a2a084016ab2c58c24c087d0a354d9ff77f1ff71",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":0,\"left_z\":0.24,\"left_yaw\":0,\"left_pitch\":0,\"left_roll\":0,\"right_x\":0.37,\"right_y\":0.12,\"right_z\":0.16},\"note\":\"The left arm is still not tracking the recovery target well, so I’m returning it toward its original orientation and home region. Meanwhile, the right arm can approach the unobstructed pink bowl.\"}",
  "call_id": "call_5c5ZiI2AL9PUvfwpEUZIL2mW",
  "id": "fc_039c5ba691a2a084016ab2c58d1f3087d0aa58bcfdf89ecc4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5c5ZiI2AL9PUvfwpEUZIL2mW",
  "output": "executing move_to over 14 steps (1.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.8825, 0.8215, -0.5053, -0.1909, -0.1715, 0.9949, 0.4599, 1.3369, 0.8463, -0.3038, 0.3275, 0.2451, 0.9964]\nstate[eef_state]: left_x=0.3078 left_y=0.0188 left_z=0.2304 left_yaw=0.1716 left_pitch=0.0163 left_roll=-0.0211 left_gripper=0.9949 right_x=0.3548 right_y=0.1163 right_z=0.1371 right_yaw=0.038 right_pitch=-0.1707 right_roll=-0.0353 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.9487, 10.0718, 1.956, -0.0171, 0.1783, -0.0073, 0.3214, -5.4359, 9.4427, 1.8339, 0.315, 0.2955, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86b0e6a61ed0b263d9f5c181e0715a17419f8d4c855d9173bd0cb9086c422458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c83ad3b44b73d057249ce70e72267c2cdc6864d920ed22e11b330c1f8f3e291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ddb97312200ac99846dba46a8434fb8617476e24408f5389c89fda52e98c5d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 9.964 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]: [-0.3496, 2.3783, 1.9076, -1.174, -1.1175, -1.7161, 0.9949, -0.0216, 0.8181, 0.5945, -0.4419, -0.0151, -0.0341, 0.9964]\nstate[eef_state]: left_x=0.4739 left_y=0.0001 left_z=0.09 left_yaw=1.2697 left_pitch=0.1191 left_roll=-0.0323 left_gripper=0.9949 right_x=0.286 right_y=0.0001 right_z=0.1567 right_yaw=0.0002 right_pitch=-0.0938 right_roll=0.0012 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -14.9675, 6.8034, 0.0171, -0.8132, 0.2222, 0.0659, -0.0752, -1.2923, 6.9812, 1.7363, -0.0464, -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"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssWneMO0kjYiFvgPExmt8M22e7FrS44VlkbCY-5FY2PCeI5J9JqZoB0ISIbnTrOL6TFhenvSU_Y7Gm9Y9D5wKWfYQ_MhzbYXLD4zHJk32jHv27IVwqSYqi4aj2cytahuhhlofLFQSSQxoBD5WlhYvlYAWomMuwCCwxvAfUk7pfrcJyhp6P2kQV17wbmMmKUYw97dfT1xLDfQnNah8splCI4SKyGSwJyOUEzskQZkEhC5E13l2_E7rrsPOjVxBrQ1kmIYjx9TM8xwqxf7f7Gjmkq80uvCe79GgSNfDVkN4NfU0ZIp3KkNZoaE-wy4mqXi9t9g1uYtjfkrToPZuLajfBDRsbQ1q-B6cjmpHGnOhFxMpQdr1lPIUzQa1eKc1gai4jXYK1Nf5a1PdxhMbp6I-otCvCf7E4hjGG0g_8E2x532VnvqENc2ZwTcHXI-8qFGKZCX3JEgz2L6Elg5cVVDiiR4xcib4QNDGV4v0dE9_WxBHfmwa8T5dmnvaWUe_DU4z6GYoC1ojEAge-IYHaQ6s20RKymaJ-hyH1m2G0dEKV49IkWOS2Qa_g2n6sHIiKJhNqwhf8StT89delANyz-RxRBDs4UrxC17vvzlOMLidDyd-qGoCk5jkoGydnJjkfnxEtv4OnRanba7NPBZp5f9gKvf7TY1QyH0zDVrhn2qPH98KCzvAiGEp6UtCLg0hrlrN0Xn_4JqGtjY0Y7U3JSlE1_OG07uK2F0k47KwH_wJ3PCmhWo6X9rJPkGY_8q5W55C1RT7amGVS5c63r8-UxVUhjDrXLF24vhpnK9h_T_CzGjxwH25OQUucR0sMsXhj8HbXRZEOYhlW32F4xNkbBsEG_gHiQ1lxY6rLGbkThjCKNHiDuK2FZB9-1jjZQOmU8nNuSkit4wnEomHDjTgzTb_dmf68QZWWIpjJaGk7byrKes50Zz8kpjwbLFjWLENxqjTZM-7Cg1xS_p626NcteUCU6W6BuEFoxLBbfbsIlw79NaygqVh6D3GbPw4Bfv9vGsunl9J8fGnvxWD1rRfhEc5qxiIKadQdHcwt85uIeaD3-Tyz3NURLtglkzEAuZ2VxrqPmOzaiIjxg4iZ0BQO_CTcdhrmBU_w6bW3e1PqL5XvRHrOQWqqY-d0wgbRLmnb92eZuNrZOvJKbMLPLkxlOaWLIT6kmg-_GfkwealoqlERc6IEKAYxSYbRcbv9gAwxpQWPbMGbacz991ss1DVAnl1D_mviM9HAFxU7LCSDxLvGSZT6ysx1Q1RZPJWj8d1UepUkPPF7KslDeSnibdGaTF5kr3EvzRYkKULPMVERKsy_zczmRjbTAcqRi314oCbSrqmOe48hcvFqD7tn7Du0-EussoLl_CJwIdZbPrRVvIDs1nlmHTfoGiduVBPHjs18ZbnyL090k0Pw85d9FRVCOtgugroeOVk0DubKpTFhNEIm5MqXq27Scws2oi4T_Tafx4Yw42bu-ztryJOsfmFRUanzSjlLn1Y2lD3ApPwu3AXB3JGq0IOM3syabgfRa-roDEBPkoi3aTR5Q22nPrTp3ZMXcH8QMw8nmsnm0GXNWm8Oi61q3nc-lftEelvUykGicEBvDNIIwBdhqHyAZpZChwQRyjhOWvrIN71TePtLYyPq2ElHacUMKzrxoFlKPg6kHFyFXTfMGpq3otHzJO4AoQnkyDdJRRE1YzXZunwvXQLnlwirweafPW7GDigntK4sLZEoFfElHFPGXgL8BSFEh4tzFndYY5N2FS51FE_6n2Jis4PBLeos06tggtH1kXSycBFoXyJfWpt61K_3BNplsNjA13Qpuz8f2z2-MEqE_rG1wbr5u_L6qxc07qFbIsBfGm50opBv8HUUUmJyxDSzo0lUy_-Ql8fL3rFYhXVSKu7JEq9CU72QX-QVyGFkhBVPaO0sJhXjxCFZBx0FUiLHnNxz9d-R34gitpAvFQ2iec_CR-ft0HAB0wATelOJFkafUZc_R3Unv1LQ4TEaHoCjLzkelhIVqczux-gfftCZHKduzaFWb6Oqc8hd5Btgrb9-BA7T6aYlfssDit7H9gKRQKKq-jpJQjXZW4t4d1X7wMBfxz0P5AfQgb7kdQowv_iUTs8Q68gAmv4eazEWDGfzeE-grmLbkPV7DmgzwyQKiXrWrZJNEU3biqLJBy7UfT_K4j010ItsX8OHmtkLSTFnm4Xzh1lOkFjrfut-IkgO3saUmFdTJR1S3xUQpj6n-MnMNjG2GhyXPuSmiLwl9Ps-1FsIK2jR2nqcvScy8Yh9QEeig6uGw97xFrevNY5sKiivEBVh-l34rlGZR9JiZOnV8P-475MRIHoH52C0iMH_rxeyKi4qB0m5Mta8Fo--Uq9imvcL44SaX2_kJtWgOXdWmY6hIr5tChvLTdjUPP-v6txpm3064Y2c1Tctb7LGbvdtN3ywZuLC4aqCw6NQz1l6xLOzyYBoYDbPeAwFzXDU7MUnvs0YypPLVYmPHgs5VkP3C0pG3Q6bfyeMQnQNJbThHOcIuenreUQU_E6XHlG9ERCYc4Nb9MIBKFu6p_W0Doywggbk0ng9RzhwV_rTOCLAsNutwT1z5afphd52ysKz6bMvR0AJlpsviXijcE_r-dNif1gjhii2oi2Je6lLnxan17p9rBnLfhihd6H0MRs5Kt_-JKAL8TKSFJgJGZF2JrwZqS6Jn-1RETSH7u_pLaxylMP1XdVd9s9XndEtK51p7izBdT0Vp-o7UptG6Ic5zd8bp5IsU58TCfc5wzbh7leGM0lSmoKQVVgatxB-gjHh07CH-LUW49oBgytHx852iRXqkjR1oUhXySEkQ_cKLGcOW2BrnRC8ubjZR2r_EqEmCLibM-McOW7Srg2b2mih34Zb7wZFNCQMdyDiCivMdGiukvUb-qyu-NJBqCdA04TkkEcg2l-Ms4XEXEQD0NcB_iqZ_PCUqvLlwpYH77_ajVVZFLvst-GlC23eT2NlfgfxMkGtBsFfTn5BE3CQltS3uEplyiQlUD0tZLfvy-Xw20_Pohpf-IWBvRhzOZ1B9gKC3wn9U7XPtvqkVfekbnHdISe8PuZq3NlPzmy5hVFO3XXlqskZRNWOCuQkeI85fpbdkiGokRc-D4vsDMC78nwh0mzpCvWCzpXOM4QYHEORc1K14tdQN-86c7_6WIfOgNbh5INPfh8jjlT121cjUJB7MMNLlHqtjlfz2zaURYia2L9q1CSWGt4b1pAZk96RChM7Dirfq2ezLrBd5UgWh8lqmUOzNtvWzeKgVtrVFy2Suiu6dIG9bnXw==",
  "id": "rs_039c5ba691a2a084016ab2c59686dc87d0b073477754ecbdf2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.10,\"right_z\":0.065,\"right_pitch\":0.15,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The pink bowl is clearly visible ahead of the right fingertips. I’m moving forward and down, offset toward its right wall for a rim pinch while keeping the left arm parked.\"}",
  "call_id": "call_LroleativMIn1LxzH0Z9MF11",
  "id": "fc_039c5ba691a2a084016ab2c5a5bb3487d0954d423e77f1a256",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LroleativMIn1LxzH0Z9MF11",
  "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]: [-0.0246, 0.8051, 0.6769, -0.4587, -0.0364, -0.0853, 0.9949, 0.3485, 1.742, 0.5819, 0.6003, 0.2985, 0.0879, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0028 left_z=0.1941 left_yaw=0.0305 left_pitch=-0.0154 left_roll=-0.0289 left_gripper=0.9949 right_x=0.4117 right_y=0.0981 right_z=0.0448 right_yaw=0.0417 right_pitch=0.0379 right_roll=-0.0612 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -1.9214, 7.1179, 1.9414, 0.1001, 0.149, -0.0122, -0.4034, -7.5282, 4.8205, 2.0293, 0.0904, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5bba07f8d5d0560f185f4a3134f557a8cd4e4bb2f20b2dcc0ed3decb194fccf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:477c592937e9142172643d0bdefd9a9df3dcc3c73dac3a54894019633b3d646f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a83aa10096eeb4fef49997cedf5e95528d92526a74fa704378d9b1096d0af13",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 5.619 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 53 changed as sent

message 53 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0597, 0.8825, 0.8215, -0.5053, -0.1909, -0.1715, 0.9949, 0.4599, 1.3369, 0.8463, -0.3038, 0.3275, 0.2451, 0.9964]\nstate[eef_state]: left_x=0.3078 left_y=0.0188 left_z=0.2304 left_yaw=0.1716 left_pitch=0.0163 left_roll=-0.0211 left_gripper=0.9949 right_x=0.3548 right_y=0.1163 right_z=0.1371 right_yaw=0.038 right_pitch=-0.1707 right_roll=-0.0353 right_gripper=0.9964\nstate[joint_eff]: [0.2393, -1.9487, 10.0718, 1.956, -0.0171, 0.1783, -0.0073, 0.3214, -5.4359, 9.4427, 1.8339, 0.315, 0.2955, -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": "gAAAAABqssWy4p_llQ7pUl8iYGcqwQeyNUWgxgOdJi6eymAXdpXFGmLRPwE2b-tb2mJ0FGz4_40ugEX1uQ8f_Ofmh7gIgQvaVSgeMWRSnzw2NyBQOmJSoLD4ifTUjZCwy558ai_nCNYiQv35-wKue1xB1atcAm8FtLWCuFQQcqxiq1vXSJlt6PfwhqNpaG6cnuNpFWVfLs5bqzusb1I8-01N8-h7OXfdTroIAXKee_-tuFZj5DIDgXNP_omW7Te7ozTfos1SGW1nfNFlNQ85KaHo9QTYPinPT50duwWn4aeUCusxQSHm5nIV54ULt22_eC1NtUmBJOAz-nXuzWKsVkmkQxwxnSaXY5eblGR1OYk7dtYRLjKybuDwROMkV119Mxv6mxdMe9QQmzOXDCB_EFLwt2ZeylvuUSAc7a2aepldahrDh4UoghSKX_aI_bqDrEy9TsD-FGvR87sm3k0d63o3E1Dhz9ENl3HaC64gO42NWYFBc2JW7gPfgdHfPH4lQxv2-bvHjo6Nbgivwub1xUsKhSVvivgSPKiUnsMKqtEtG9dfwxk--iy7qepN77J3Il0n5GXQ58oYyrVXI4bcXgyg6UOEK4yAJzbo6uQFZuPv3DExr9Xz3pLdONuKa0wv6lku3aT3XVAlbyVDqHl6qnc8jYQdDxvMboiu35E_EH4j9VnhJpcJU7Q4J5cfG1-xqkqsQ0u4T2p66YgsXFs7FtMkKOYKv2Y2hBdUDpEzI1A1nbeZYHaKqDNZK-Ir7S0ZfY4T2asWJmRHKZddMOTzmWf3MGH4i0JSC7H58LEOEKYw7Zj2tq74NxgiOgAAnxtLOnE5FZH9u64O9Izvst69Rrj0Xjk2LZpCSSqdCs6sLzdByJkWltAI50L1SlhjayA-OR-Nfq0EfN8jSSQZEms4wckCKEec0RKxN7jRW0aBKNzmG48rvX68f8zbPUTFN5xMacilOtysm7BkuSigFx9aGc6Gf9p5NHjxCGnKtty9q6iE-Wo3XIu6s18NANFGvYsmqZoJkUcSZBuoko5QYgx3zb2elUhCkVQ923C7rW7sjrRpWLJAPIiuWsOf7Hj-nsX36MeWU9jn7i8HrUTpea10km5lOkfw84WQY2b8jApGteN7RUU_Vq7wvCoj9P5SSjojWrrVjVmgP8dmvVi7QSYc0dUGABkW4XJ7cZMe-5JCKikS-WFK7eqVtKiuY_t7qKp95yHIh2pEdfCOWSMyNe2uAt50xJdEIgJ5EDCi0ouvxhVhAwd3Gu15AV3C5EXoQHkpMoVl7YfzZM3I6xOvVE8tI1-8ARog8nDXENDBy2wdLy3EUsMIBt6DX9Qv4e3ahlgr-TlyVZY_ityHntRH8Xtu-nn69l3F9CUFt3A2AYmisbTQTYm8QGvXBVUtjB8aCSm2syKPYyND7tlLheNvmvsaoiA3JCKZglb1DMGvf262pfIOh7mXWgZfXvkwZWPV_jPc2auKLLTE2SOpbZG4mjqcAmMeMEAKJMKVLIY-CZ1p9nz2qQ1SwjHnKwEF5FkTaJPeZZ_oFPA74jQIerpQE-2Kag_lDW1uMDvU-vwR21OY9z1BdXO1SpeMS-b2YuUy3YTgT4WqrdlgBk3XSQ-CC-jwOALUXruHWLiBmA==",
  "id": "rs_039c5ba691a2a084016ab2c5adb14087d09eac73243dc31258",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.005},\"note\":\"The pink bowl’s sides are wider at the lip than the jaw opening. I’m lowering toward its narrower base so the fingers can get purchase below the rim.\"}",
  "call_id": "call_ImCPCptrJhMr1H7gM1qOxfDk",
  "id": "fc_039c5ba691a2a084016ab2c5b11fc487d0aa6163f339dc939b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ImCPCptrJhMr1H7gM1qOxfDk",
  "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]: [-0.0242, 0.8082, 0.6701, -0.4595, -0.0273, -0.0784, 0.9949, 0.3466, 1.8648, 0.569, 0.844, 0.3061, 0.0837, 0.996]\nstate[eef_state]: left_x=0.2927 left_y=0.0013 left_z=0.19 left_yaw=0.0195 left_pitch=-0.0263 left_roll=-0.0278 left_gripper=0.9949 right_x=0.4265 right_y=0.1012 right_z=0.0412 right_yaw=0.0327 right_pitch=0.1417 right_roll=-0.0354 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -0.9504, 7.5419, 1.6972, -0.1148, -0.105, -0.0122, -0.1846, -4.465, 3.412, 0.2564, -0.022, -0.0562, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:17356dfe902da20a2347f94541c67fd783e17108a0f1144f0107bbfeb9f7ca31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7ec47dcefd07e470abca36f1faea304d06b4807094830b7566f8e4587369dfc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57c51e438098cddff8a6a16c97f256547dbddf75aaafcfeca1700a1c91d46f12",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 8.907 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 57 changed as sent

message 57 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0246, 0.8051, 0.6769, -0.4587, -0.0364, -0.0853, 0.9949, 0.3485, 1.742, 0.5819, 0.6003, 0.2985, 0.0879, 0.9963]\nstate[eef_state]: left_x=0.2933 left_y=0.0028 left_z=0.1941 left_yaw=0.0305 left_pitch=-0.0154 left_roll=-0.0289 left_gripper=0.9949 right_x=0.4117 right_y=0.0981 right_z=0.0448 right_yaw=0.0417 right_pitch=0.0379 right_roll=-0.0612 right_gripper=0.9963\nstate[joint_eff]: [0.3077, -1.9214, 7.1179, 1.9414, 0.1001, 0.149, -0.0122, -0.4034, -7.5282, 4.8205, 2.0293, 0.0904, 0.0122, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssW4x-LmOcVtvq6t5a49GRakQk9CO-BQXNHrcMYgsaV7Gi-Td_ZPMUYrQt1LIO6_EE603phNUD-CYx76rm7QgSgg6CJqxL6spyvWCNSgROKB0AJW6lPzY39LKWnl0ktj0uzTooBX8JOkhPYIHmkKunSGvjc7qH_XV9jVY0FVKn_Un9mG3Gsx_6T-L3hNI6JVBjG2vSxSYZzVYIUBcXEfkEU4rkOADISiOO-AYsDSpQrvAW_OAakGpMHwNF_Peb787oifCWNMAOJUKrJj0AGPsse__eKz3EqHDXdB5m55EsWjb3j4eynAlLUfG7tw5bcfUQoqOhGFtiMCGS_ksrupg-cGedCw7qVxOSX3fSnfneB34OSs3GGPyOgpX4qrx2IWyvAaGzaPH9hgU-fKdS0bYOp1DwuM9hAKfKbUmCNZO4GwfoMtmB-sORRF0p_7JZA8ZHtxpzeWOOKBtzfv60pC9981ouMgmeks3EXborRWCaxgLAeaPi8AbhGsoLIHOx29gu7QHcferTCPBHPpfVb7JWr-_9Uma6MzK3ZAi-1gGv9f1ync-LMA49apSGau6nFCywFAPLjAol99-I3ix7Cz3iuoHC3w6niC8y6Lgc4Ej1Md43PHM13ypY9fwV0YgDI3y5ZUBAvMCwY8fjM3RLXriyTVyYspwy93ka51J_74A7Ojf_NX1dEKE15ewG0kOvhMXbXbljEimLa3cRzUaFTjpaZArRmGpx_c0YLL_C4sN9inY1JvSiBxIQM9fqQANQam2Poy-KEB_5bmAV50N3WSxvTNUksbF9kYfupu0j-Es_nmHTGgJF8wpkJ7dQ5tejxN_LWwizK_096ihxlO2XiRueRwiL_2eZDIG5xLveMOfAxocHZUnicZnGPtJc-wvFaQei9ZhBILLkkdvk3FRWCf_4IdjoFLDVTu2uSC_AKmeBhiiHvaA5Xzjlr3W9igKCTCSXUTGBAKuGI4JveWaOhCnoDZFxWFUoGaFEsmpHHe3veFDSiAjSgtyeLh0-4V1f0awrSSan3KlYV_z7JI7BAleBO-GGGlaogZG_WqCClJcrW9cY0BPZQVRyZu4_X9VvjgjY4VUIFtHoJKxemto3Euh3WQelrPRf0sIRBXl_LT39I2HDUGCdkYJz6V6zRjAzD1O---sHnCTM-bQUP4gx2P5_aN7bWl3wYho166Fm-U05DkduOUbzDq7MNJZVwOkbhRlpIrOFbrwn0J8cKTkB70Dsm5wnSkxm6O-0aA8Yk12xJIkAeZYLOP8WedMIhJ3oq8GL_7CXm6mWn_BtKX6RAK_MXNFT8SIBBqKEEUJKcmX4sucgiHtH-1SfIi_8eOAV0TktoMO8IKIVUMLKpLDPG04Vjd2Q==",
  "id": "rs_039c5ba691a2a084016ab2c5b5a26c87d08eba3d0cbb8ddd62",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped against the bowl or table without reaching the requested height. I’m closing at this contact height rather than pressing farther down.\"}",
  "call_id": "call_RSMbnb4TuZSPfcVBFVyIYlb9",
  "id": "fc_039c5ba691a2a084016ab2c5b70f0887d0a0f70f8228a8594a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RSMbnb4TuZSPfcVBFVyIYlb9",
  "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]: [-0.0242, 0.8097, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.3466, 1.9034, 0.5537, 0.8352, 0.2981, 0.0853, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1895 left_yaw=0.0185 left_pitch=-0.0278 left_roll=-0.0284 left_gripper=0.995 right_x=0.4177 right_y=0.0995 right_z=0.0183 right_yaw=0.0407 right_pitch=0.081 right_roll=-0.0497 right_gripper=0.008\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.6874, -0.0708, -0.0464, -0.0122, 0.0752, -6.4205, 3.9043, 1.5214, 0.0855, 0.0171, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:993af7551c8738376f4c9f40a427b04ee9e608974a1c9da77027be3ddbe7679d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7439203b2ea7930e95c26812227217cba872ad757b51afb5fd4cd06405126186",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:492662e51bdd28e2cf4a7432aac0229e0b61722da532c67a1963af94b036aa06",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 8.34 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8082, 0.6701, -0.4595, -0.0273, -0.0784, 0.9949, 0.3466, 1.8648, 0.569, 0.844, 0.3061, 0.0837, 0.996]\nstate[eef_state]: left_x=0.2927 left_y=0.0013 left_z=0.19 left_yaw=0.0195 left_pitch=-0.0263 left_roll=-0.0278 left_gripper=0.9949 right_x=0.4265 right_y=0.1012 right_z=0.0412 right_yaw=0.0327 right_pitch=0.1417 right_roll=-0.0354 right_gripper=0.996\nstate[joint_eff]: [-0.0889, -0.9504, 7.5419, 1.6972, -0.1148, -0.105, -0.0122, -0.1846, -4.465, 3.412, 0.2564, -0.022, -0.0562, -0.0464]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXCZDrVxqEea20uE_VEcS7UH68H8l10j3Ihqlvqvk77bUD66UHqteh_ABXYlem_rm2wUF1-j7RBJaZz27qhw1eSE5Rm1UU_WgXXlxsZSHZ-bbDqZweOaHKCo6nq6HbEs9Uc20Ocxi6mumXCmWWJxmjKb0FKi8uTzCDhe9C3x-oNMuCsDm3pJhvPkztLcU6gmACoQMQsAUtr8CpG-GNXWU5bK-heIE0tvn2WUbYXrN_oL_SZAt5ahy08NvObrrDBZziwedbsVQM3-QFoyjpgN4HFhYovXdsZxTt7r67LHEJj6W0cNbcOepgGnjxjtx2mZnHJRNO0oTcxwgR-nvMwzROdR5wzBFXXKFAnI8BXWpb_wHHJFUawgtwqlnWWojrkIqBVj2XA4ahAYFp16XKuVnA1mQAg2QGyZAB6i7goQvRvB9G8HZDZ_QCMovYa4NI8lFIsQJKgux2HvPHpvv9zgEdRMN00_Y-VUp10wsoSWtEDxx24BI88V2cg3dX7jER7XIObosCdwMya76h1K4pBbf4fwEuYHSx10dSjYvzrggi9s1aaMznbspvQ3mGjltmJUFS5dcl7L2sQzKhAQZlpnkIjNQGZYrxZ8Qt6St0Nwqk2p61n11Xi3c6o3f1nHgb8RWzVq4E__VR2eM2_G_8YCdl2ny6VuH8Imui0TxnFuFKGxuR7Pqj3YCzW_j51eJHW8n0ZtJ98me9tDZsCeE23P_TE5HBcRhfBn_r_N2FJww_9JEXvn8BpghtcW_qivxExGo49f2MiftnQfwS67XorMq4YxIk3r-FXV7AHB9vvJTvzPkwYidt90HpAMVDHv4Rem7VjDC1zjHfAIL3APuAZN7X0u0HwqvIHJ7u59eT-jQ2mS4Q4qVxmQHLoVHuz5G3eEmghSD_co7jShgJnNfs4QEaTrln_pRSoGN1vxOW0P3L9wq_Cncr5Ac-abySLugow251E6c5lCQOpEOVL_NpW04NYAHAx4PWM9DRcVy7nKu39ygi3TMExtfxeTiOPfuM2WB5oUiuW7tBq4JrQ4xcs18nn6mZCoh1A0plxvw9zo7F90DpkF_vszuhAw36VeeUOWlOnUw0uoM8R5Ire9vXDllvwuT3liseIn9nld9b7kzyi5mww9dKgyq7fTfW1ezwCk9LYO5QGeGyM7fPaE4V0J9QpbPvx6lP9D3plDCQyCcM71kaZeWobRx0kn3dWI9VTLY1Xb3Y-FUYhmQN_sg50DTIyjHJbtStURlh25jEVVhp8GRamNRssUlHwE2Jy8HyOANXUd6NnEmF9iwT4fH5JnjaEypO7fGGDo-GsQsuNYGOGBJZMHQbcd14uXaOBZmW6njhpkprMjgLRDZVGEcX-45XUdOonPJ4RsAcYeNmjpuA9ZgVfk6Z-jLDxlAHS_nF85yYU",
  "id": "rs_039c5ba691a2a084016ab2c5bede3087d0aedbf21fbdccedf5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.48,\"right_z\":0.09},\"note\":\"The close was empty, with the bowl still ahead of the fingertips. I’m opening and advancing to bring the near wall into the gripper rather than closing short of it.\"}",
  "call_id": "call_YKUNyq92qw1yx2AloNw0MSgi",
  "id": "fc_039c5ba691a2a084016ab2c5c0882887d0bbeb429bdf45853a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YKUNyq92qw1yx2AloNw0MSgi",
  "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]: [-0.0242, 0.8104, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.2909, 1.85, 0.8383, 0.4538, 0.2443, 0.0456, 0.9953]\nstate[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1893 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4697 right_y=0.0998 right_z=0.0622 right_yaw=0.0519 right_pitch=0.0304 right_roll=-0.0694 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.388, 7.159, 1.707, -0.0659, -0.0464, -0.0171, -0.6769, -11.7402, 8.0205, 1.8877, 0.0122, 0.0904, -0.0708]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f66437d4a16870fd402e5813547d5f725a7cae8737135780c0a4bfd5b8ca651f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ab48686f90957cd1cd63c2ee4f6751b23e19a3dc69150cf0e191044d429beba1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9f2413a7c072a07a27af4812a6568b2d7c37119faa061836f941f0075330637",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /responses · status 200 · 12.96 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 65 changed as sent

message 65 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8097, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.3466, 1.9034, 0.5537, 0.8352, 0.2981, 0.0853, 0.008]\nstate[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1895 left_yaw=0.0185 left_pitch=-0.0278 left_roll=-0.0284 left_gripper=0.995 right_x=0.4177 right_y=0.0995 right_z=0.0183 right_yaw=0.0407 right_pitch=0.081 right_roll=-0.0497 right_gripper=0.008\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.6874, -0.0708, -0.0464, -0.0122, 0.0752, -6.4205, 3.9043, 1.5214, 0.0855, 0.0171, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXL-JyvJiAzX3s2rD1j2HpRvJM0Vvp-5LhSqdPlkTQ9mjscU6o_wZf4wjk_74VLZ76WmQXGXArYMRHvGEPf8YsSfmbeMdXK_Um9hNxRl-LqFCyXV3vk7ZIOcLqpeSrZotULEmbHabgenWdvwr0SnUhL4T_QOWHCfrY2HNbuFfglY7cIiMc-QnWekR0KITaAzLSL8-T7cSzP25ff4Nqx1U1UjE7nUymxNTGjpUdIAhRr43KeTJ_qYqz3yvUMXCnAj5xFNTMlINefBut0MKlr9V1PBiFKT83itfEzaqd5hFJ358o9LNC9cdnMUPNObHCJTTFK1QeHnPNfBGwl1GFKO7xRQEw_7kMRvSQWMY1yxRnAJgkuqNgRuSCenaHPbzEu0x8FwbGFB8zbZNgmGFbZW4CRFhbztMsdOYej1lKkBadjykY9oFlI1Kpm0FRhNa3wKTIaoRQiZHVv8k6agbMY35tImbuzz1T1gxJhKZDl3QIh6pLnbY2yZ7V3aV-mW0dg3mNqF6zu80h4W13zb5UGL41zifm7xo35STa0SLu0Wk14MAFBz2OvcVehPNfojDLlJLXH2tpoKhJ5CXnK9M_ALp8y7PuQtrnx6eXjD76TzxxSNmPqeTFZOcCtobX-SSL35wXDXwWpPKczjbCdCN1yUi8vAbbBfg39P4JJAVdv_QNGkGUhH1mHbO0e6jKWLf9QmVKPFiqBXLk0HEO91knyCwkwVY_w1nWGJFIEKwTfRr18zJLtHy3KNkVa5J5jExPK1kj_nEqBzgWR27ulOPu-ntS3GtsAWF7jdjklP6yTYvKtq2MU3Ob8AwoV2BaSAa5Llkf6o_YHWUuDyCW5RHcJmFabg75EfCxF5b6CkAViUpkfa3zwfHE2Bo-bDO6zY0jd5r_jxBpicazBWNoyojj47dTS74DAlMrobUZqZcUc-w1RRSWLZeG6T3pT5Q9iMwwLM1121eGHtRjMpQQ6jJNVspcM2PwdUuFZK9C2N6prmdpaxLzMRt3PK-ypQxCLjq0egZdV3-L0PLH8V_mC5JolKrlasXWbid3kicKrLQsrY9zOV1qr0MMJIiFL4002CI_JI6sAgaaHVdNc94kdGcG0CUaFH1DCzowtb7xp8LgZa4S_Cq8LM_AyAeY3HBs3NlrE_Me2f9Xzb39Fp5uOR7l_llCagMTUeov2oec-Ns7-P6KzObD4xKk_2adxX9nQu458Hlb8LOSPu2SSUyGjOL_ifEDR1yfI6P3H05h1tPQOnAbJDIP8uVbDXpUObMYOctFY7UPwoOFbTd5QqoYSH3zNhfGMu0CSUrWH8Hi0Qfd-PRg14waHVSC0dEuoJ5j31v75V80E0qGTczrT75lq1nTrk8gh3RSpP7un96Ssq4FqWwTXf-5GcMcy_8hHGFeLutpqSbVZrcSUHpBa_XmmxkX7bQ-DzIXgIJMLo_tPf91WPjrEt84=",
  "id": "rs_039c5ba691a2a084016ab2c5c82f6487d0851d180810dc8d93",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.045,\"right_gripper\":0},\"note\":\"The bowl rim now reaches the fingers, with the jaws on opposite sides. I’m lowering slightly and closing to secure it.\"}",
  "call_id": "call_Zh5Ye1Lz3APnSbgZ2hkxJNRq",
  "id": "fc_039c5ba691a2a084016ab2c5ca310487d0a0ef8826b78cbde2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Zh5Ye1Lz3APnSbgZ2hkxJNRq",
  "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]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.2878, 1.8946, 0.8196, 0.498, 0.242, 0.041, 0.0085]\nstate[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4674 right_y=0.0979 right_z=0.0437 right_yaw=0.0533 right_pitch=0.0113 right_roll=-0.0766 right_gripper=0.0085\nstate[joint_eff]: [-0.0889, -1.3197, 6.9812, 1.7167, -0.0562, -0.0415, -0.0171, 0.1026, -7.7333, 5.2171, 1.9951, 0.1392, 0.0024, 0.5788]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e3365385915db6966c2a880903ebe770bb8011724949b6430deb519decae7567",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3fac23b44cb21223c386787f735395d167f4a7339466c728dd6ddcbee0c294c3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7c81483f545d645f65d09a4edfa970a64a4a2cc310ff92791177789c4862ba9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 6.464 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8104, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.2909, 1.85, 0.8383, 0.4538, 0.2443, 0.0456, 0.9953]\nstate[eef_state]: left_x=0.2928 left_y=0.0011 left_z=0.1893 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4697 right_y=0.0998 right_z=0.0622 right_yaw=0.0519 right_pitch=0.0304 right_roll=-0.0694 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.388, 7.159, 1.707, -0.0659, -0.0464, -0.0171, -0.6769, -11.7402, 8.0205, 1.8877, 0.0122, 0.0904, -0.0708]\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": "gAAAAABqssXZBmf0GL5vNfu3MHkLGJK682hay0kyUZWvrkR6XTyStOtXhGLZV3cnk0UZd6W00TBTKX70Dncp36Y7I6sd6IZgQhDFLDBRYngoUXlxf_67aQntP4NuwBc8Eu2aUlqAU1zFpVfh-EDNrlcW60NUkDEQ_VSt9f3ftW7X21-54Y5SqBjcaEedniG-bMnKASFNyN1mOhiGIDr56kIpWFSgXBPVU6-pK2H6rTC2pVMkdYeXkJIUy2aty_8qD969utKoANnynceIo2rPfxW8jm8I_fb3yxLttwUnvbYbA8vkRka__Ijva9W8TfcLeuiBUmJXO48oj9zQF5SaGNNsw5CGsTBQ1xSsJRyxuDjMK_HKBKktJ7wHSu0VrPqvvhHl1ZEJcCscEdhVSGqgPGUYfBAK9anS_tEQ7FKPb-eWrUTIpFjMrHf0GZ9lPQZxbTF3evM1KqICj5vgc2r3IooTAlMOsA1sE0bs1E3AVp55MQOISQH_DAKdnsxNj5vF6AJ8UoC_80dZ-ZVVFz9-opoN2hbEetIhCSWRaRkuWrWg8jqOS6x-xhvrQLuWcgSz6xJXkFDd9XXDGtqHxzOgdsUXiH9YNprBbzUBjR_AGYvM7LZcg9ZrZQm6To-EyR14NbLwE139UgR6FDgHLnS2m6RYL9oyKvJhFW5MW2QKlWpmNWYMhu-c9DjMle2rhwbmgj5-zjitCdquB-HwJi1xIXzLcaygiViw-JgGKM9Pg8CchOgy0xL7CcA6DByBHYnsDTzzIMQ-W2PoTnb_h1U3zgqEZsWvpM3zrNU3uiRbyiV4-AmVFZfDfMGUT_d6f0TW8c9rLedwaO--8x5xy1RGd3vQC0gwgVCTKCnkOLtYwWXKQBlc1Ll6Up2EZYsEqpc7n-fLa6R9ax7F5nUDpWEo-fy9nK-na-tRHhnyVVTgt3i9x1wljZjJ4nIKQFefXgqpZM1IxznJLbPh6wyVLV2DzE1bn-oYmdbGtDPTuy1ttFmwguOenGCcBhr_saqkeqCjhPmXyL6R6h-elze6GzDvBAcABSqnkO0BIt20OEpNadReKp_1aqL_AHhvaCAWiSDHeStXce5IBdR8a35kTApcY2w6Wsql4twAqfVCZ9XI4kvM6vtzYS52Rqrye9UeuoO7ME46lwjmux9yD5E-c_HCbVEkRLpcoBlCvI3f_4XJ8wRvG_-sp4QhLcSMw8VQA5qTinXE_Vq_uwuuz8510YrONqV9w2YYKQ6dMCkDRRO00AtfF5tpH3w-B3q-_Wqnj4_-sTTHnnpybJaNSXclNZUWyH4T__U2gr8WdijUsmvvYvwOAJGJRKqm1YrdMFpzb4mFd0VRZw2oJI7xkszcIecLjhtfLtsY9NfAa4_g1y7ssOH9WzjYyjBrGgKhtXcXxpO6FQMLw_FCRURnrBbvf7ffW0y3GsX7crtMUaZba6n_nlluQnaILaPKxFBnmoaXzIiz-RMkumtqF44z6FB-FmV5vthrSFkrNYP2mEhsIrIvfUkVCWOwLm55B8KAkRIYWzzCFzbIXeh5_GPPpgeaesUgltoa3Ibbr1TXr8-3ftv_urHmd3T0zqtyClCRSBHzKHrgqd21yanMz7tkv9i6hUZbNXtJNH0xdYG2yYsxv2gSWVyqPk1jrFuB8XitixyIXeHGnkg7A77BiKd-dYL8qpW1SshVONckch0yizt802sRnQteNMKmIWu1Vj5YDMkFCHQLqY0x1vyTBjRzOCRbxxa8jBq6PN9-16vxpEroGIzipPVJ0ys93cLUVsWezBQWHSGG3vTZtHnqbEj2",
  "id": "rs_039c5ba691a2a084016ab2c5d2468c87d09107dfac1ea0db6f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.105,\"right_y\":0.15,\"right_gripper\":0.8},\"note\":\"The gripper is now reaching the bowl but is closing within its opening. I’m raising and shifting sideways by five centimetres so the next close pinches a single wall.\"}",
  "call_id": "call_OYMY2imX0cOZOBsFwBoHK5AQ",
  "id": "fc_039c5ba691a2a084016ab2c5d7630087d0b27849bdf978b3a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OYMY2imX0cOZOBsFwBoHK5AQ",
  "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]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.4252, 1.8347, 0.9627, 0.2169, 0.3283, 0.0956, 0.795]\nstate[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4599 right_y=0.1496 right_z=0.0734 right_yaw=0.0896 right_pitch=-0.0469 right_roll=-0.101 right_gripper=0.795\nstate[joint_eff]: [-0.0342, -1.265, 7.2684, 1.6825, -0.0415, -0.0562, -0.0171, 0.1709, -12.4239, 8.8, 1.7656, 0.2955, 0.149, -0.0317]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7efe6ce21bb1234e112e4cd760cd96d5c27f11c4f267647b3b91caebda78a543",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d02d4ead1e5a36a7fa55d6cfb3b823bc864dc6cbeb4c918e6bbcd4dfc9d9760",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ab9744f820ceb5fb13e2852706631a40c77fa0099eb1a7a9fa4eee43fe81c99",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 6.071 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.2878, 1.8946, 0.8196, 0.498, 0.242, 0.041, 0.0085]\nstate[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4674 right_y=0.0979 right_z=0.0437 right_yaw=0.0533 right_pitch=0.0113 right_roll=-0.0766 right_gripper=0.0085\nstate[joint_eff]: [-0.0889, -1.3197, 6.9812, 1.7167, -0.0562, -0.0415, -0.0171, 0.1026, -7.7333, 5.2171, 1.9951, 0.1392, 0.0024, 0.5788]\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": "gAAAAABqssXg9P1aMlSVhyophLV2yw2VuBPQyLvVp8lMsUxmAOtaoxAkCoKituAXZw9VWVYlvetW6KD7gx_kICxsquNikFZGjvB1etkmxaNwfX9SD2kYBqwKeeXK8bRI4vojSlV4beDONFMo8K5xex9sAhBg6Br5_Fw9bROyMLtq2tu5XyLrw5l4gG4XrvKmydq18hzpw6EFph2hDsrY_Vb_9iD2Kr4rYDfFZHsLwR_kgrsJKFrMHryMCT2vx8igMlHTyXLNOR95aSeQDG4Ykr0gVHWct3ii0hl1g4R4B7AWt_MVstE81RhAK-xzlvdtiR-s55jEanLkgtfOuoqxgmY8i9mMA0Gj0Ay7ZFT0HDNjgK72UhjevwiWqx6NSvcKNDW1pmuKSUgd2MzlN6TRAPHzEpsXPqvOCMVd4pN1fnSlbTEPWd_4xC4qhjFqC3YRTFx-ZyXEZlZZi8IwDWCn_ycvi66TR8F_of5FLA1mVj4DjjcEDLiQ0HcEAPOuQ_-GH7duPM-ILHIdF0VzCjxtgBRqT2Usv8B39jq88RcTjH_DCxOZlvSJ3e6S8co7YvbWjOi6PYqO-8YXHPtGgeVzWeU2YqKw1dLiHEgMZf72CEtFqZPcn2XiS8bYC_xvi3LFoQyQLV8NWckXbCc_Qe4bLiuMBak4hO4saKY2zuNTjWEuFwhHkWBZ1yajxBGpM1V4_o21Ft-1heN6qp90yc3Obdq2N-8y33gK6lvgdVU9rXDXSuPt18y-QkDLGP6lMwm2AdPi-M8sZd1GGm4cWDydUMfZEHEDJf1hFR0gM2SjDBBGYBeo8MSG_rWVNCp-Wzg1SqR7gK0zfS-7iSDsOsvMSanwN2uNJp12H-lIXyltu-Bhr2xpSSEuCGth5sZDeQl1PXSq1Dr0xmBA-Wwjh8C9RTgHJ7oSvGQcsPvhiL1ro7PEzzOJxHCNa7MgfZWINgtLsW5dCcFdtQBAyZfNPMJsoyH7rLPPb3a5xJIUKfTK9JNC4ra6ReA9mQhdgrIYeFdeKujYIbst5JuKsy2BM9Rc7-oteZ2KkF5-5_wgewWLuVZpmnT0fOIbUt4u2eBXaww71svyUvXxAFa9OgW_tEjV3tz74wT_8XL_A8Peo6uU0NXyVD9Kvd2xvMh2EM8YVZ4dxwUvo_oLZ5trsO8ih1Xy2i8hNdddMCxeKVm82wDkCgLOH3-D1x1L1--9KCDOEWBfSwu1phmlkkFaraWsqzu9xb_3ZEJxSlVhsyuq7FY6awvqh-GXRr85vCU=",
  "id": "rs_039c5ba691a2a084016ab2c5de3c2887d0916dc8847daf0502",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.05},\"note\":\"The left wall of the pink bowl now lies between the jaws, rather than the empty center. I’m lowering onto that wall before closing.\"}",
  "call_id": "call_ghbLuuqq28l6pszBBNsCqLNL",
  "id": "fc_039c5ba691a2a084016ab2c5df4c4887d099f3cc5bf82e4eaf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ghbLuuqq28l6pszBBNsCqLNL",
  "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]: [-0.0242, 0.8146, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.4305, 1.8469, 0.9558, 0.2386, 0.3313, 0.1009, 0.7959]\nstate[eef_state]: left_x=0.2932 left_y=0.0011 left_z=0.1881 left_yaw=0.0185 left_pitch=-0.0332 left_roll=-0.0282 left_gripper=0.995 right_x=0.4597 right_y=0.1518 right_z=0.0693 right_yaw=0.0896 right_pitch=-0.0435 right_roll=-0.0975 right_gripper=0.7959\nstate[joint_eff]: [-0.0068, -1.6068, 7.0222, 1.6728, -0.0464, -0.0708, -0.0171, -0.5949, -6.612, 4.6291, 1.4432, 0.0611, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c29bf32ae66378d5de011457bd0601bb6607cad8cff55e2dcc41f3179bc84a48",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60071bab254161da0aae6640c4f8559a30030b4ef64d540bf9ee6f785107a9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f8c526ac4371fdbfd3ada838a6c6c0126f4a40f31489779a3aa2990d2b58a9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 7.668 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 77 changed as sent

message 77 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8108, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.4252, 1.8347, 0.9627, 0.2169, 0.3283, 0.0956, 0.795]\nstate[eef_state]: left_x=0.2929 left_y=0.0011 left_z=0.1892 left_yaw=0.0185 left_pitch=-0.029 left_roll=-0.0284 left_gripper=0.995 right_x=0.4599 right_y=0.1496 right_z=0.0734 right_yaw=0.0896 right_pitch=-0.0469 right_roll=-0.101 right_gripper=0.795\nstate[joint_eff]: [-0.0342, -1.265, 7.2684, 1.6825, -0.0415, -0.0562, -0.0171, 0.1709, -12.4239, 8.8, 1.7656, 0.2955, 0.149, -0.0317]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The arm has settled against the rim at about seven centimetres high. I’m closing gently around this single wall.\"}",
  "call_id": "call_855tK7pnmo5HFTKKcTHtyqYf",
  "id": "fc_039c5ba691a2a084016ab2c5e5b3ec87d0ae1c0c8e9fc37e90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_855tK7pnmo5HFTKKcTHtyqYf",
  "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]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.4301, 1.8717, 0.9287, 0.2359, 0.3271, 0.0937, 0.0086]\nstate[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4505 right_y=0.1482 right_z=0.0471 right_yaw=0.0953 right_pitch=-0.0963 right_roll=-0.119 right_gripper=0.0086\nstate[joint_eff]: [-0.3487, -1.5521, 6.9812, 1.6874, -0.0366, -0.0415, -0.0171, 0.0068, -11.0701, 8.4308, 1.6532, 0.1099, 0.0415, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9cee54a84abd21c2c879b9059b52795130105646228ae9cd12e35bb7999aad9d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:82dac3d6194f68473bd8bb7faae4fc4f70e650ffc61e64dda307276f85876b76",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a8f468784cc09e7839744d4bd8827dce6b4ebf8af19e4a6354f52a32bf95e4e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /responses · status 200 · 5.47 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8146, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.4305, 1.8469, 0.9558, 0.2386, 0.3313, 0.1009, 0.7959]\nstate[eef_state]: left_x=0.2932 left_y=0.0011 left_z=0.1881 left_yaw=0.0185 left_pitch=-0.0332 left_roll=-0.0282 left_gripper=0.995 right_x=0.4597 right_y=0.1518 right_z=0.0693 right_yaw=0.0896 right_pitch=-0.0435 right_roll=-0.0975 right_gripper=0.7959\nstate[joint_eff]: [-0.0068, -1.6068, 7.0222, 1.6728, -0.0464, -0.0708, -0.0171, -0.5949, -6.612, 4.6291, 1.4432, 0.0611, -0.0269, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssXv3fnnQbIQXGnXL8XzPVxOvS5YQzEJnl7f1NBVYxGFy4q0aZtZJcwv2VZsneatmZ_ReMnBvt8gwaUGyNpOlpkeBqHhi1CLaUTmT8Q4Xjw4YtytQgxjAWzt75MCAFmbd4Z6ki3ytkX-0nADJrL6j1nE0PxnrMKeo2Tx7WmLkuTr-8dqIW7w5O5lPl3yq9tEOcq__piafHxZc0sW63DvJnYt5X5hrK-549HW--fgqpJhrnNEQZrngD0TRkc5f6vkIgIYczviTMjMUYWcXq2agfX0CFPMeViT4YDE0Z9gbopGhH7FEns7YLrLWN3ayrdTnxNlQVZSjK26nn7NbtGHFZ-UAaiEjE4-roz3j6dUVAoC2zm4LZ7gRvaNXmvlQMxnQEvv1UhvLHswkUt6S2XJk6KZZcIIQQJxLs7EX40-o6YLslDRw9pfeGC6QQ1dl6Zf4dNIpDNN1WJCSwnQ2BAxTYzs59tV6JIfVoNeOszQDoTpkpNAew12KngBYxaH5zsXA_2a2LCyzIB6wqn6HBb6Boe6bleE-EJ5hPilarJjE0DqX3jKlJXcUFPdL_3ZleaB9r8W1EfsZiebnGKd3FPgHlyqjw68B3d-cOVkdqfsrZr-iYPZ1yccMoGLEjl1qx1G5v_QWcl54gUl23p-MjfJeSg771A5UU84mnA70vlKrGSwAjOulnkcTh5kPbdEG409CDtLW2U4MGCBsUhrzvLR5Cu37qsdhqwpAJgLHxnITCB_yg7trkowEOK9jA2Ep_8tY7VzK9ipvHxTPI62xSHlR-tYjs2RWEMdVUwAPY85Zn54svrACEGpXKcpo_EG2pO9n3hygMtbGHP740UqKx31GyYXzI7D3mVY1l1mnw84dhHoGrip4ME0ptIA8PSVXOs7NdVb2ZWLUv0Rgkj-4PPwSzDYJXtv02SFH6VcWc-cV4SoSRkAwD6sZi7EfwE-CT5oImbXbNx7U-zmxIVIaL-qV4jD8PzKCquQHwDr5AMmQ53Icij6CcWs8K2aAETWFDL5CVRjtABxPlzeYUS2LaKmhDnRzrtYZ17ddCujLZ1d0wvgKBVmEAewsj8ACfI-gHr7Tt3eS4eWyWbMDxNRTwqH9heosnxWBT02hy_cFV-M9X5_2oHOgCaQ6SICaNJTutKb1B1VEI8ZcZlq9xZ2mn9VIDLqey4wu3lcbxFRdOEBFTmnVhXzyd_TSKYy0WLIGFmgGF1ZhDoLUcJ1XBEDMgyD846vI-wclpLblwABntQGdYsEPpDkFZdw9SrNtXHDyKTLns0Fya5sHa7y8FDshFQWFhkqx25pvlhqQH6BL_HVAulVoV1BHDHbUfJD-L7tFdsy5rIoh_F3XSBEozaFQAhwFR7LSQrfZArCKa3DCuRkmzbFnpZ4tfAcAy8RL311kwbITOvDJU6rzF9aW64jwO-dCIGYi6loZ4lbCk7vt_3DCrIdZNNEogdsFxp5QWBnLwcpT8zM",
  "id": "rs_039c5ba691a2a084016ab2c5eb86e487d088e67a19ec4a26bb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.6,\"right_y\":0.128,\"right_z\":0.08,\"right_x\":0.49},\"note\":\"The closed fingertips sit just outside the pink bowl’s wall. I’m opening and shifting about two centimetres toward the bowl to capture that wall.\"}",
  "call_id": "call_8sF3nM2AElV4KBDP6diu1Z4i",
  "id": "fc_039c5ba691a2a084016ab2c5ed690c87d0914eb390c30cd0d0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8sF3nM2AElV4KBDP6diu1Z4i",
  "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]: [-0.0242, 0.8173, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.3466, 1.8782, 1.066, 0.1028, 0.2615, 0.0311, 0.5952]\nstate[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1874 left_yaw=0.0185 left_pitch=-0.0358 left_roll=-0.0281 left_gripper=0.995 right_x=0.4796 right_y=0.1285 right_z=0.0704 right_yaw=0.0996 right_pitch=-0.115 right_roll=-0.1276 right_gripper=0.5952\nstate[joint_eff]: [0.0205, -1.265, 7.0906, 1.7167, -0.0562, -0.0562, -0.0073, -0.6085, -8.3487, 8.9368, 1.5849, 0.1001, 0.0024, -0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:11e181f8a92b0a3127861c8a08ea89b5b882641c5f5d99ff2e541e8de58289db",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67e2ad22fe28c9e2001edc5c0eed5161cb68ea8e48fc62128da74345fe221526",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1a4f3e4acc6be12ddcd684ed913ab571e5718de3056173e9df1a3b902c7fe46",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 10.33 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.4301, 1.8717, 0.9287, 0.2359, 0.3271, 0.0937, 0.0086]\nstate[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4505 right_y=0.1482 right_z=0.0471 right_yaw=0.0953 right_pitch=-0.0963 right_roll=-0.119 right_gripper=0.0086\nstate[joint_eff]: [-0.3487, -1.5521, 6.9812, 1.6874, -0.0366, -0.0415, -0.0171, 0.0068, -11.0701, 8.4308, 1.6532, 0.1099, 0.0415, 0.5641]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssX1OdfsXMgq820nWbwOvpVnYJFL_oADib93sJNSBZzMaceMZ-ZHZx0OixvbBIwTtkXx7rKFyAw1LiYpTkw3OTHdmNXsBGPqsaHcfgPU5XocQqNI5mKli2AmyJosGk2zkb34SjENsoLLQuzJdoCvVyJX6sgqbu2WW1IZLM7Bt1WD1Jti1AEVBCBrFhuC0C6eYZy8G0qAT0gxBOz2nxPvECYW9DeNIzBjov5yS-FpwHoWD-B26PNL0UKWYF1k5Lt_ovUklNn6-MyQuLSZSRz7zgejAJUq8usVdk2rlNnDpIDOscjN3M4Nrf4EKAqQ7zOGXAEGVNL52bPKp8pxtO5q5LmPZulUGpzX1kSU2CbObqqK-Xsi5nqq_v99ANskLa6Py1owm7E9S-stZmM5F3SvYis-H0OVYYegqN6X-uWFs1EJBn1FAgbUdu42PnnkVJZKtrAaAhJ6RDR7GbdjuW6zrmgWbpFIYT85QIc0QbdWgpqIhPy_ERYZ3r-55UZa5isk-sJ0BGI56ub8uzYFpBpJFHrZ5Pah3mu6TjbSQkkqVMNQNhGVvr12r8U5JaD0foyPQc3hSf9Xb68S-rkyelil4VM6d1m6SKw4FnVJ_m2hsLL_56rACJWLi1SFFrjMpHnWi9IKm0g_ncJTYNNZL1wZ84kkjC9BkhNHq72cmwGUQM9mFSeh5KwuzGgc9-ObzmlKllbPDKzrlPxmVVPKviTBgQJ7PSInus02DJFH9oxvCEgQBPn6nAMhvQdx8NFpDViEEApxjEhhTGv7cWNnbtyeWYV0WLFWi-HARXCTXcVqHSzDP4LFVf5t1UveWdTy5IczlzlQDeazzYZlszCO7iIPFRifV0ptljNmJ-T27Zqvlue1vn6IK3PYvpDxwZV8PXfcvhmUvxQqQgB8BOTHtXidsKg3mtPwPUeFDVJrHabq439Df-eGwfytoYsd4NtHzf97gzrLSTQAsaiz11pJ4BkLLD3tmb4WBPpsGbI-4eaC_gdp5dcP_1rWhcjLWUmooIMuxy-O0RdA0l4PbEP29C8K2l3kTlAD0Xq62kjJ2BvyHtjGU0yJww-z5SPKej5mRyq-Ol8pOh20SbE5WSS-FmFsDek7DorFvLgclvzs91Xhwj1sYyCgvY0OoKltgXq-Fnpadki-raSmH90jfIHi71m28WD5NSe3Kg1PJgpiRe19S5ktQPgT93f2zU6yXDQkZwteaXSZa9w4US2fFVRGqzG2wDGhNgLr-JW7LMx8yArg7V_Bdn6JCKsQgl2AlDF7D4Mk77LoqZ_xLxWLPqFHwP4Yr5vIURpvTpV5y4H2rvxsrYWe5fE=",
  "id": "rs_039c5ba691a2a084016ab2c5f263cc87d09e4c11cccf9d8d19",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.035,\"right_gripper\":0},\"note\":\"The rim is now directly under the right finger’s path. I’m making a shallow descent and pinching it.\"}",
  "call_id": "call_756BiW9KI4U9wHJ1CWzyPHjx",
  "id": "fc_039c5ba691a2a084016ab2c5f3cb3c87d0a1644b04ab18c505",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_756BiW9KI4U9wHJ1CWzyPHjx",
  "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]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.3447, 1.9495, 1.018, 0.2001, 0.2527, 0.0254, 0.0075]\nstate[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4763 right_y=0.1279 right_z=0.0355 right_yaw=0.1074 right_pitch=-0.1383 right_roll=-0.1317 right_gripper=0.0075\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.7509, -0.0366, -0.0317, -0.0171, 0.1162, -8.759, 5.6274, 1.8339, 0.1734, 0.0757, 0.5836]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38ed89becb2a7adf79b3f4ea8caf8435d96f241f485172e459b25caf77309f0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df8e505ea78f263d5287a2445547a9e25057b91446eb5837cd2b8cd9622ed66e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db822e8735a4f0e9fb5d4c76484534216d8def458f8f9f6e0a376977cfd17369",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 5.491 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4599, -0.0261, -0.0784, 0.995, 0.3466, 1.8782, 1.066, 0.1028, 0.2615, 0.0311, 0.5952]\nstate[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1874 left_yaw=0.0185 left_pitch=-0.0358 left_roll=-0.0281 left_gripper=0.995 right_x=0.4796 right_y=0.1285 right_z=0.0704 right_yaw=0.0996 right_pitch=-0.115 right_roll=-0.1276 right_gripper=0.5952\nstate[joint_eff]: [0.0205, -1.265, 7.0906, 1.7167, -0.0562, -0.0562, -0.0073, -0.6085, -8.3487, 8.9368, 1.5849, 0.1001, 0.0024, -0.1538]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssYAP1fdmHpnOhJRHzuPrCXKLdCwPO8vHxYJTNFV-JQ-9rfahZql-tQbbmpl5XdTfSFaqW7u2MDrpPosqTNNEhxs_d3d-0_JoTNAPJrMu1VxfLd2Vy2kKERdrVU2DK4GHbA77DACp4M55cOKxmVkrZ0b7pc8EyL_uBp6kKmXhvB5pYnH0gJOB-T9bJcfG4yz8srqMa5PZzewjDoyqV7XTnxqFsQWkkZukpW2xeFXkaamy_CrXdF800kXbjSlcXm7Ti2qf9tCfPJ71f4bd_Ajp2Gl6O91IEAxjX8k7jnHjJyvaXJRnOCTJ0YcDpGvhPr29OuyHIM_SVuT6A2lX72ka5pH-I36uoWzgBd4Jonf6sjWr27lvspsQLFU9K1qivzBXrzZ9NVoae4yTnmgy2cRURabyKChnEKI-mp6Sk1U4PVuHa7CAbjUdL0fTd2prpdT1p4js3tPjaPPinTI5r5fr21oTDciVwUB49B1nRs1j-NOp2N8Y9VF1u4jnTC8BG4Z7xxXxgVn2D5Zot_iLFa5v8vJzcC6nb3hGCHCX1-HZKJYDotFtJ7Q-ksIegjPkTA2WzNi-w18Yj_ct551OrGGbIeEr1buTDm70-KNFgadic6YziTgT3ZxxAl22DCR4VCgQ2dfKW72_PmZzmGDst-Yiay2fslgD9p7Kiem90RsbNErMuPETQc7zOvapk8Mxiq_EiYKkQZsmUoP0qDOTXmrQ78x12P4Nd9CKR3SMMsbKW6r7rH22OQ-gOxI5RroSyfEq6f8goNrSBHuqt7HUVow8ue8GlAksth9Yv-mln21StJqaIasJ64N4IO5AwWMFbnRbcMWlYkgH9vicSGh6UetP5_DmaipRWeXjxaZyWRHHpCMcU115GztDEUKdbNVmz5xWMoJUOPPhOJynO9H4Euxz8VgYTSU4SMlshssV5Ui2U1sQX3bue2gFvxbH7xg5_CnwBbsrQnzHpgKfktjY0iVDjQEulBDy-EQFdt_emaPHHj6CQcSxZ8m4GGQHznDiKyI9osPoI9Wp78HxUho6_BN2sZwBzq-A5B-o3ro8U03JBF7PfpGs7nXuELV9V5u3SF0bStnQC7dpwXkzmNIT0glUWlfOEqPF6mcWMeaC4oqAvXM4UWpp5jpcoRXbIr06_-PMa8NMasYOVLijirKo-XDfYDCP036jBPsohQ5Ab_VaYNYjITgbkANEfbpVh3m99bnt3KLNZscrmCfbKQACYJ81WaFsUFJ2EfgqRBroEVRTRLDf1Qc38hsVYMJ6DDGHms729hDFCe3c5gB-vq48Vuyfcwsx_A6Ynh_nlbUbOebYpxrNCBANGoOdi3VYf84RYIee65tN2sytGosB5gUkozq41XQ_m_8dk7WXAf_CXGNs212Ze8R12OwhbdzIw2eYDW7UOAfjeVozK0vCyDGl9xex9F-24saTvkZy0ANjFVvp-1FOifkK-f6F4HIMTNtT60BD9KhgiDd6l-eNo0XigV1hQYWo_ScJ6966p42CCBs8Lcfr9Yw4T1fo21XGhCNkXhMhOnlRBYiW4X7iiRbgHpemxGUTaO9Dpo7tud5rXX_89Ofn5MkExyytvUaRmKOLZfypLF2AyguhwOfNpWnqABaZtcl-Q==",
  "id": "rs_039c5ba691a2a084016ab2c5fa544487d093d56084026a7664",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.7,\"right_y\":0.095,\"right_z\":0.09},\"note\":\"The overhead view shows the gripper still to the left of the pink bowl’s center. I’m moving right by three centimetres while lifting, to put the wall securely between the fingers.\"}",
  "call_id": "call_YBr1dev21CETF7vOKh9SP7zq",
  "id": "fc_039c5ba691a2a084016ab2c5fdf4a487d0b1a54a393953d539",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_YBr1dev21CETF7vOKh9SP7zq",
  "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]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0261, -0.078, 0.995, 0.2665, 1.8378, 1.0225, 0.0284, 0.1928, -0.0345, 0.6951]\nstate[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1875 left_yaw=0.0183 left_pitch=-0.0355 left_roll=-0.0278 left_gripper=0.995 right_x=0.4646 right_y=0.0954 right_z=0.0572 right_yaw=0.1104 right_pitch=-0.2053 right_roll=-0.1465 right_gripper=0.6951\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7509, -0.022, -0.022, -0.0073, -0.7179, -12.1368, 9.4838, 1.663, 0.0708, 0.0855, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a3adf106028067f0376bceab400ef7bccf741a1e30afcee9ea5e86dadc520b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:62df583954dbc909a3fd1712462fd9709372bf55b99a33512f37d0e2ca47b19a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f3d417972af98a78aaab444b2c811e7f1f03b187a428dfce40c61f1babb73533",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 14.9 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 92 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0257, -0.0784, 0.9949, 0.3447, 1.9495, 1.018, 0.2001, 0.2527, 0.0254, 0.0075]\nstate[eef_state]: left_x=0.2934 left_y=0.001 left_z=0.1875 left_yaw=0.0182 left_pitch=-0.0355 left_roll=-0.0283 left_gripper=0.9949 right_x=0.4763 right_y=0.1279 right_z=0.0355 right_yaw=0.1074 right_pitch=-0.1383 right_roll=-0.1317 right_gripper=0.0075\nstate[joint_eff]: [-0.0615, -1.347, 7.0496, 1.7509, -0.0366, -0.0317, -0.0171, 0.1162, -8.759, 5.6274, 1.8339, 0.1734, 0.0757, 0.5836]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssYGVlTByWFydW07GYytYFusJ-AD8vWk4yvnN8hTjLiolMdVSl6HI1CU1hbodicni-z5vjxrGxr-V7zEgvMEp_LQa0-IfPfSNVpf-Sg8zZAPUAnp8OIGxp4sBYoLvfWiL-ypqDYCnXGJncHlQsVNgZszZ9a0PYFP9R2S32Rbwf_XeWqmK6JbP1-Rmv5Tztx46gxMlpV3c0kZu0ek62NcsJZ-o2aNLBqPWpNz7c2Iv7Ehp7w2JmB1BHArmo5C3DJq1XqYS3Q_9Q4ytjt_cn_Skzz-HTxchULcaqtgw6RPUDoSsHGFavP1K2WcsOg5EXYX-1OHoLEzaLH-kWVe1qSul75Epkqs9hPw8fgXJRB2i_3TgSbArE61TKYVQU1r5pJdo5A6fTwAEz0MVfHEdrAj_NbEuVElHNSB3U_u_KU8dE2Ji9bEVbaatrV9vurfpkbQpTsDUxGfx1iaVC-W1tDfljayQR9ZQEl8YfAHVgptjNhHFYzrfXYHlmV8MRmaLFksxRj_ThcDT1A_LUfDFNB0Qplao1En3-z_hASauicT9WuyYNg5HeEmV2i3qFNad2TQmscxeBRCUCSa1xcrnmAAIsksFQCqbCY5r2iharXVQr8vwE518q0G78Hy1nDBItbPEZHGCFqPBKGaU5nupT5a-maBujf2h27-pJag9EBgR8XBJp9d42LMHZWscXwsAufzPgxRl7xN8hiT7jUAgSKTokcILzydpwbRyxsb9yPwq_DBeLTEgA4ZN_XH2hO_qtXKWnjqH9knMoil4RnwPAADCwMabZkqrWq_wovuoGxak_tFhDnmfK2BfWXVFjF0d33EeiXqqcDnDSr00SD7xiAvSAIEJFkg40bDHeYmZrsatnbZ1MaH09sRSE1lsTstmPzn-zTu045ShFO2WkBsOoRM4iqpZ8h3fMqNBglfAAgW3WOPsfc2B_4uhJSbd_GUXO8uP3G4i7vpdocVXMaA-h5jM2q77Fs_ilaIOVZntqa7dvw0GfW6WBQAvx1v8SGmkoCHDkVNiF_939Ja2o0oBIynsY8miJV7pAZLCZGeF48_SwC9_aO1-1T6g16VAeQanKtPBRIitdwcz4Dnk693n76zgmKXO6qpd0uSayACCOcLjLkb3CYC_x_rXAUgC2qGV7-gEI94CDHgBURkkhJ9pO8d28dKp-7-B-SRnHDfznS6QgsVcZFIYSRj_i6TG38ADtvvCKUyO2ua_vfT1DwllinCDH2sYaXNrG6GU0TpaI7pGgmjpY4yBmOj6-DdkAk0XXC-80IHPxvH97qFqa6VKFDVM-Zx0KXfDc5nAKxxNCvG3eLHqHGl4uSjoqiCsCj7eS2MLdfRn21-s5JvWofeqdTtNJ8M24-S4rDB3zmSDs55XdRJSDdkCywkVHC2P0uy-xmG7EV8",
  "id": "rs_039c5ba691a2a084016ab2c603e6a487d08502a593d5bd0b7c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.04,\"right_gripper\":0},\"note\":\"The inner jaw now overlaps the bowl’s left rim. I’m closing at the rim height and will check the grip before transporting it.\"}",
  "call_id": "call_ccDBBVBKhhtrlkGpcpbVVwut",
  "id": "fc_039c5ba691a2a084016ab2c605149487d0aaf6dc438efe6b3b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ccDBBVBKhhtrlkGpcpbVVwut",
  "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]: [-0.0242, 0.8181, 0.6701, -0.4595, -0.0261, -0.0784, 0.995, 0.2642, 1.8656, 0.9966, 0.0631, 0.1925, -0.0422, 0.0083]\nstate[eef_state]: left_x=0.2935 left_y=0.0011 left_z=0.1872 left_yaw=0.0185 left_pitch=-0.0362 left_roll=-0.028 left_gripper=0.995 right_x=0.461 right_y=0.0934 right_z=0.0407 right_yaw=0.112 right_pitch=-0.2248 right_roll=-0.1547 right_gripper=0.0083\nstate[joint_eff]: [-0.0615, -1.0735, 7.0222, 1.7118, -0.0366, -0.0757, -0.0171, -0.1709, -7.7744, 5.8735, 1.8242, 0.1099, 0.0464, 0.6081]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc97dc4cbb987d87fb3e46b89e106ac120c2a58a0ef0a1bbd7de9795f1f289c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a08ce9141049c204d9cba41c3ea002f8ffceb8214378d79de3cdffbdd659d87b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc1fb2949d4dcae2766fc8698d24218e9d7630ace2f863a6e76db2e8a489f93a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 8.065 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0242, 0.8173, 0.6701, -0.4595, -0.0261, -0.078, 0.995, 0.2665, 1.8378, 1.0225, 0.0284, 0.1928, -0.0345, 0.6951]\nstate[eef_state]: left_x=0.2934 left_y=0.0011 left_z=0.1875 left_yaw=0.0183 left_pitch=-0.0355 left_roll=-0.0278 left_gripper=0.995 right_x=0.4646 right_y=0.0954 right_z=0.0572 right_yaw=0.1104 right_pitch=-0.2053 right_roll=-0.1465 right_gripper=0.6951\nstate[joint_eff]: [-0.0479, -1.3197, 7.0222, 1.7509, -0.022, -0.022, -0.0073, -0.7179, -12.1368, 9.4838, 1.663, 0.0708, 0.0855, -0.0562]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssYWgjNc5C-ELjkSdMHMM4LcfcsWW7QF7mqkb5mpno-IsZFL7sw0y35BfQelKeBU2qK8tV9y8Mx9IMYfDy7FwjeAfUPJepD_cK_MEUXeeIiPlyeMn5szXa_S3U46qcVywbyBgUf-QsAu6mhHhRuxPadrrd_ekntKC6qHOjq7NJ51IVwo1auAV5atPlzW-XQuFzVnllESxEDKSTqq-Rm3319xqLxp0jvDrMaQhVFuK8loutBvhMJsBkRiu5OO9XkxjHiCvg8TyxWrHGVfPRvuyX4-Qftk0UZpJQ2HTbIlWk2ArWlrJoZXtC1qHr9PgVX2yXUs8aNj3Cp2im04mk9pMDV-da2PvdJi60I9mlXFB6OHRIzfBYoPyToYpuqrsHO8wBW87Xp-qm1fUUGRJXFtthjxJfsf1SEoww2xme3JWyf5BdbAUNPw3zESZUBmsFkU0CorKl8H_W8hpvNFzoeiIjjF-70Pfcn1pv9emNyOCHow7kbA03SbSbKBLzLc-wj29eamPCZRbCgYHdjlg28X3ecZkj9mUaNxc4bpcVBMuNpdEKKG-ZmHpWtacDSL9Q3DcnNSywL4kShp8uaAusG7ySswjlf5_9f33cd8VA2myG1dMF7EcVXK6xB0k3K4VRM4A4TaWBJYw32JLYNemp9B7okDraySSlC_DtwMLRHVJxNnTXWQLfDB_vdDECHdoViD5UQXLxWYCrB_iplmB5NEPGLHjE0vZvczbSEJpB6ne8nz7-VEz5LE3A5PPGvva7N2M8zc7L1NfRCLSfOrXmH7eHBNLJQGVl59RBcwgkIk4m8lc5vdqOLkP0RDfnVDR6OieaV_K_QO15zmo2lCOp9Tk_vi2og4qoksDltle-sRrlGGcKSzybtFaK-AOTy6oKvCENGhgW7KCtZXuajHaHM54Z416RPV_XWmMqznuYqxUZaZV1pdHuhhDU6eCdWSUVBMWpL_pK5_5coZoSa2GuWmOKqTk8vvumjYpFF-3kNJKH8mNunkTrYFHpSTSJ7SF9DaU68ypbD1Nqn4GT0ccKqD3kMDS8DY0zywc290DlKvCLJAP7qJMvXSnm52aw_qQU1WsgflMy5K4IeakjpQ-MiaOe_0TUBl2SkxAN8LIGVVacyTGaoPDEA1eutbQtVxbSLt1lvaVNXL8GSfkBbbg6XSA10DzOKtWhjcGCqEAPrq3djlIOKeE_hsAbLRnoHYHP2ZHEnF26gpeXxFG7kFE0Xutak2sjoB1vWtEwi9h6Z9aOi4zODdStmilKtw7WC71-01YAS2Iy0YwD3pyEr5ketSSsuXVO4adNwm0NxBS5XEstLyIcY3ATa4bFOCKplBzGL2Famcd5z7EYdKtQbxZtjoIJVR_rXkDYm6T97ga5FPDwbqtGghXXiPgnka2mTZInrONh8Xczr0NOLE6X1BHXgPJv2nlJfYErxWKELjmAtAXnOjSFuXmo8njeFSJ6DhPdZzQPq90V4THi999Mg3zBXoZnnlNxwSzuJCePjLL5KmC_ocJHFOMq7bIxpV1ucvR-gpjBLpv9oqpCd1lkjG6hGkX3bpB_uwj9NJ4Bu3b-KAzPORbthrR6aSmQJpIdxnoyiH3AW2kH721OnAnLdzR6benO4L66Nlj1mz-Tcn-UqUMABk02nXJfuGxHCc-dAQb-_CgmPdtsI2WtT1z50QYv4SxPwS_gLCVPTMsldSwNzRHP6nUxKQAP8_oLnvzLSCd8V12NnL5jcIthY5yxezu_iaSUwWib4ZT7ACJ1KWbzbg_Qn_qamk280Q6aVNEL3RcJDbANOsybdHdLiHBQVupfjCdJ1A54CUdRgSltXEgmyPmZJeI6DibbTM_b2mXYzoa4xBEBtGp-x2NjP6qgEMCkOyll_NVcaLjpbo5q9gCL8tEv_8zkw3xI5fjBDiyLLxL4GemBw2S0jwszjXkpllT15Q5ZxANYdXiAgNBu4MVhAAEgHuvUDugM85NzCeq5_RgcIItrjSFEBj6mlzCdDQi6Ki_cnFGagWW_WbxSsybuRsr-1adLiG_JxhQdRpfx5ZgvGyfui3HtvGuHC11myf4D5fjoeykUNl7xx64ntgT1ErSrCVuOFDQhTghBzlTpJp8DTtl8qvY6UiIAD569Lxy1hSyIMUH3MA8g-2UkHUfKQNanuOVWwzVuagJChMuo6Dv3Mmg60DZ7zIaQ05CeiP3okeQxjlCTKLyWjHeCqLV2Wu4r_eqQHtHSkWXYhEYMTpDNu2AbkBMnU6DM4YLDfDTKefRUbZq3PX_-47i0kqhWaz7CMxMwaQcJJ8Fmo-VMu1ECABDsZB",
  "id": "rs_039c5ba691a2a084016ab2c60a7d4087d0af765ff54f87f66d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.2},\"note\":\"The rim continues to slip away and the gripper readings confirm no secure grasp. I’m lifting and parking both arms clear of the bowls rather than risking tipping them with further attempts.\"}",
  "call_id": "call_R1cjb5KpEwBh9RqyryOC1KIR",
  "id": "fc_039c5ba691a2a084016ab2c612f66487d081ced44c58eec569",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_R1cjb5KpEwBh9RqyryOC1KIR",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0261, 0.8326, 0.683, -0.4995, -0.0265, -0.0784, 0.995, -0.0051, 0.8551, 0.6727, -0.3752, 0.0246, -0.0311, 0.996]\nstate[eef_state]: left_x=0.2903 left_y=0.0007 left_z=0.1812 left_yaw=0.0171 left_pitch=-0.0778 left_roll=-0.026 left_gripper=0.995 right_x=0.3081 right_y=-0.0023 right_z=0.1955 right_yaw=-0.0185 right_pitch=0.014 right_roll=-0.0196 right_gripper=0.996\nstate[joint_eff]: [-0.4991, -1.2239, 10.7009, 1.6777, -0.1001, -0.1099, -0.0171, -0.212, -1.0735, 8.8, 1.7949, -0.0952, -0.0366, -0.2418]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5833a6769889ffdf7ce60bc9a98df5c0b4c7955540ef95219a2a61e9a2336996",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca708e3b3bb80a80f1aedb0f8df13ec09e96da64d1ef44c6860375e97f7a4f9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e84170e4fc29775e591dbf117788629ce615b2eea2a657baf5a50132873a470",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]